CN219256986U

CN219256986U - Improve cushioning effect's movable chassis that carries cargo

Info

Publication number: CN219256986U
Application number: CN202320521039.2U
Authority: CN
Inventors: 李洪昆; 资微君
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-06-27
Anticipated expiration: 2033-03-17

Abstract

The utility model discloses a cargo moving chassis for improving a cushioning effect, which comprises a left connecting frame assembly and a right connecting frame assembly which are connected with each other; further comprising at least one set of moving components; the movable assembly comprises a connecting frame, two Mecanum wheels, two connecting shafts and two connecting plates; the two connecting shafts are fixed on the connecting frame, and the axes of the connecting shafts are parallel to the axis of the rotating shaft of the Mecanum wheel; the connecting plates are correspondingly sleeved on the rotating shaft and the connecting shaft of the Mecanum wheel respectively, the connecting plates can rotate relative to the rotating shaft of the Mecanum wheel, and the connecting plates can rotate relative to the axis of the connecting shaft; suspension components for cushioning are arranged on the two connecting shafts; a conductive component for conducting force is connected between the two suspension components. The cargo moving chassis transmits the impact force received by one of the Mecanum wheels to the other Mecanum wheel through the conducting component, and the two suspension components perform shock absorption on the impact force received by the two Mecanum wheels.

Description

Improve cushioning effect's movable chassis that carries cargo

Technical Field

The utility model relates to the field of mobile Mecanum wheel mobile chassis, in particular to a cargo mobile chassis capable of improving a cushioning effect.

Background

With the continuous development of social science and technology, more and more intelligent equipment is applied to the industrial field and the warehouse service industry, wherein a Mecanum wheel is a wheel which moves in an omnibearing moving mode, the omnibearing moving mode is based on a center wheel principle that a plurality of rollers are positioned at the periphery of a wheel hub, and the angled peripheral rollers convert part of the steering force of the wheel hub to the normal force of the wheel hub; depending on the direction and speed of the respective hub, these forces ultimately produce a resultant force vector in any desired direction, thereby ensuring that the platform is free to move in the direction of the final resultant force vector without changing the direction of the hub itself.

Application publication number CN113147302a discloses a novel Mecanum wheel suspension damping mechanism, which comprises a damper, wherein the damper consists of a connecting rod lower support, a damping connecting rod, a vehicle body mounting plate support, a connecting rod upper support, a linear bearing, a damping shaft and a damping spring.

When the mechanism encounters the ground protrusions, the shock absorber is compressed by upward movement to different degrees according to different ground protrusions, and the shock absorber is compressed and shortened to play a role of cushioning. When encountering the ground depression, the shock absorber stretches to enable the Mecanum wheel to adapt to the depressed ground, so that the vibration amplitude of the vehicle body mounting plate is weakened, and the function of cushioning is achieved.

The damping mechanism only considers the purpose of damping when the damping mechanism is subjected to the ground protrusion, does not consider the external force such as the impact force of the Mecanum wheel which is not subjected to the ground protrusion, and cannot compress the damping spring when the impact force is received because the impact force is perpendicular to the length of the damping spring, so that the impact force cannot be damped. Therefore, the Mecanum wheel platform of the patent has incomplete damping capacity and can not cushion the impact force.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides a cargo moving chassis with improved cushioning effect, which aims to solve the technical problem of how to cushion the received impact force.

In order to achieve the above purpose, the cargo moving chassis for improving the cushioning effect comprises a left connecting frame assembly and a right connecting frame assembly which are connected with each other, wherein the left connecting frame assembly and the right connecting frame assembly are arranged in opposite directions; the left connecting frame assembly or the right connecting frame assembly comprises at least one group of moving assemblies; the movable assembly comprises a connecting frame, two Mecanum wheels, two connecting shafts and two connecting plates; the two connecting shafts are fixed on the connecting frame, and the axes of the connecting shafts are parallel to the axis of the rotating shaft of the Mecanum wheel; the connecting plates are correspondingly sleeved on the rotating shaft and the connecting shaft of the Mecanum wheel respectively, the connecting plates can rotate relative to the rotating shaft of the Mecanum wheel, and the connecting plates can rotate relative to the axis of the connecting shaft; suspension components for cushioning are arranged on the two connecting shafts; a conductive component for conducting force is connected between the two suspension components.

Further, the suspension assembly includes a linkage; the lower end of the connecting rod is sleeved on the connecting shaft, the connecting rod can rotate relative to the connecting shaft, and the upper end of the connecting rod is provided with a shock absorber; one end of the shock absorber is rotationally connected to the upper end of the connecting rod through a shaft, the other end of the shock absorber is rotationally connected to the connecting plate through a shaft II, and the axes of the shaft I and the shaft II are parallel to the axis of the connecting shaft.

The suspension assembly is utilized to cushion the Mecanum wheel from forces arising from the surface irregularities.

Further, the conducting component is a conducting rod, two ends of the conducting rod are respectively sleeved on the first shaft, and two ends of the conducting rod can rotate relative to the first shaft.

The rigid conducting rod is adopted to transfer the force generated by the concave-convex ground surface borne by the two suspension components, and when one of the two suspension components receives the impact force, the impact force can be transferred to the other suspension component through the conducting rod, and the two suspension components can buffer the impact force simultaneously, so that the buffering effect is comprehensive and the buffering effect is better.

Further, a plurality of telescopic mechanisms for changing the distance are arranged between the left connecting frame assembly and the right connecting frame assembly.

The telescopic machanism can change the distance between left link subassembly and the right link subassembly, lets the width grow of left link subassembly and right link subassembly, can bear more objects.

Further, the telescopic mechanism comprises a first-order sleeve, a second-order sleeve and a third-order sleeve; the second-order sleeve is sleeved on the first-order sleeve, and the first-order sleeve can slide relative to the axis of the second-order sleeve; one end of the first-order sleeve extends out of the second-order sleeve and is fixedly connected with one of the left connecting frame assembly or the right connecting frame assembly; the third-order sleeve is sleeved on the second-order sleeve, the second-order sleeve can slide relative to the axis of the third-order sleeve, the second-order sleeve penetrates out from one end of the third-order sleeve, which is close to the first-order sleeve, and the third-order sleeve is fixedly connected with the other one of the left connecting frame assembly or the right connecting frame assembly; the outer wall of the first-order sleeve is fixedly provided with a first rack, the second-order sleeve is rotationally connected with at least one first gear, and the first gear is meshed with the first rack; a second rack is fixed on the inner wall of the third-order sleeve, the second-order sleeve is rotationally connected with a second gear, and the second gear is meshed with the second rack; the first gear and the second gear are respectively driven to rotate by a motor.

When the cargoes of different specification sizes are faced, the cargoes of corresponding sizes can be loaded by expanding the car body through the first gear, the second gear and the motor. And can freely pass when facing the road stenosis.

Further, a camera for identifying goods is fixed on the left connecting frame assembly or the right connecting frame assembly.

The camera can identify goods and is composed of a singlechip and a front camera, the camera automatically identifies the goods, data are transmitted into the singlechip, and the singlechip controls the driving structure to enable the vehicle to move to a designated place. A hardware foundation is designed for subsequent automation control. The camera can also recognize the width of the road ahead and adjust the width of the telescopic machanism in time.

Advantageous effects

The front suspension assembly and the rear suspension assembly are hard-connected through the conduction assembly, the impact force received by one of the Mecanum wheels is compressed by the travel of the front suspension assembly, the impact force is transmitted to the other Mecanum wheel, the suspension assemblies connected to the two Mecanum wheels perform damping on the received impact force, the purpose of damping the impact force is achieved, and the influence of the impact force on the posture of a vehicle body is reduced.

Drawings

FIG. 1 is a schematic view of the overall structure of the device;

FIG. 2 is a schematic view of a portion of the structure of FIG. 1;

FIG. 3 is a schematic diagram of the structure of a Mecanum wheel and shock absorber;

FIG. 4 is a schematic structural view of the telescopic mechanism;

fig. 5 is an exploded view of the telescoping mechanism.

1. A left link assembly; 2. a right link assembly; 3. a telescoping mechanism; 4. mecanum wheel; 5. a connecting shaft; 6. a connecting plate; 7. a connecting rod; 8. a damper; 9. a conductive rod; 10. a first-order sleeve; 11. a second-order sleeve; 12. a third-order sleeve; 13. a first rack; 14. a first gear; 15. a second gear; 16. a second rack; 17. a second shaft; 18. a first shaft; 19. a camera is provided.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 and 2, a cargo moving chassis for improving cushioning effect includes a left link assembly 1 and a right link assembly 2. The left and right link assemblies 1 and 2 are disposed in opposition in the X direction in fig. 1. A plurality of groups of telescopic mechanisms 3 are arranged between the left connecting frame assembly 1 and the right connecting frame assembly 2 and used for adjusting the distance between the left connecting frame assembly 1 and the right connecting frame assembly 2 in the X direction.

The right connecting frame assembly 2 is seen by the right connecting frame assembly 2 alone, the right connecting frame assembly 2 comprises a right connecting frame, two Mecanum wheels 4 are arranged on the right connecting frame, the two Mecanum wheels 4 are arranged in parallel along the Y direction in the figure 1, and the axis of a rotating shaft of the Mecanum wheels 4 is along the X direction.

Referring to fig. 2, two connecting shafts 5 are fixed on the right connecting frame, and the two connecting shafts 5 are arranged in parallel along the Y direction. The axis of the connecting shaft 5 is in the X direction. The two connecting shafts 5 are respectively provided with a connecting plate 6, the two connecting plates 6 are respectively sleeved on the corresponding connecting shafts 5, and the connecting plates 6 are also sleeved on the rotating shafts of the corresponding Mecanum wheels 4. The connection plate 6 can rotate relative to the axis of the connection shaft 5, and the connection plate 6 can rotate relative to the axis of the rotation shaft of the Mecanum wheel 4.

Referring to fig. 3, two connecting shafts 5 are provided with a connecting rod 7, respectively. The lower end of the connecting rod 7 is sleeved on the corresponding connecting shaft 5, and the connecting rod 7 can rotate relative to the connecting shaft 5. The connecting rod 7 is provided with a damper 8, one end of the damper 8 is rotationally connected to the upper end of the connecting rod 7 by means of a first shaft 18, the other end of the damper 8 is rotationally connected to the connecting plate 6 by means of a second shaft 17, the axes of the first shaft 18 and the second shaft 17 are both along the X direction, and the first shaft is higher than the first shaft. The projection of the damper 8 is in the Y direction as seen in top view in fig. 1.

The right connecting frame component 2 is used for viewing alone, a conductive rod 9 is arranged between the two connecting rods 7 arranged along the Y direction, and two ends of the conductive rod 9 are respectively sleeved on the two corresponding shafts 17 and can rotate relative to the shafts 17. The conductive rod 9 is rigid.

In other embodiments, the conductive rod 9 may be replaced by other means, such as a cylinder, a damper, etc.

The structure of the left connecting frame component 1 is identical to that of the right connecting frame component 2, and details are omitted.

Referring to fig. 2, in order to ensure the stability of connection, each of the Mecanum wheels 4 in the right or left link assemblies 2 or 1 has two sets of connection plates 6, connection rods 7, shock absorbers 8 and conductive rods 9, and the two sets of connection plates 6, connection rods 7, shock absorbers 8 and conductive rods 9 are disposed on both sides of the Mecanum wheels 4 in parallel along the X direction.

Referring to fig. 4 and 5, the telescopic mechanism 3 includes a first-stage casing 10, a second-stage casing 11, and a third-stage casing 12, and in other embodiments, there may be a fourth-stage casing, a fifth-stage casing, and the like, which are sequentially sleeved together and cannot be separated from each other. The second-order sleeve 11 is sleeved on the first-order sleeve 10, the first-order sleeve 10 can slide along the X direction relative to the second-order sleeve 11, and the first-order sleeve 10 penetrates out of the second-order sleeve 11 from one end of the X direction and is fixedly connected with one of the left connecting frame component 1 or the right connecting frame component 2. The third-order sleeve 12 is sleeved on the second-order sleeve 11, the second-order sleeve 11 can slide along the X direction relative to the third-order sleeve 12, the second-order sleeve 11 penetrates out of one end, close to the first-order sleeve, of the third-order sleeve 12, and the third-order sleeve 12 is fixedly connected with the other one of the left connecting frame assembly 1 and the right connecting frame assembly 2.

The inner wall of the second-order sleeve 11 is provided with a first sliding block, the outer wall of the first-order sleeve 10 is provided with a first sliding groove, and the first sliding block is movably clamped in the first sliding groove and is used for guiding the sliding of the first sleeve; similarly, a second sliding block is arranged on the inner wall of the third-order sleeve 12, a second sliding groove is arranged on the outer wall of the second-order sleeve 11, and the second sliding block is movably clamped in the second sliding groove and is used for guiding the sliding of the second sleeve. The first sliding block, the first sliding groove, the second sliding block and the second sliding groove are designed, so that the structural strength is increased, the longitudinal stress of the gear rack structure is reduced, the abrasion is reduced, and the service life is prolonged.

Referring to fig. 4 and 5, at least one first rack 13 is fixed on the outer wall of the first-stage sleeve 10, at least one first gear 14 is rotatably connected to the second-stage sleeve 11, and the number of the first gears 14 is set in one-to-one correspondence with the first racks 13. The length direction of the first racks 13 is along the X direction, and the first gears 14 are meshed with the corresponding first racks 13, in this embodiment, one of the first gears 14 is driven to rotate by a motor. Similarly, at least one second rack 16 is fixed on the inner wall of the third-order sleeve 12, at least one second gear 15 is rotatably connected to the second-order sleeve 11, the number of the second gears 15 is set in one-to-one correspondence with the second racks 16, the length direction of the second racks 16 is set along the X direction, the second gears 15 are meshed with the second racks 16, and in this embodiment, one of the second gears 15 is driven to rotate by another motor.

By the rotation of the first gear 14 or the second rack 16, the first-stage sleeve 10, the second-stage sleeve 11, and the third-stage sleeve 12 can be lengthened or shortened in the X direction.

One end of the movable chassis along the Y direction is provided with a camera 19 which is controlled by a singlechip and can identify goods.

Compared with the novel Mecanum wheel 4 suspension damping mechanism disclosed in CN113147302A, the novel Mecanum wheel suspension damping mechanism has the advantages that the two motors of the novel Mecanum wheel suspension damping mechanism respectively drive the first-order sleeve 10 and the third-order sleeve 12 to move, so that the left connecting frame assembly 1 and the right connecting frame assembly 2 respectively move along the X direction, and the width of the novel Mecanum wheel suspension damping mechanism in the X direction can be changed.

This remove chassis sets up conducting rod 9, sees with right link assembly 2 or left link assembly 1 alone, when one of them Mecanum wheel 4 of Y direction receives the impact force of Y direction, and this Mecanum wheel 4 passes through bumper shock absorber 8 and conducting rod 9 in proper order, gives another Mecanum wheel 4 with impact force along the Y direction conduction, and this Mecanum wheel 4 is by another bumper shock absorber shock attenuation again. The two shock absorbers in the Y direction are used for damping, and the impact of the impact force on the chassis is reduced.

When the ground is raised, the Mecanum wheel 4 rotates along the connecting shaft 5, and the Mecanum wheel 4 still compresses the shock absorber 8 to realize shock absorption.

With the above-described preferred embodiments according to the present utility model as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.

Claims

1. The utility model provides a carry cargo moving chassis of improvement cushioning effect which characterized in that, including left link assembly and right link assembly of interconnect, left link assembly and right link assembly set up in opposite directions;

the left connecting frame assembly or the right connecting frame assembly comprises at least one group of moving assemblies; the movable assembly comprises a connecting frame, two Mecanum wheels, two connecting shafts and two connecting plates; the two connecting shafts are fixed on the connecting frame, and the axes of the connecting shafts are parallel to the axis of the rotating shaft of the Mecanum wheel; the connecting plates are correspondingly sleeved on the rotating shaft and the connecting shaft of the Mecanum wheel respectively, the connecting plates can rotate relative to the rotating shaft of the Mecanum wheel, and the connecting plates can rotate relative to the axis of the connecting shaft;

suspension components for cushioning are arranged on the two connecting shafts; a conductive component for conducting force is connected between the two suspension components.

2. A load moving chassis for enhancing cushioning as set forth in claim 1, wherein said suspension assembly includes a linkage; the lower end of the connecting rod is sleeved on the connecting shaft, the connecting rod can rotate relative to the connecting shaft, and the upper end of the connecting rod is provided with a shock absorber; one end of the shock absorber is rotationally connected to the upper end of the connecting rod through a shaft, the other end of the shock absorber is rotationally connected to the connecting plate through a shaft II, and the axes of the shaft I and the shaft II are parallel to the axis of the connecting shaft.

3. The movable chassis for carrying cargo with improved damping effect according to claim 2, wherein the conductive component is a conductive rod, two ends of the conductive rod are respectively sleeved on the first shaft, and two ends of the conductive rod can rotate relative to the first shaft.

4. The movable chassis for carrying cargo with improved cushioning effect according to claim 2, wherein a plurality of telescopic mechanisms for changing the distance are arranged between the left and right connecting frame assemblies.

5. The cargo mobile chassis of claim 4, wherein the telescoping mechanism comprises a first-stage sleeve, a second-stage sleeve, and a third-stage sleeve; the second-order sleeve is sleeved on the first-order sleeve, and the first-order sleeve can slide relative to the axis of the second-order sleeve; one end of the first-order sleeve extends out of the second-order sleeve and is fixedly connected with one of the left connecting frame assembly or the right connecting frame assembly; the third-order sleeve is sleeved on the second-order sleeve, the second-order sleeve can slide relative to the axis of the third-order sleeve, the second-order sleeve penetrates out from one end of the third-order sleeve, which is close to the first-order sleeve, and the third-order sleeve is fixedly connected with the other one of the left connecting frame assembly or the right connecting frame assembly; the outer wall of the first-order sleeve is fixedly provided with a first rack, the second-order sleeve is rotationally connected with at least one first gear, and the first gear is meshed with the first rack; a second rack is fixed on the inner wall of the third-order sleeve, the second-order sleeve is rotationally connected with a second gear, and the second gear is meshed with the second rack; the first gear and the second gear are respectively driven to rotate by a motor.

6. The movable chassis for carrying cargo with improved cushioning effect according to claim 2, wherein a camera for identifying cargo is fixed to the left or right link assembly.