WO2020221211A1 - 搬运车辆及其底盘组件 - Google Patents

搬运车辆及其底盘组件 Download PDF

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Publication number
WO2020221211A1
WO2020221211A1 PCT/CN2020/087281 CN2020087281W WO2020221211A1 WO 2020221211 A1 WO2020221211 A1 WO 2020221211A1 CN 2020087281 W CN2020087281 W CN 2020087281W WO 2020221211 A1 WO2020221211 A1 WO 2020221211A1
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WIPO (PCT)
Prior art keywords
wheel
rod
chassis assembly
mounting
chassis
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PCT/CN2020/087281
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English (en)
French (fr)
Inventor
刘哲
王悦翔
尹慧昕
曹抒阳
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锥能机器人（上海）有限公司
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Application filed by 锥能机器人（上海）有限公司 filed Critical 锥能机器人（上海）有限公司
Publication of WO2020221211A1 publication Critical patent/WO2020221211A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
    • B60G5/02—Resilient suspensions for a set of tandem wheels or axles having interrelated movements mounted on a single pivoted arm, e.g. the arm being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels

Definitions

  • the invention relates to the field of transportation devices, in particular to a handling vehicle and its chassis assembly.
  • the object of the present invention is a vehicle chassis assembly and a handling vehicle that can adapt to uneven road surfaces and reduce the probability of slipping.
  • the present invention provides a vehicle chassis assembly
  • the vehicle chassis assembly includes a chassis, wherein at least two mounting seats are provided on the chassis, and each mounting seat is rotatably connected with a connecting piece Both ends of the connecting member are equipped with wheels, and at least one end of the connecting member is also equipped with an adjusting device.
  • the adjusting device has a sliding rod slidably connected to the connecting member, and the sliding rod One end of the sliding rod is fixed to the chassis, the other end of the sliding rod extends out of the top surface of the connecting piece, and an elastic piece is provided between the top end of the sliding rod and the top surface of the connecting piece.
  • the mounting seat is provided with a mounting groove
  • the middle section of the connecting piece is placed in the mounting groove and is rotatably connected to the mounting seat through a rotating shaft, wherein the lower part of the connecting piece There is a preset distance between the surface and the mounting groove.
  • the chassis is provided with three mounting seats, one of the mounting seats is located at one end of the chassis and arranged in the middle of the end, and the other two mounting seats are located at the other end of the chassis and arranged oppositely.
  • one end of the connecting member connected to each mounting seat on one side of the mounting seat is connected to the first wheel, and the connecting member is located on the other side of the mounting seat.
  • One end of the side is connected to a second wheel, wherein the first wheel is a driven wheel and the second wheel is a driving wheel.
  • the two ends of the mounting seat located at one end of the chassis and arranged in the middle of the end are respectively connected with a passive wheel.
  • the connecting member has a rod-shaped body, and a connecting arm extends transversely to the rod-shaped body at one end of the rod-shaped body, the connecting arm is connected to a wheel, and the other end of the rod-shaped body is transverse to the rod-shaped body.
  • the rod-shaped body extends from another connecting arm, and the connecting arm is also equipped with a wheel.
  • the adjusting device is installed on the rod-shaped main body and located outside the connecting arm.
  • the elastic member is configured to exert a downward force on the connecting member.
  • the elastic member is sleeved on the outer periphery of the sliding rod.
  • the elastic member is a spring.
  • the connecting member is a connecting rod.
  • the connecting member is a rigid connecting member.
  • a vehicle chassis assembly the vehicle chassis assembly includes a chassis, the chassis is provided with at least two mounting seats, and each of the mounting seats is rotatably connected with a connector Both ends of the connecting member are equipped with wheels, and at least one end of the connecting member is also equipped with an adjusting device, and the adjusting device has an elastic member installed between the connecting member and the chassis.
  • the mounting seat is provided with a mounting groove
  • the middle section of the connecting member is placed in the mounting groove and is rotatably connected to the mounting seat through a rotating shaft, wherein the lower surface of the connecting member There is a preset distance from the top surface of the mounting groove.
  • the chassis is provided with three mounting seats, one of the mounting seats is located at one end of the chassis and arranged in the middle of the end, and the other two mounting seats are located at the other end of the chassis and arranged oppositely.
  • both ends of the connecting piece connected to the mounting seat located at one end of the chassis and arranged in the middle of the end are equipped with driving wheels, and in the two oppositely arranged mounting seats, each mounting seat is connected to One end of the connecting piece located on one side of the mounting seat is connected to the first wheel, and one end of the connecting piece located on the other side of the mounting seat is connected to the second wheel, wherein the first wheel is a driving wheel, so The second wheel is a passive wheel.
  • the driving wheel is an omnidirectional wheel or mecanum wheel with a driving device
  • the passive wheel is a universal wheel
  • the connecting member has a rod-shaped body, and a connecting arm extends transversely to the rod-shaped body at one end of the rod-shaped body, the connecting arm is connected to the wheel, and the other end of the rod-shaped body is transverse to the rod-shaped body.
  • the rod-shaped body extends from another connecting arm, and the connecting arm is equipped with wheels.
  • one end of the elastic member is fixedly connected to the connecting member, and the other end is fixedly connected to the chassis; or, the adjusting device further includes a mounting device connected between the connecting member and the chassis
  • the elastic member is a spring, and the spring is sleeved outside the mounting column and arranged to be pre-compressed.
  • the elastic member is configured to exert an upward force on the connecting member.
  • the elastic member is a spring
  • the connecting member is a connecting rod
  • the present application also provides a handling vehicle having the aforementioned vehicle chassis assembly.
  • the handling vehicle is an automatic guided transport vehicle.
  • the automated guided transport vehicle further has a jacking tray, wherein the jacking tray is installed on the chassis.
  • the vehicle chassis assembly of the present application can be applied to various types of transport vehicles, especially automatic guided transport vehicles.
  • the chassis assembly adopting the present application has a simple structure, and a vehicle adopting the chassis assembly of the present application can effectively reduce the probability of slipping.
  • FIG. 1 is a schematic top view of the structure of a vehicle chassis assembly according to an embodiment of the present invention
  • FIG. 2 is a schematic perspective view of the structure of a vehicle chassis assembly according to an embodiment of the present invention
  • Fig. 3 is a schematic diagram of a use state of a vehicle chassis assembly on a flat ground according to an embodiment of the present invention
  • Fig. 4 is a schematic diagram of the use state of the vehicle chassis assembly on the undulating ground of an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the structure of an AGV using the vehicle chassis assembly of the present invention. For clarity, the housing is removed and some components are removed;
  • Fig. 6 is another schematic structural diagram of an AGV adopting the vehicle chassis assembly of the present invention.
  • FIG. 7 is a schematic structural diagram of an AGV using a vehicle chassis assembly according to another embodiment of the present invention. For clarity, the housing is removed and some components are removed;
  • Fig. 8 is a schematic structural diagram of an AGV using a vehicle chassis assembly according to another embodiment of the present invention. For clarity, the housing is removed and some parts are removed.
  • FIGS 1 and 2 show a schematic structural view of a vehicle chassis assembly.
  • the vehicle chassis assembly 100 includes a chassis 1.
  • the chassis 1 may be a rectangular plate-shaped member, or other suitable shapes.
  • a plurality of wheel mounting holes 5 are provided on the chassis 1 for mounting wheels.
  • the wheels can extend outside the chassis 1 and can be connected to the chassis through the following connecting arms, or the wheels can be arranged in any other manner and connected to the chassis.
  • Three mounting seats 2, 3, 4 are installed on the chassis 1, which are arranged in a triangle.
  • One mounting base 4 is located at one end of the chassis 1 and arranged in the middle of the end, and the other two mounting bases 2 and 3 are located at the other end of the chassis and arranged oppositely.
  • the mounting base 2 and the mounting base 3 are separated by a predetermined distance and are parallel to each other.
  • the structure of the mounting bases 2, 3, 4 can be the same or different. In this embodiment, the structures of the mounting seats 2, 3, and 4 are the same. It should be understood that two mounting bases, 4 mounting bases or more mounting bases can be arranged as required.
  • the mounting base by taking mounting base 2 as an example.
  • the main body of the mounting seat 2 is a block-shaped part, on which a mounting groove 6 is provided.
  • the installation groove 6 is a through groove passing through the installation seat.
  • a mounting hole (not shown in the figure) is formed on the side wall forming the mounting groove 6 for mounting the rotating shaft 7.
  • the figure shows that the mounting groove 6 is U-shaped. In another embodiment, the mounting groove 6 may also have other shapes such as an arc shape. In some other embodiments, in addition to the mounting groove, the mounting base may also take any other known form.
  • the figure exemplarily shows the base on one side of the mounting base 2. It is understood that in some embodiments, both sides of the mounting base 2 can be provided with bases.
  • the amplitude of the up and down movement of the wheel can be controlled by setting the value of the predetermined distance, that is, the height of the limit step relative to the top surface of the chassis, which will be described in further detail below.
  • Each mounting seat is rotatably connected with a connecting rod 8, 9 and 10 via a rotating shaft 7. Both ends of each connecting rod are equipped with wheels.
  • the connecting rod, the rotating shaft and the wheel form a lever structure.
  • one end of the connecting rod connected to each mounting seat on one side of the mounting seat is connected to the first wheel 19, and one end of the connecting rod on the other side of the mounting seat Connected to the second wheel 20.
  • the first wheel 19 is a driven wheel
  • the second wheel 20 is a driving wheel.
  • the driving wheel has a driving device to drive the driving wheel to move.
  • the driving device is a motor. In other embodiments, other driving devices may be used to drive the driving wheels.
  • a passive wheel is respectively connected to both sides of the mounting seat 4 at one end of the chassis and arranged in the middle of the end.
  • the mounting seat 4 and its lever structure may be provided on both ends of the chassis 1.
  • the first wheel may be a universal wheel, or other types of wheels.
  • the wheels 21 mounted on the two ends of the connecting rod 10 connected to the mounting seat 4 are passive wheels, which can be universal wheels or other types of wheels. It should be understood that the types of wheels at both ends of the connecting rod connected to each mounting seat can be set according to requirements, for example, the wheels at both ends of the connecting rod 10 may also be driving wheels.
  • the connecting rod 8 has a rod-shaped main body, and a connecting arm 82 extends transversely to the rod-shaped main body at one end of the rod-shaped main body 81.
  • the connecting arm 82 is connected to a wheel.
  • another connecting arm 83 extends transversely to the rod-shaped body, and the connecting arm is also equipped with a wheel.
  • the wheel may be a driving wheel.
  • the length of the connecting arm can be adjusted according to the arrangement of the wheels, which can adapt to different wheel arrangements.
  • the middle section of the connecting rod 8 is placed in the mounting groove 6 and is rotatably connected to the mounting seat via a rotating shaft 7.
  • the figure exemplarily shows that the rotating shaft 7 is approximately the same distance from the wheels at both ends. It is understood that in some other embodiments, the wheel at one end of the rotating shaft 7 can be made closer to the wheel at the other end according to specific needs.
  • the wheels are allowed to move up and down within a corresponding range.
  • each connecting rod may be a straight rod, that is, no connecting arm is provided, but a wheel is directly connected to both ends of the connecting rod.
  • the connecting rod can also be replaced by a connecting member of other structure, such as a plate shape, as long as it can drive the wheel to swing.
  • An adjustment device 11 is also installed at one end of each of the connecting rods 8 and 9.
  • the adjusting device is installed on the rod-shaped main body and located on the outside of the connecting arm 83, that is, the side away from the mounting seat 2.
  • the adjusting device is arranged to be able to exert a downward force on the connecting rod, thereby exerting a downward pressure on the wheel.
  • the adjusting device may also be located inside the connecting arm 83, that is, between the connecting arm 83 and the mounting base 2.
  • the connecting arm can be extended at an angle from one end of the rod-shaped body, and the adjusting device can be installed on it, or the adjusting device can be installed directly on the connecting arm 83, as long as a downward movement can be applied to the connecting rod. Force is enough.
  • the driven wheel and the driving wheel can be adapted to the ground while preventing the driving wheel from slipping.
  • only one end of the connecting rod 8 or the connecting rod 9 may be equipped with an adjusting device.
  • the above-mentioned adjusting device may be installed at one end of the connecting rod 10.
  • the adjusting device 11 has a sliding rod 12 slidably connected to the connecting rod.
  • One end of the sliding rod 12 is fixed to the chassis 1, and the other end of the sliding rod 12 extends from the top surface of the connecting rod.
  • the top end of the sliding rod 12 is a cap-shaped part. In other embodiments, the top end of the sliding rod 12 may also be U-shaped or other suitable shapes.
  • An elastic member 13 is provided between the top end 14 of the sliding rod 12 and the top surface of the connecting rod.
  • the elastic member 13 is a spring.
  • the spring 13 is sleeved outside the sliding rod 12. The spring 13 is arranged to exert a downward force on the connecting rod.
  • the spring 13 can exert downward pressure on the connecting rod to force the corresponding wheel to contact the ground and increase the friction between the wheel and the ground. Prevent slippage.
  • the spring 13 may be a coil spring, a leaf spring, a gas spring, a rubber spring, or the like.
  • the adjusting device 11 may also have other structures, as long as it can apply downward pressure to the connecting rod.
  • FIGS 5-6 show schematic structural diagrams of an automated guided transport vehicle 200, also called AGV (Automated Guided Vehicle), which adopts the vehicle chassis assembly of the present invention.
  • the automated guided transport vehicle is an unmanned transport vehicle, which is usually used for cargo handling in warehouses.
  • the automated guided transport vehicle 200 generally includes a vehicle chassis assembly.
  • the wheel chassis assembly is equipped with a driving wheel 15 and a driven wheel 16.
  • the driving wheel 15 has a driving device.
  • the automatic guided transport vehicle is provided with a jacking tray 17.
  • the jacking tray 17 is installed on the chassis and can be raised and lowered relative to the chassis, and is used for jacking shelves or goods.
  • the automatic guided transport vehicle usually also has a housing 18, a battery, and a control device.
  • the battery is used to provide a power source, and the control device is used to control the operation of the automatic guided transport vehicle.
  • the basic components of the automated guided transport vehicle can adopt structures known in the art or structures to be developed, which will not be described in detail here.
  • FIG. 7 shows a schematic structural diagram of an automatic guided transport vehicle 300 using a vehicle chassis assembly according to another embodiment of the present invention. For clarity, the housing is removed and some parts are removed. The difference between the wheel chassis assembly shown in FIG. 7 and the wheel chassis assembly described in FIGS. 1 to 2 is only the structure and installation of the adjusting device 31, and the arrangement of the wheels.
  • the connecting rod 8 and the connecting rod 9 are connected with the same adjusting device and wheel structure.
  • the adjusting device 31 and the wheel connected by the connecting rod 8 are taken as an example for related description.
  • the adjusting device 31 is installed between the connecting rod 8 and the chassis 1.
  • the adjustment device has a mounting post 32 and a spring 33.
  • the lower end of the mounting post 32 is fixed to the chassis 1, and the upper end of the mounting post 32 is fixed to the connecting rod 8 and located outside the connecting arm 83 thereof, that is, the side away from the mounting seat 2.
  • the spring 33 is sleeved outside the mounting column, and its two ends are respectively pressed against the connecting rod and the chassis, and are set to be pre-compressed.
  • the spring 33 can exert an upward force on the connecting rod, and this force can exert a downward pressure on the wheel mounted on the other end of the connecting rod.
  • the adjusting device may not include the mounting post, but only the spring 33.
  • one end of the spring 33 is directly fixed to the connecting rod 8, and the other end is directly fixed to the chassis, and the spring 33 is set to be pre-compressed.
  • the spring 13 may be a coil spring, a leaf spring, a gas spring, a rubber spring, or the like.
  • the spring 33 can also be replaced by other suitable elastic members.
  • the first wheel 34 is a driving wheel with a driving device and is an omnidirectional wheel.
  • the second wheel 35 is a passive wheel and a universal wheel.
  • the wheels 36 connected to both ends of the connecting rod 10 are also driving wheels and are omnidirectional wheels. Therefore, when the vehicle provided with the vehicle chassis assembly is walking on the undulating ground, the spring 13 can exert upward pressure on the connecting rod, forcing the driving wheels connected to the connecting rods 8 and 9 to contact the ground, and increase the wheels and the ground. The friction between them prevents slipping. As a result, the adaptive ability of AGV trolleys to deal with different grounds can be greatly improved.
  • this application uses a combination of 4 omnidirectional wheels and 2 universal wheels or 4 mecanum wheels and 2 universal wheels. Compared with the conventional 4 omnidirectional wheels or 4 universal wheels.
  • a mecanum wheel solution the 6-wheel structure of the present application makes the gravity distribution of the AGV trolley adopting the vehicle chassis component more advantageous, so that the trolley runs more smoothly.
  • FIG. 8 shows a schematic structural diagram of an automatic guided transport vehicle 400 using a vehicle chassis assembly according to another embodiment of the present invention.
  • the difference between the embodiment shown in FIG. 8 and the embodiment shown in FIG. 7 is only that the driving wheels all adopt mecanum wheels, and the rest are the same, which will not be detailed here.
  • vehicle chassis assembly of the present application can also be used on other types of handling vehicles besides automatic guided transport vehicles.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Handcart (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

一种搬运车辆及其底盘组件（100），该车辆底盘组件（100）包含底盘（1），底盘（1）上设有至少两个安装座（2、3、4），每个安装座（2、3、4）可转动地连接有一连接件，连接件的两端均安装有车轮（19、20、21），其中至少一个连接件的一端还安装有一调节装置（11），调节装置（11）具有可滑动地连接于连接件的滑杆（12），滑杆（12）的一端固定于底盘（1），滑杆（12）的另一端延伸出连接件的顶面，滑杆（12）的顶端（14）与连接件的顶面之间设有弹性件（13）。

Description

搬运车辆及其底盘组件
相关申请交叉引用
本专利申请要求于2019年04月28日提交的、申请号为2019103497377、发明名称为“搬运车辆及其底盘组件”的中国专利申请的优先权，上述申请的全文以引用的方式并入本文中。
技术领域
本发明涉及运输装置领域，具体涉及搬运车辆及其底盘组件。
背景技术
随着物流技术的发展，已经出现各种各样的AGV(Automated Guided Vehicle)，其广泛应用于货物搬运。
现有的AGV在遇到不平坦表面时，容易出现车轮打滑的情况。
发明内容
本发明的目的是一种能够适应不平整路面、降低打滑概率的车辆底盘组件及搬运车辆。
为实现上述目的，本发明提供了一种车辆底盘组件，所述车辆底盘组件包含底盘，其中，所述底盘上设有至少两个安装座，每个所述安装座可转动地连接有一连接件，所述连接件的两端均安装有车轮，其中至少一个所述连接件的一端还安装有一调节装置，所述调节装置具有可滑动地连接于所述连接件的滑杆，所述滑杆的一端固定于所述底盘，所述滑杆的另一端延伸出所述连接件的顶面，且所述滑杆的顶端与所述连接件的顶面之间设有弹性件。
一实施例中，所述安装座设有安装凹槽，所述连接件的中段置于所述安装凹槽中并通过一转轴可转动地连接于所述安装座，其中所述连接件的下表面与所述安装凹槽之间具有预设间距。
一实施例中，所述底盘上设有三个安装座，其中一个所述安装座位于所述底盘的一端并布置于该端的中部，另两个安装座位于所述底盘的另一端并相对布置。
一实施例中，相对布置的两个安装座中，每个安装座所连接的连接件的位于该安装座一侧的一端连接于第一车轮，该连接件的位于所述安装座的另一侧的一端连接于第二车轮，其中所述第一车轮是被动轮，所述第二车轮是主动轮。
一实施例中，位于所述底盘的一端并布置于该端中部的安装座的两端分别连接有一个被动轮。
一实施例中，所述连接件具有杆状主体，在杆状主体的一端横向于该杆状主体延伸出一连接臂，该连接臂连接于一车轮，以及在杆状主体的另一端横向于该杆状主体延伸出另一连接臂，该连接臂也安装有一车轮。
一实施例中，所述调节装置安装于所述杆状主体上并位于连接臂的外侧。
一实施例中，所述弹性件设置成对所述连接件施加向下的力。
一实施例中，所述弹性件套设于所述滑杆外周。
一实施例中，所述弹性件为弹簧。
一实施例中，所述连接件是连杆。
一实施例中，所述连接件是刚性连接件。
根据本发明的另一方面，还提供了一种车辆底盘组件，所述车辆底盘组件包含底盘，所述底盘上设有至少两个安装座，每个所述安装座可转动地连接有连接件，所述连接件的两端均安装有车轮，其中至少一个所述连接件的一端还安装有调节装置，所述调节装置具有安装于所述连接件与所述底盘之间的弹性件。
一实施例中，所述安装座设有安装凹槽，所述连接件的中段置于所述安装凹槽中并通过转轴可转动地连接于所述安装座，其中所述连接件的下表面与所述安装凹槽的顶面之间具有预设间距。
一实施例中，所述底盘上设有三个安装座，其中一个所述安装座位于所述底盘的一端并布置于该端的中部，另两个安装座位于所述底盘的另一端并相对布置。
一实施例中，位于所述底盘的一端并布置于该端的中部的安装座所连接的连接件的两端均安装有主动轮，而相对布置的两个安装座中，每个安装座所连接的连接件的位于该安装座一侧的一端连接于第一车轮，该连接件的位于所述安装座的另一侧的一端连接于第二车轮，其中所述第一车轮是主动轮，所述第二车轮是被动轮。
一实施例中，所述主动轮是带有驱动装置的全向轮或麦克纳姆轮，所述被动轮是万向轮。
一实施例中，所述连接件具有杆状主体，在杆状主体的一端横向于该杆状主体 延伸出一连接臂，该连接臂连接于车轮，以及在杆状主体的另一端横向于该杆状主体延伸出另一连接臂，该连接臂安装有车轮。
一实施例中，所述弹性件的一端固定连接于所述连接件，另一端固定连接于所述底盘；或者，所述调节装置进一步包括连接于所述连接件与所述底盘之间的安装柱，所述弹性件为弹簧，所述弹簧套设在所述安装柱外并布置成预压缩。
一实施例中，所述弹性件设置成对所述连接件施加向上的力。
一实施例中，所述弹性件为弹簧，以及所述连接件为连杆。
本申请还提供一种搬运车辆，所述搬运车辆具有上述的车辆底盘组件。
一实施例中，所述搬运车辆是自动导引运输车。
一实施例中，所述自动导引运输车进一步具有顶升托盘，其中所述顶升托盘安装于所述底盘上。
本申请的车辆底盘组件可适用于各种类型的搬运车辆，尤其是自动导引运输车。采用本申请的底盘组件结构简单，采用本申请的底盘组件的车辆可有效降低打滑的概率。
附图说明
图1是本发明的一实施例的车辆底盘组件的结构示意俯视图；
图2是本发明的一实施例的车辆底盘组件的结构示意立体图；
图3是本发明的一实施例的车辆底盘组件的平坦地面上的使用状态示意图；
图4是本发明的一实施例的车辆底盘组件的起伏地面上的使用状态示意图；
图5是采用本发明的车辆底盘组件的AGV的结构示意图，为清楚起见，移除外壳并移除了一些部件；
图6是采用本发明的车辆底盘组件的AGV的另一结构示意图；
图7是采用本发明的另一实施例的车辆底盘组件的AGV的结构示意图，为清楚起见，移除外壳并移除了一些部件；
图8是采用本发明的又一实施例的车辆底盘组件的AGV的结构示意图，为清楚起见，移除外壳并移除了一些部件。
具体实施方式
以下将结合附图对本发明的各实施例进行详细说明，以便更清楚理解本发明的 目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。
在下文的描述中，出于说明各种公开的实施例的目的阐述了某些具体细节以提供对各种公开实施例的透彻理解。但是，相关领域技术人员将认识到可在无这些具体细节中的一个或多个细节的情况来实践实施例。在其它情形下，与本申请相关联的熟知的装置、结构和技术可能并未详细地示出或描述从而避免不必要地混淆实施例的描述。
除非语境有其它需要，在整个说明书和权利要求中，词语“包括”和其变型，诸如“包含”和“具有”应被理解为开放的、包含的含义，即应解释为“包括，但不限于”。
在整个说明书中对“一个实施例”或“一实施例”的提及表示结合实施例所描述的特定特点、结构或特征包括于至少一个实施例中。因此，在整个说明书的各个位置“在一个实施例中”或“在一实施例”中的出现无需全都指相同实施例。另外，特定特点、结构或特征可在一个或多个实施例中以任何方式组合。
如该说明书和所附权利要求中所用的单数形式“一”和“所述”包括复数指代物，除非文中清楚地另外规定。应当指出的是术语“或”通常以其包括“和/或”的含义使用，除非文中清楚地另外规定。
在以下描述中，为了清楚展示本发明的结构及工作方式，将借助诸多方向性词语进行描述，但是应当将“前”、“后”、“左”、“右”、“外”、“内”、“向外”、“向内”、“上”、“下”等词语理解为方便用语，而不应当理解为限定性词语。
图1和2示出一种车辆底盘组件的结构示意图。车辆底盘组件100包含底盘1。底盘1可以为矩形板状件，或其他合适的形状。底盘1上设有多个车轮安装孔5，用于安装车轮。在另一实施例中，车轮可以伸出底盘1外，并可以通过下文的连接臂与底盘连接，或者车轮可以以其他任何方式排布并与底盘进行连接。底盘1上安装有三个安装座2、3、4，其呈三角形布置。一个安装座4位于底盘1的一端并布置于该端的中部，另两个安装座2和3位于底盘的另一端并相对布置。在一个实施例中，安装座2和安装座3间隔开预定距离并相互平行。安装座2、3、4的结构可 以相同也可以不同。本实施例中，安装座2、3、4的结构相同。应理解的是，根据需要可以布置两个安装座、4个安装座或更多个安装座。
下面以安装座2为例对安装座进行说明。安装座2的主体为块状部，其上设有安装凹槽6。安装凹槽6为贯穿安装座的通槽。形成安装凹槽6的侧壁上形成有安装孔(图未示)，其用于安装转轴7。图中示出安装凹槽6为U形，在另一实施例中，安装凹槽6也可以是圆弧形等其他形状。在某些其他实施例中，除了安装凹槽，安装座也可以采用任何其他已知的形式。图中示例性地示出了安装座2一侧的基座，可以理解，在某些实施例中，安装座2的两侧都可以设置基座。安装凹槽6的底面与底盘的顶面之间具有预定间距，由此形成一限位台阶18。可以通过设置该预定间距的值，即限位台阶相对于底盘顶面的高度，来控制车轮的上下运动幅度，下文将进一步详细说明。
每个安装座通过转轴7可转动地连接有一连杆8、9、10。每个连杆的两端均安装有车轮。由此，连杆、转轴以及车轮形成杠杆结构。相对布置的两个安装座2、3中，每个安装座所连接的连杆的位于该安装座一侧的一端连接于第一车轮19，该连杆的位于安装座的另一侧的一端连接于第二车轮20。图中所示的实施例中，第一车轮19是被动轮，第二车轮20是主动轮。其中主动轮具有驱动装置，以驱动主动轮运动。在一实施例中，驱动装置为电机。在其他实施例中，可以采用其他驱动装置来驱动主动轮。图中所示的实施例中，位于底盘的一端并布置于该端中部的安装座4的两侧分别连接有一个被动轮。在某些实施例中，可以在底盘1的两端都设置安装座4及其杠杆结构。第一车轮可以是万向轮，或其他类型的轮子。安装座4所连接的连杆10的两端所安装的车轮21是被动轮，其可以是万向轮或其他类型的轮子。应理解的是，各安装座所连接的连杆两端的车轮类型可以根据需要来设置，例如连杆10的两端的车轮也可以是主动轮。
下面以连杆8为例对连杆及相关结构进行描述。连杆8具有杆状主体，在杆状主体81的一端横向于该杆状主体延伸出一连接臂82。该连接臂82连接于一车轮。在杆状主体的另一端横向于该杆状主体延伸出另一连接臂83，该连接臂也安装有一车轮。该车轮可以是主动轮。其中，连接臂的长短可以根据轮子的排布相应调整，可以适应不同的轮子布置。
连杆8的中段置于安装凹槽6中并通过一转轴7可转动地连接于安装座。图中示例性地示出了转轴7离两端车轮的距离大致相同，可以理解，在某些其他实施例 中，可以根据具体需要，使得转轴7相对一端车轮更靠近另一端车轮。连杆8的下表面与安装凹槽6的底面之间具有预设间距，由此允许连杆8相对于安装座转动一定角度。进而，允许车轮在相应幅度内上下运动。连杆的下表面与底盘的上表面之间也相距一定距离，由此给出连杆上下摆动的空间，使其能够带动车轮在一定幅度内上下摆动。另一实施例中，各连杆可以是直杆，即不设置连接臂，而是直接在连杆的两端各连接有一车轮。在其他实施例中，连杆也可以由其他结构形式的连接件替代，例如板状等，只要能够带动车轮摆动即可。
连杆8和9中每个的一端还安装有一调节装置11。调节装置安装于杆状主体上并位于连接臂83的外侧，即远离安装座2的一侧。该调节装置布置成能够对连杆施加一向下的力，进而对车轮施加一向下的压力。一实施例中，调节装置也可以位于连接臂83的内侧，即连接臂83与安装座2之间。另一实施例中，可以从杆状主体的一端以某一角度延伸连接臂，并在其上安装调节装置，或是直接在连接臂83上安装调节装置，只要能够对连杆施加一向下的力即可。由此，在第一车轮19是被动轮、第二车轮20是主动轮时，可以使被动轮和主动轮适应地面的同时，防止主动轮打滑。一实施例中，可以仅连杆8或连杆9的一端安装有调节装置。另一实施例中，可以在连杆10的一端安装有上述的调节装置。
本实施例中，调节装置11具有可滑动地连接于连杆的滑杆12。滑杆12的一端固定于底盘1，滑杆12的另一端延伸出连杆的顶面。在一实施例中，滑杆12的顶端为帽状部。在其他实施例中，滑杆12的顶端也可以是U形或其他合适的形状。滑杆12的顶端14与连杆的顶面之间设有弹性件13。这里，弹性件13是弹簧。弹簧13套设于滑杆12外。弹簧13设置成对连杆施加向下的力。由此，当设置有该车辆底盘组件的车辆在起伏的地面上行走时，弹簧13能够对连杆施加向下的压力，迫使相应的车轮接触地面，并增加车轮与地面之间的摩擦力，防止打滑。这里，弹簧13可以是卷簧、钢板弹簧、气体弹簧或者橡胶弹簧等。在其他某些实施例中，调节装置11也可以是其他结构，只要能够对连杆施加向下的压力即可。
图5-6示出采用本发明的车辆底盘组件的自动导引运输车200，也称为AGV(Automated Guided Vehicle)的结构示意图。自动导引运输车是一种无人搬运车，通常用于仓库中的货物搬运。自动导引运输车200通常包括车辆底盘组件。车轮底盘组件安装有主动轮15和从动轮16。主动轮15带有驱动装置。自动导引运输车设有顶升托盘17。顶升托盘17安装于底盘上，可以相对于底盘升降， 其用于顶升货架或者货物。自动导引运输车通常还具有外壳18、电池和控制装置等，电池用于提供动力源，控制装置用于控制自动导引运输车的运行。自动导引运输车的各基本组成部分可以采用本领域已知的结构或待开发的结构，在此不再详述。
图7示出采用本发明的另一实施例的车辆底盘组件的自动导引运输车300的结构示意图，为清楚起见，移除外壳并移除了一些部件。图7所示的车轮底盘组件与图1～2所述的车轮底盘组件的区别之处仅在于调节装置31的结构及其安装，以及车轮的布置。
连杆8和连杆9所连接的调节装置及车轮结构相同。下面，以连杆8所连接的调节装置31和车轮为例进行相关描述。如图7所示，调节装置31安装于连杆8与底盘1之间。具体地，调节装置具有安装柱32和弹簧33。安装柱32的下端固定于底盘1上，而安装柱32的上端固定于连杆8并位于其连接臂83的外侧，即远离安装座2的一侧。弹簧33套设在安装柱外，其两端分别压抵连杆和底盘，并设置成预压缩。由此，弹簧33可以对连杆施加一向上的力，该力可以对安装于连杆另一端的车轮施加一向下的压力。另一实施例中，调节装置也可以不包含安装柱，而是仅包含弹簧33。此时，弹簧33的一端直接固定于连杆8，而另一端直接固定于底盘，且弹簧33设置成预压缩。这里，弹簧13可以是卷簧、钢板弹簧、气体弹簧或者橡胶弹簧等。弹簧33也可以由其他合适的弹性件来替代。
图7所示的实施例中，第一车轮34是带有驱动装置的主动轮并且是全向轮。第二车轮35是被动轮并且是万向轮。与连杆10的两端连接的车轮36也是主动轮并且是全向轮。由此，当设置有该车辆底盘组件的车辆在起伏的地面上行走时，弹簧13能够对连杆施加向上的压力，迫使连接于连杆8和9的主动轮接触地面，并增加车轮与地面之间的摩擦力，防止打滑。由此，可以极大提高AGV小车应对不同地面的自适应能力。此外，本申请采用了4个全向轮与2个万向轮相结合或4个麦克纳姆轮与2个万向轮相结合的方案，相比于常规的采用4个全向轮或4个麦克纳姆轮的方案，本申请的6轮结构使得采用该车辆底盘组件的AGV小车的重力分配更有优势，由此小车的运行更平稳。
图8示出采用本发明的又一实施例的车辆底盘组件的自动导引运输车400的结构示意图。图8所示实施例与图7所示实施例的不同之处仅在于其主动轮均采用麦克纳姆轮，其余相同，在此不再详述。
应理解的是，本申请的车辆底盘组件也可以用于自动导引运输车之外的其他类型的搬运车辆上。
以上已详细描述了本发明的各实施例，但应理解到，若需要，能修改实施例的方面来采用各种专利、申请和出版物的方面、特征和构思来提供另外的实施例。
考虑到上文的详细描述，能对实施例做出这些和其它变化。一般而言，在权利要求中，所用的术语不应被认为限制在说明书和权利要求中公开的具体实施例，而是应被理解为包括所有可能的实施例连同这些权利要求所享有的全部等同范围。

Claims (20)

  1. 一种车辆底盘组件，所述车辆底盘组件包含底盘，其特征在于，所述底盘上设有至少两个安装座，每个所述安装座可转动地连接有连接件，所述连接件的两端均安装有车轮，其中至少一个所述连接件的一端还安装有调节装置，所述调节装置具有可滑动地连接于所述连接件的滑杆，所述滑杆的一端固定于所述底盘，所述滑杆的另一端延伸出所述连接件的顶面，且所述滑杆的顶端与所述连接件的顶面之间设有弹性件。
  2. 根据权利要求1所述的车辆底盘组件，其特征在于，所述安装座设有安装凹槽，所述连接件的中段置于所述安装凹槽中并通过转轴可转动地连接于所述安装座，其中所述连接件的下表面与所述安装凹槽的顶面之间具有预设间距。
  3. 根据权利要求1所述的车辆底盘组件，其特征在于，所述底盘上设有三个安装座，其中一个所述安装座位于所述底盘的一端并布置于该端的中部，另两个安装座位于所述底盘的另一端并相对布置。
  4. 根据权利要求3所述的车辆底盘组件，其特征在于，相对布置的两个安装座中，每个安装座所连接的连接件的位于该安装座一侧的一端连接于第一车轮，该连接件的位于所述安装座的另一侧的一端连接于第二车轮，其中所述第一车轮是被动轮，所述第二车轮是主动轮。
  5. 根据权利要求1所述的车辆底盘组件，其特征在于，所述连接件具有杆状主体，在杆状主体的一端横向于该杆状主体延伸出一连接臂，该连接臂连接于车轮，以及在杆状主体的另一端横向于该杆状主体延伸出另一连接臂，该连接臂安装有车轮。
  6. 根据权利要求5所述的车辆底盘组件，其特征在于，所述调节装置安装于所述杆状主体上并位于连接臂的外侧。
  7. 根据权利要求1所述的车辆底盘组件，其特征在于，所述弹性件设置成对所述连接件施加向下的力。
  8. 根据权利要求1所述的车辆底盘组件，其特征在于，所述弹性件套设于所述滑杆外周。
  9. 根据权利要求1所述的车辆底盘组件，其特征在于，所述弹性件为弹簧，以及所述连接件为连杆。
  10. 一种车辆底盘组件，所述车辆底盘组件包含底盘，其特征在于，所述底盘上设有至少两个安装座，每个所述安装座可转动地连接有连接件，所述连接件的两端均安装有车轮，其中至少一个所述连接件的一端还安装有调节装置，所述调节装置具有安装于所述连接件与所述底盘之间的弹性件。
  11. 根据权利要求10所述的车辆底盘组件，其特征在于，所述安装座设有安装凹槽，所述连接件的中段置于所述安装凹槽中并通过转轴可转动地连接于所述安装座，其中所述连接件的下表面与所述安装凹槽的顶面之间具有预设间距。
  12. 根据权利要求10所述的车辆底盘组件，其特征在于，所述底盘上设有三个安装座，其中一个所述安装座位于所述底盘的一端并布置于该端的中部，另两个安装座位于所述底盘的另一端并相对布置。
  13. 根据权利要求12所述的车辆底盘组件，其特征在于，位于所述底盘的一端并布置于该端的中部的安装座所连接的连接件的两端均安装有主动轮，而相对布置的两个安装座中，每个安装座所连接的连接件的位于该安装座一侧的一端连接于第一车轮，该连接件的位于所述安装座的另一侧的一端连接于第二车轮，其中所述第一车轮是主动轮，所述第二车轮是被动轮。
  14. 根据权利要求13所述的车辆底盘组件，其特征在于，所述主动轮是带有驱动装置的全向轮或麦克纳姆轮，所述被动轮是万向轮。
  15. 根据权利要求10所述的车辆底盘组件，其特征在于，所述连接件具有杆状主体，在杆状主体的一端横向于该杆状主体延伸出一连接臂，该连接臂连接于车轮，以及在杆状主体的另一端横向于该杆状主体延伸出另一连接臂，该连接臂安装有车轮。
  16. 根据权利要求15所述的车辆底盘组件，其特征在于，所述弹性件的一端固定连接于所述连接件，另一端固定连接于所述底盘；或者，所述调节装置进一步包括连接于所述连接件与所述底盘之间的安装柱，所述弹性件为弹簧，所述弹簧套设在所述安装柱外并布置成预压缩。
  17. 根据权利要求10所述的车辆底盘组件，其特征在于，所述弹性件设置成对所述连接件施加向上的力。
  18. 根据权利要求10所述的车辆底盘组件，其特征在于，所述弹性件为弹簧，以及所述连接件为连杆。
  19. 一种搬运车辆，其特征在于，所述搬运车辆具有如权利要求1-18任一项所 述的车辆底盘组件。
  20. 根据权利要求19所述的搬运车辆，其特征在于，所述搬运车轮是自动导引运输车。
PCT/CN2020/087281 2019-04-28 2020-04-27 搬运车辆及其底盘组件 WO2020221211A1 (zh)

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