WO2024051438A1 - 搬运车 - Google Patents

搬运车 Download PDF

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Publication number
WO2024051438A1
WO2024051438A1 PCT/CN2023/112438 CN2023112438W WO2024051438A1 WO 2024051438 A1 WO2024051438 A1 WO 2024051438A1 CN 2023112438 W CN2023112438 W CN 2023112438W WO 2024051438 A1 WO2024051438 A1 WO 2024051438A1
Authority
WO
WIPO (PCT)
Prior art keywords
bracket
elastic member
chassis
driving
driving wheel
Prior art date
Application number
PCT/CN2023/112438
Other languages
English (en)
French (fr)
Inventor
谢彬
白寒
吕王彪
Original Assignee
杭州海康机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202222382365.8U external-priority patent/CN218287936U/zh
Priority claimed from CN202211085615.XA external-priority patent/CN116374042A/zh
Application filed by 杭州海康机器人股份有限公司 filed Critical 杭州海康机器人股份有限公司
Publication of WO2024051438A1 publication Critical patent/WO2024051438A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B39/00—Increasing wheel adhesion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/08—Superstructures for load-carrying vehicles comprising adjustable means
    • B62D33/10—Superstructures for load-carrying vehicles comprising adjustable means comprising means for the suspension of the superstructure on the frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • This application belongs to the technical field of transportation equipment, and specifically relates to a transport vehicle.
  • the driving device is the power equipment for the truck to travel.
  • a floating driving device is usually used to adapt to the height changes of the ground, so as to achieve floating operation and achieve stable driving.
  • the embodiment of the present application provides a transport vehicle, including a chassis and a floating drive device, wherein:
  • the floating driving device includes a driving bracket, a boosting bracket, a first elastic member and a driving wheel. Both the driving bracket and the boosting bracket are movably arranged on the chassis, and the driving wheel is arranged on the chassis.
  • Driving bracket, the first elastic member is connected between the driving bracket and the boosting bracket,
  • the boosting bracket moves relative to the chassis to drive the driving bracket to move relative to the chassis through the first elastic member, to press the drive wheel.
  • the truck further includes a second elastic member connected between the drive bracket and the chassis,
  • the second elastic member drives the drive bracket to move relative to the chassis to press the drive wheels.
  • the driving bracket is hinged to the chassis
  • the boosting bracket is hinged to the chassis
  • the booster bracket rotates relative to the chassis to drive the driving bracket relative to the chassis through the first elastic member. Turn.
  • the driving bracket is hingedly connected to the chassis through a second connecting shaft, and the driving bracket has a driving wheel.
  • the connecting part and the elastic part connecting part, the driving wheel connecting part and the elastic part connecting part are respectively located on both sides of the second connecting shaft,
  • the driving wheel connecting part has a first end and a second end arranged oppositely along the extension direction of the second connecting shaft, the driving wheel is connected to the first end of the driving wheel connecting part, and the driving wheel The connection portion between the wheel and the driving wheel is arranged along the extension direction of the second connecting shaft,
  • the elastic member connecting portion is connected to the first elastic member, the boosting bracket is located on a side of the elastic member connecting portion away from the driving wheel connecting portion, and the second elastic member is located on the first elastic member. between the component and the second connecting shaft.
  • the chassis includes a main body and a protective cover, the protective cover is provided on the main body, the transport vehicle further includes casters, the casters are provided on the main body, and at least part of the casters is located on the Within the holding space of the protective cover,
  • the boosting bracket includes a second base and a boosting arm.
  • the second base is provided on the protective cover.
  • the boosting arm is hingedly connected to the second base.
  • the boosting arm has a load-bearing end. and a connecting end, the first elastic member is connected between the elastic member connecting portion and the connecting end of the boosting arm.
  • the driving bracket is hingedly connected to the chassis through a second connecting shaft, and the driving bracket has a driving wheel connection part and an elastic part connection part, and the driving wheel connection part and the elastic part connection part are respectively located at On both sides of the second connecting shaft,
  • the driving wheel connecting part has a first end and a second end arranged oppositely along the extension direction of the second connecting shaft, the driving wheel is connected to the first end of the driving wheel connecting part, and the driving wheel The connection portion between the wheel and the driving wheel is arranged along the extension direction of the second connecting shaft,
  • the elastic member connection part is connected to the first elastic member, at least a part of the booster bracket is located between the driving wheel connection part and the elastic member connection part, and the second elastic member is located on the third elastic member. A side of the elastic member facing away from the driving wheel connecting portion.
  • the chassis includes a main body and a protective cover, the protective cover is provided on the main body, the transport vehicle further includes casters, the casters are provided on the main body, and at least part of the casters is located on the Within the holding space of the protective cover,
  • the transport vehicle further includes a first base, the first base is provided on the protective cover, and the second elastic member is connected between the first base and the elastic member connecting portion.
  • the boosting bracket has a load-bearing end and a connecting end
  • the driving bracket is provided with a first escape hole
  • the booster bracket is penetrated through the first escape hole
  • the load-bearing end of the booster bracket Both the end and the connecting end extend outside the first escape hole.
  • the supercharging bracket has a load-bearing end
  • the transport vehicle further includes a first connecting shaft and a roller set
  • the first connecting shaft is provided at the load-bearing end of the supercharging bracket.
  • the roller set is sleeved on the first connecting shaft.
  • the driving bracket is slidingly connected to the chassis
  • the boosting bracket is slidingly connected to the chassis
  • the booster bracket slides in the first direction relative to the chassis to drive the driving bracket relative to each other through the first elastic member. Slide on the chassis along the first direction.
  • each of the second elastic members is disposed on both sides of the driving wheel
  • each of the first elastic members is disposed on both sides of the driving wheel. on both sides of the drive wheel.
  • the booster bracket has a load-bearing end
  • the truck also includes a top plate and a plurality of support columns, the plurality of support columns are arranged between the chassis and the top plate, and the top plate passes through The plurality of support columns are connected to the chassis,
  • the top plate is provided with a second escape hole, and the load-bearing end of the booster bracket is exposed from the second escape hole.
  • the booster bracket has a load-bearing end
  • the truck also includes a top plate and a plurality of support columns, the plurality of support columns are arranged between the chassis and the top plate, and the top plate passes through at least One of the support columns is movably connected to the chassis, and the bottom surface of the top plate contacts the load-bearing end of the booster bracket to press the load-bearing end of the booster bracket.
  • the booster bracket when the weight of the load on the truck is greater than the preset value, the booster bracket is moved relative to the chassis by the force from the load, so that the first elastic member is used to drive the driving bracket to move relative to the chassis. , to press the driving wheel to increase the grip of the driving wheel and prevent the truck from tilting due to insufficient grip of the driving wheel.
  • Figure 1 is a schematic structural diagram of a floating driving device disclosed in an embodiment of the present application.
  • FIGS. 2 to 3 are schematic structural diagrams of the transport vehicle disclosed in the embodiment of the present application at different viewing angles.
  • Figure 4 is a partial structural schematic diagram of the transport vehicle disclosed in the embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of the truck disclosed in the embodiment of the present application in a loaded state.
  • Figure 6 is a schematic structural diagram of the transport vehicle disclosed in the embodiment of the present application in an unloaded state.
  • FIG. 7 to 8 are schematic structural diagrams of a transport vehicle disclosed in another embodiment of the present application at different viewing angles.
  • Figure 9 is a schematic structural diagram of a floating driving device disclosed in another embodiment of the present application.
  • Figure 10 is a schematic structural diagram of a transport vehicle disclosed in another embodiment of the present application.
  • Figure 11 is a partial structural schematic diagram of a transport vehicle disclosed in another embodiment of the present application.
  • 12 to 13 are schematic structural diagrams of a floating driving device disclosed in another embodiment of the present application at different viewing angles.
  • 14 to 15 are schematic structural diagrams of a transport vehicle from different viewing angles disclosed in yet another embodiment of the present application.
  • Figure 16 is a partial structural schematic diagram of a transport vehicle disclosed in yet another embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the application can be practiced in sequences other than those illustrated or described herein, and that "first,” “second,” etc. are distinguished Objects are usually of one type, and the number of objects is not limited. For example, the first object can be one or multiple.
  • “and/or” in the description and claims represents at least one of the connected objects. The character “/” generally indicates that the related objects are an "or” relationship.
  • floating driving devices usually adopt a single-point support structure, that is, one end is a hinged end and the other end is a floating end directly mounted with a compression spring.
  • the floating drive device has the problem of insufficient grip of the driving wheels.
  • the purpose of the embodiments of the present application is to provide a transport vehicle that can solve the problem of insufficient driving wheel grip of current transport vehicles.
  • the truck provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios.
  • the transport vehicle provided in the embodiment of this application can be an AGV (Automated Guided Vehicle), and of course it can also be other intelligent transport vehicles. There is no specific limitation here.
  • an embodiment of the present application discloses a transport vehicle, which includes a chassis 100 and a floating driving device 200 .
  • the chassis 100 is the basic component of the truck and can provide a foundation for other structures of the truck.
  • a power device for providing power to the truck can be installed on the chassis 100 .
  • the floating driving device 200 includes a driving bracket 210, a boosting bracket 220, a second elastic member 230, a first elastic member 240 and a driving wheel 250. Both the driving bracket 210 and the boosting bracket 220 are movably arranged on the chassis 100 .
  • the driving wheel 250 is arranged on the driving bracket 210.
  • the driving wheel 250 can be arranged on the side of the driving bracket 210, that is, the driving wheel 250 and the driving bracket 210 are arranged side by side, thereby reducing the height of the transport vehicle.
  • the driving wheel 250 is subjected to When the driving force of the power device is used, the driving force can rotate the driving wheels 250, and the driving wheels 250 drive the entire transport vehicle to move to ensure normal driving of the transport vehicle.
  • the second elastic member 230 is connected between the drive bracket 210 and the chassis 100
  • the first elastic member 240 is connected between the drive bracket 210 and the booster bracket 220
  • the second elastic member 230 and the first elastic member 240 may both be springs or other structures, which are not specifically limited here.
  • between the second elastic member 230 and the drive bracket 210, between the second elastic member 230 and the chassis 100, between the first elastic member 240 and the drive bracket 210, and between the first elastic member 240 and the booster bracket 220 They can be connected by hooking, welding, etc., and there are no specific restrictions here.
  • the second elastic member 230 When the truck is unloaded, the second elastic member 230 is pressed by the chassis 100 to drive the drive bracket 210 to move relative to the chassis 100 to press the drive wheel 250 so that there is a grip between the drive wheel 250 and the ground. Realize driving wheel 250 degrees travel.
  • the transport vehicle may not be provided with the second elastic member 230 .
  • the boosting bracket 220 receives the force from the load 990 and moves relative to the chassis 100 to drive the driving bracket 210 relative to the chassis 100 through the first elastic member 240 Movement to press the driving wheel 250 to increase the grip of the driving wheel 250 to prevent the truck from tilting due to insufficient grip of the driving wheel 250 . Therefore, the embodiment of the present application can solve the problem of insufficient grip of the driving wheel 250 of the current transport vehicle.
  • the preset value in the embodiment of the present application can be the self-weight of the truck, and of course it can also be other values, as long as the weight of the load 990 on the truck can drive the booster bracket 220 to move relative to the chassis 100, and
  • the first elastic member 240 can be used to drive the driving bracket 210 to move relative to the chassis 100, and there is no specific limitation here.
  • the number of floating driving devices 200 is at least two, including a first floating driving device and a second floating driving device.
  • the first floating driving device and the second floating driving device are along a direction perpendicular to the transport vehicle.
  • the traveling direction is parallel to the rotation axis of the driving wheel 250 , that is, the width direction of the truck is spaced apart, thereby further increasing the grip of the driving wheel 250 .
  • the driving bracket 210 is hingedly connected to the chassis 100 , that is, the driving bracket 210 can rotate relative to the chassis 100 .
  • the transport vehicle further includes a second connecting shaft 910 , the second connecting shaft 910 is provided on the driving bracket 210 , and the driving bracket 210 is hingedly connected to the chassis 100 through the second connecting shaft 910 .
  • the driving bracket 210 can also be rotationally connected to the chassis 100 in other ways, and there is no specific limitation here.
  • the booster bracket 220 is hingedly connected to the chassis 100 , that is, the booster bracket 220 can rotate relative to the chassis 100 .
  • the transport vehicle further includes a third connecting shaft 920 , which is provided on the booster bracket 220 .
  • the booster bracket 220 is hingedly connected to the chassis 100 through the third connecting shaft 920 .
  • the boosting bracket 220 can also be rotationally connected to the chassis 100 in other ways, and there is no specific limitation here. This type of connection requires less space for movement, making it easier to design the truck's structure.
  • Load on truck 990 When the weight is greater than the preset value, the booster bracket 220 rotates relative to the chassis 100 to drive the driving bracket 210 to rotate relative to the chassis 100 through the first elastic member 240 .
  • the rotation of the supercharging bracket 220 relative to the chassis 100 and the rotation of the driving bracket 210 relative to the chassis 100 can be set based on the lever principle to achieve force transmission, thereby ensuring that the driving wheels 250 have sufficient grip to avoid The driving wheel 250 slips or tilts.
  • the driving bracket 210 has a driving wheel connecting portion 212 and an elastic member connecting portion 213.
  • the driving wheel connecting portion 212 and the elastic member connecting portion 213 are respectively located on both sides of the second connecting shaft 910.
  • the driving wheel connecting portion 212 has a first end and a second end arranged oppositely along the extending direction of the second connecting shaft 910 .
  • the driving wheel 250 is connected to the first end of the driving wheel connecting portion 212 , and the driving wheel 250 is connected to the driving wheel.
  • the portions 212 are arranged along the extending direction of the second connecting shaft 910 .
  • the elastic member connecting portion 213 is connected to the first elastic member 240 , the boosting bracket 220 is located on the side of the elastic member connecting portion 213 away from the driving wheel connecting portion 212 , and the second elastic member 230 is located between the first elastic member 240 and the second connecting shaft 910 between.
  • the distance between the booster bracket 220 and the driving wheel 250 is relatively far, and the forces between the components of the truck are more dispersed, so it is less likely that the truck will be damaged due to excessive local stress.
  • the driving wheel connecting portion 212 of the driving bracket 210 and the elastic member connecting portion 213 of the driving bracket 210 can be arranged in a straight shape.
  • the driving bracket 210 has a straight structure, which is not only inconvenient for the hinged connection between the driving bracket 210 and the chassis 100 , and the straight strip structure occupies a larger space. Therefore, optionally, the elastic member connecting portion 213 is bent relative to the driving wheel connecting portion 212.
  • the driving bracket 210 can have a V-shaped structure to facilitate the hinged connection between the driving bracket 210 and the chassis 100 and to reduce the size of the driving bracket. 210 occupancy space.
  • connection between the driving wheel connection part 212 and the elastic member connection part 213 may be a first connection part 211, and the first connection part 211 may be hinged with the chassis 100 through the second connection shaft 910, so that the drive bracket 210 can rotate around The hinge axis rotates.
  • the truck also includes a first base 400.
  • the first base 400 is provided on the chassis 100.
  • the second elastic member 230 is hinged between the first base 400 and the driving bracket 210.
  • the driving bracket 210 is connected through the second
  • the shaft 910 is hingedly connected to the first base 400 to facilitate the connection between the driving bracket 210 and the chassis 100 .
  • the chassis 100 includes a main body 110 and a protective cover 120, and the protective cover 120 is provided on the main body 110.
  • the truck also includes casters 300, and the casters 300 are used for moving the truck.
  • the casters 300 can be universal wheels, so that the truck can rotate 360° on a horizontal plane.
  • the number of casters 300 is at least four, and each caster 300 is arranged at intervals along the edge of the chassis 100, thereby increasing the contact area between the truck and the ground and improving the stability of the truck.
  • the driving wheels 250 are disposed between adjacent casters 300 .
  • the driving wheel 250 is a driving wheel and the caster 300 is a driven wheel
  • the driving wheel 250 is arranged between adjacent casters 300, which not only improves the driving efficiency of the driving wheel 250, but also allows the two adjacent casters 300 to receive almost the same driving force. , thereby preventing the truck from tilting.
  • the casters 300 are provided on the main body 110 .
  • a through hole is provided on the edge of the main body 110, and one end of the caster 300 passes through the through hole to contact the ground, so as to make the structure of the entire truck more compact and help improve the stability of the truck.
  • At least part of the caster 300 is located in the accommodation space of the protective cover 120.
  • the caster 300 Since the caster 300 walks on the ground, which inevitably contains dust, water stains and other debris, the debris is easily carried to the caster 300 and falls to the chassis. 100 and other structures, therefore by providing the protective cover 120, dust, water stains and other debris can be prevented from falling on the chassis 100 and other structures.
  • the boosting bracket 220 includes a second base 221 and a boosting arm 222.
  • the second base 221 is provided on the protective cover 120.
  • the protective cover 120 serves as the basis for the supercharging bracket 220, so as to facilitate the connection between the supercharging bracket 220 and the chassis 100.
  • additional supports can also be provided directly on the chassis 100 to facilitate the hinged connection between the booster bracket 220 and the chassis 100 .
  • this method will increase the cost of the truck. The number of parts will increase the installation workload and production costs.
  • the protective cover 120 in the embodiment of the present application has a dual-purpose effect, that is, the protective cover 120 in the embodiment of the present application can not only prevent dust, water stains and other debris from falling on the chassis 100 and other structures, but also It can be used as the basis for setting the booster bracket 220 .
  • the boosting arm 222 is hingedly connected to the second base 221 .
  • the third connecting shaft 920 may be provided on the second base 221 so that the boosting arm 222 is rotationally connected to the second base 221 through the third connecting shaft 920 .
  • the booster arm 222 has a load-bearing end and a connecting end.
  • the first elastic member 240 is connected between the elastic member connecting portion 213 of the drive bracket 210 and the connection end of the booster arm 222.
  • the load 990 on the truck can be pressed against the booster arm. 222 of the load-bearing end, thereby realizing the transmission of force.
  • the structure of the boosting bracket 220 can be flexibly set.
  • the load-bearing end of the boosting arm 222 and the connecting end of the boosting arm 222 can be arranged in a straight shape.
  • the boosting bracket 220 has a straight strip structure, but the straight strip structure occupies a large space, and During the rotation of the booster bracket 220, it is easy to interfere with other structures. Therefore, optionally, the boosting bracket 220 includes a connected first part and a second part, the bearing end of the boosting arm 222 is set on the first part, the connecting end of the boosting arm 222 is set on the second part, and the first part is relative to the second part. Two parts are bent.
  • the booster bracket 220 may have an L-shaped structure, thereby reducing the occupied space of the booster bracket 220 and avoiding interference with other structures during the rotation of the booster bracket 220 .
  • the connection point between the first part and the second part is a second connection point 223.
  • the second connection point 223 can be hinged to the second base 221 through the third connection shaft 920 and to the protective cover 120 to facilitate pressurization.
  • the bracket 220 rotates around the hinge axis.
  • the truck also includes a first rotation shaft 930 and a second rotation shaft 940.
  • the first end of the first elastic member 240 is rotationally connected to the connection end of the booster bracket 220 through the first rotation shaft 930.
  • the first elastic member 240 The second end of 240 is rotationally connected to the elastic member connecting portion 213 of the drive bracket 210 through the second rotation shaft 940.
  • the two ends of the first elastic member 240 have more degrees of freedom, thereby improving the stability of the booster bracket 220 and the drive bracket 210. Rotational flexibility.
  • the truck also includes a third rotation shaft 950 and a fourth rotation shaft 960 .
  • the first end of the second elastic member 230 is rotationally connected to the driving bracket 210 through the third rotation shaft 950 .
  • the second end of the second elastic member 230 The two ends of the second elastic member 230 have more degrees of freedom at this time, thereby improving the rotation flexibility of the driving bracket 210 .
  • the second elastic member 230 can be hung on the third rotating shaft 950 and the fourth rotating shaft 960 respectively, and the first elastic member 240 can be hooked on the first rotating shaft 930 and the second rotating shaft 940 respectively. , but the stress in this arrangement is relatively concentrated, and the second elastic member 230 and the first elastic member 240 are easily damaged.
  • the truck also includes a first support 902, a second support 903, a third support 904 and a fourth support 905, and the second elastic member 230 passes through the first support 902 and the second support 903 is connected to the third rotating shaft 950 and the fourth rotating shaft 960 respectively, and the first elastic member 240 is connected to the first rotating shaft 930 and the second rotating shaft 940 respectively through the third support 904 and the fourth support 905 to increase the The connection area is large, thereby protecting the second elastic member 230 and the first elastic member 240 .
  • the booster bracket 220 has a load-bearing end, and the truck also includes a top plate 700 and a plurality of support columns 800 .
  • the top plate 700 is connected to the chassis 100 through each support column 800 , and the top plate 700 serves as a carrier for the load 990 .
  • the top plate 700 can be made of sheet metal, and of course can also be made of other materials with strong rigidity, which is not specifically limited here.
  • Multiple support pillars 800 are arranged between the chassis 100 and the top plate 700. The arrangement of the support pillars 800 can prevent the top plate 700 from directly pressing the drive bracket 210 and other structures arranged on the chassis 100 to protect the structure between the chassis 100 and the top plate 700. structure between.
  • the top plate 700 is provided with a second escape hole 710 , and the load-bearing end of the booster bracket 220 is exposed through the second escape hole 710 . At this time, the load 990 on the truck is directly pressed to the load-bearing end, which can prevent the load-bearing end from damaging the top plate 700 and protect the top plate 700 .
  • the top plate 700 is movably connected to the chassis 100 through at least one support column 800 , and the bottom surface of the top plate 700 is in contact with the bearing end of the booster bracket 220 to press the booster.
  • the load-bearing end of the bracket 220 due to the larger area of the top plate 700, can be suitable for loads 990 of various sizes.
  • each support column 800 can be arranged at circumferential intervals along the edge of the chassis 100. At this time, the end of the top plate 700 away from the load-bearing end can be hinged with the support column 800, and there can be a gap between the end of the top plate 700 close to the load-bearing end and the support column 800.
  • each support column 800 can be disposed at circumferential intervals along the edge of the chassis 100.
  • the plurality of support columns 800 disposed between the top plate 700 and the chassis 100 can slide relative to the top plate 700 or the chassis 100, and additional support columns 800 can be provided. Limiting parts to limit the sliding distance of the top plate 700 .
  • the booster bracket 220 can move relative to the chassis 100 .
  • a part of the support column 800 can also be disposed in the central area of the chassis 100, and another part
  • the support column 800 is disposed on the edge of the chassis 100, as long as it can satisfy the movement of the supercharging bracket 220 relative to the chassis 100, and the embodiment of the present application does not impose any specific restrictions on this.
  • the difference between Embodiment 2 and Embodiment 1 lies in the location of the booster bracket 220 .
  • the driving bracket 210 is hingedly connected to the chassis 100 through the second connecting shaft 910.
  • the driving bracket 210 has a driving wheel connecting part 212 and an elastic member connecting part 213.
  • the driving wheel connecting part 212 and the elastic member connecting part 213 are respectively located at the second connection part. both sides of shaft 910.
  • the driving wheel connecting portion 212 has a first end and a second end arranged oppositely along the extending direction of the second connecting shaft 910 .
  • the driving wheel 250 is connected to the first end of the driving wheel connecting portion 212 , and the driving wheel 250 is connected to the driving wheel.
  • the portions 212 are arranged along the extending direction of the second connecting shaft 910 .
  • the elastic member connecting portion 213 is connected to the first elastic member 240.
  • At least a part of the boosting bracket 220 is located between the driving wheel connecting portion 212 and the elastic member connecting portion 213.
  • the second elastic member 230 is located away from the first elastic member 240 and connected to the driving wheel. one side of part 212. At this time, the distance between the booster bracket 220 and the driving wheel 250 is closer, and the structures of the floating driving device 200 are more compact, which can reduce the space occupied by the entire floating driving device 200 and prevent the truck from tilting due to an unstable center of gravity. .
  • the chassis 100 includes a main body 110 and a protective cover 120.
  • the truck also includes a first base 400.
  • the first base 400 is provided on the protective cover 120.
  • the second elastic member 230 is connected to the first base 400 and the driving bracket. 210 between the elastic member connecting portions 213 .
  • the protective cover 120 serves as the basis for the driving bracket 210 to facilitate the connection between the driving bracket 210 and the chassis 100 .
  • additional supports can also be provided directly on the chassis 100 to facilitate the hinged connection between the drive bracket 210 and the chassis 100 .
  • this method will increase the number of parts of the truck. Quantity will increase installation workload and production costs.
  • the protective cover 120 in the embodiment of the present application has a dual-purpose effect, that is, the protective cover 120 in the embodiment of the present application can not only prevent dust, water stains and other debris from falling on the chassis 100 and other structures, but also It can be used as the basis for setting the drive bracket 210.
  • the boosting bracket 220 can be arranged side by side with the driving bracket 210, in which case the floating driving device 200 occupies a larger space. Therefore, optionally, the booster bracket 220 has a load-bearing end and a connection end, the driving bracket 210 is provided with a first escape hole, the booster bracket 220 is penetrated through the first escape hole, and the load-bearing end and the connection end of the booster bracket 220 All extend beyond the first escape hole, thereby further reducing the occupied space of the floating driving device 200 and making the structures of the floating driving device 200 more compact.
  • the boosting bracket 220 includes a second base 221 and a boosting arm 222.
  • the second base 221 is provided on the main body 110.
  • the boosting arm 222 has a load-bearing end and a connecting end.
  • the first elastic member 240 is connected to the driving bracket. Between the elastic member connection part 213 of 210 and the connection end of the booster arm 222, the load 990 on the truck can be pressed against the booster arm 222. load-bearing end, thereby realizing the transmission of force.
  • the boosting bracket 220 includes a connected first part and a second part, the bearing end of the boosting arm 222 is set on the first part, the connecting end of the boosting arm 222 is set on the second part, and the first part is relative to the second part.
  • the angle between the first part and the second part may be an obtuse angle, thereby reducing the space occupied by the booster bracket 220 and avoiding interference with other structures during the rotation of the booster bracket 220 .
  • the connection point between the first part and the second part is the second connection point 223.
  • the second connection point 223 can be hinged with the main body 110 of the chassis 100 through the third connection shaft 920, so that the supercharging bracket 220 can be pivoted around the hinge axis. Turn.
  • the supercharging bracket 220 has a load-bearing end
  • the truck also includes a first connecting shaft 500 and a roller set 600.
  • the first connecting shaft 500 is disposed at the load-bearing end of the supercharging bracket 220.
  • the roller group 600 is sleeved on the first connecting shaft 500 .
  • the first connecting shaft 500 can be a fastener such as a screw, which is not specifically limited here.
  • the truck may also include a nut 901 , a part of the first connecting shaft 500 is threaded, and the nut 901 is threadedly matched with the first connecting shaft 500 to improve the connection stability of the first connecting shaft 500 .
  • Embodiment 3 that are the same as Embodiment 1 and Embodiment 2 will not be repeated here.
  • the difference between Embodiment 3 and Embodiment 1 and Embodiment 2 is that the driving bracket 210 is slidingly connected to the chassis 100 , and the boosting bracket 220 is slidingly connected to the chassis 100 .
  • the driving bracket 210 can be provided with guide grooves, and the chassis 100 can be provided with guide rails.
  • the driving bracket 210 can be provided with guide rails, and the chassis 100 can be provided with guide grooves.
  • the guide rails are slidably matched with the guide grooves, thereby improving the sliding movement of the driving bracket 210. stability.
  • the truck also includes a first sliding member 970.
  • the first sliding member 970 may include a guide rail and a guide groove.
  • the driving bracket 210 is slidably connected to the chassis 100 through the guide rail and the guide groove, that is, between the driving bracket 210 and the chassis 100 Additional sliding connectors are added to facilitate the installation of guide rails and guide grooves, thereby facilitating the sliding connection between the drive bracket 210 and the chassis 100 .
  • the supercharging bracket 220 can be provided with guide grooves, and the chassis 100 can be provided with guide rails.
  • the supercharging bracket 220 can be provided with guide rails, and the chassis 100 can be provided with guide grooves.
  • the truck also includes a second sliding member 980.
  • the second sliding member 980 may include a guide rail and a guide groove.
  • the booster bracket 220 is slidably connected to the chassis 100 through the guide rail and the guide slot. That is, when the booster bracket 220 and the chassis 100 are connected, the Additional sliding connections are added between the chassis 100 to facilitate the installation of guide rails and guide grooves, thereby facilitating the sliding connection between the booster bracket 220 and the chassis 100 .
  • the boosting bracket 220 slides in the first direction relative to the chassis 100 to drive the driving bracket 210 relative to the chassis 100 through the first elastic member 240 Sliding in the first direction, that is, the sliding direction of the supercharging bracket 220 and the driving bracket 210 is the same, where the first direction is the thickness direction of the chassis 100 .
  • the connection area between the drive bracket 210 and the chassis 100 and the connection area between the booster bracket 220 and the chassis 100 are both larger.
  • the second elastic member 230 and the first elastic member 240 are both disposed in the accommodating space, making the structures of the floating driving device 200 more compact. , thereby improving the space utilization of the floating driving device 200.
  • the second elastic member 230 is connected between the drive bracket 210 and the chassis 100
  • the first elastic member 240 is connected between the drive bracket 210 and the booster bracket 220 .
  • the number of the second elastic member 230 and the first elastic member 240 may be one. In this case, both the second elastic member 230 and the first elastic member 240 need to be disposed in the middle of the driving bracket 210 and the boosting bracket 220 .
  • the second elastic member 230 and the first elastic member 240 are likely to interfere with the driving wheel 250 . Therefore, in another optional embodiment, the number of the second elastic members 230 and the first elastic members 240 is at least two. In the traveling direction of the transport vehicle, each second elastic member 230 is respectively disposed on the driving wheel 250 On both sides of the drive wheel 250 , that is, the second elastic members 230 are spaced apart along the traveling direction of the drive wheel 250 , and are distributed on the front and rear sides of the drive wheel 250 .
  • the first elastic members 240 are respectively disposed on both sides of the drive wheel 250 , that is, the first The elastic members 240 are arranged at intervals along the traveling direction of the driving wheel 250 and are distributed on the front and rear sides of the driving wheel 250, thereby preventing the driving bracket 210 and the boosting bracket 220 from tilting during the sliding process, and the second elastic member 230 and the second elastic member 230 can be flexibly arranged.
  • the first elastic member 240 is used to reduce the installation difficulty.

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Abstract

一种搬运车，包括底盘（100）和浮动式驱动装置（200）。浮动式驱动装置（200）包括驱动支架（210）、增压支架（220）、第一弹性件（240）和驱动轮（250），驱动支架（210）和增压支架（220）均可活动地设置于底盘（100），驱动轮（250）设置于驱动支架（210），第一弹性件（240）连接于驱动支架（210）与增压支架（220）之间，在搬运车所受负载（990）的重量大于预设值的情况下，增压支架（220）相对于底盘（100）运动，以通过第一弹性件（240）驱动驱动支架（210）相对于底盘（100）运动，以按压驱动轮（250），从而增大驱动轮（250）的抓地力，避免驱动轮（250）因抓地力不足导致搬运车倾斜。

Description

搬运车 技术领域
本申请属于运输设备技术领域，具体涉及一种搬运车。
背景技术
随着智能物流的快速发展，智能化的搬运车已经受到许多用户的喜爱，如AGV(Automated Guided Vehicle的缩写，自动导引运输车)等，其不仅能够节省劳动力，而且能够大大提高劳动生产率。
驱动装置是搬运车行驶的动力设备，通常采用浮动式驱动装置以适应地面的高低变化，从而实现浮动式运行，进而达到稳定行驶的目的。
发明内容
本申请实施例提供了一种搬运车，包括底盘和浮动式驱动装置，其中：
所述浮动式驱动装置包括驱动支架、增压支架、第一弹性件和驱动轮，所述驱动支架和所述增压支架均可活动地设置于所述底盘，所述驱动轮设置于所述驱动支架，所述第一弹性件连接于所述驱动支架与所述增压支架之间，
在所述搬运车所受负载的重量大于预设值的情况下，所述增压支架相对于所述底盘运动，以通过所述第一弹性件驱动所述驱动支架相对于所述底盘运动，以按压所述驱动轮。
可选地，所述搬运车还包括第二弹性件，所述第二弹性件连接于所述驱动支架与所述底盘之间，
在所述搬运车处于空载状态的情况下，所述第二弹性件驱动所述驱动支架相对于所述底盘运动，以按压所述驱动轮。
可选地，所述驱动支架与所述底盘铰接，所述增压支架与所述底盘铰接，
在所述搬运车所受负载的重量大于所述预设值的情况下，所述增压支架相对于所述底盘转动，以通过所述第一弹性件驱动所述驱动支架相对于所述底盘转动。
可选地，所述驱动支架通过第二连接轴与所述底盘铰接，所述驱动支架具有驱动轮 连接部和弹性件连接部，所述驱动轮连接部和所述弹性件连接部分别位于所述第二连接轴的两侧，
所述驱动轮连接部具有沿所述第二连接轴的延伸方向相背设置的第一端和第二端，所述驱动轮与所述驱动轮连接部的第一端相连，且所述驱动轮与所述驱动轮连接部沿所述第二连接轴的延伸方向排布，
所述弹性件连接部与所述第一弹性件相连，所述增压支架位于所述弹性件连接部背离所述驱动轮连接部的一侧，所述第二弹性件位于所述第一弹性件与所述第二连接轴之间。
可选地，所述底盘包括主体和防护罩，所述防护罩设置于所述主体，所述搬运车还包括脚轮，所述脚轮设置于所述主体，且所述脚轮的至少部分位于所述防护罩的容纳空间内，
所述增压支架包括第二基座和增压臂，所述第二基座设置于所述防护罩，所述增压臂与所述第二基座铰接，所述增压臂具有承载端和连接端，所述第一弹性件连接于所述弹性件连接部和所述增压臂的连接端之间。
可选地，所述驱动支架通过第二连接轴与所述底盘铰接，所述驱动支架具有驱动轮连接部和弹性件连接部，所述驱动轮连接部和所述弹性件连接部分别位于所述第二连接轴的两侧，
所述驱动轮连接部具有沿所述第二连接轴的延伸方向相背设置的第一端和第二端，所述驱动轮与所述驱动轮连接部的第一端相连，且所述驱动轮与所述驱动轮连接部沿所述第二连接轴的延伸方向排布，
所述弹性件连接部与所述第一弹性件相连，所述增压支架的至少一部分位于所述驱动轮连接部与所述弹性件连接部之间，所述第二弹性件位于所述第一弹性件背离所述驱动轮连接部的一侧。
可选地，所述底盘包括主体和防护罩，所述防护罩设置于所述主体，所述搬运车还包括脚轮，所述脚轮设置于所述主体，且所述脚轮的至少部分位于所述防护罩的容纳空间内，
所述搬运车还包括第一基座，所述第一基座设置于所述防护罩，所述第二弹性件连接于所述第一基座与所述弹性件连接部之间。
可选地，所述增压支架具有承载端和连接端，所述驱动支架设有第一避让孔，所述增压支架穿设于所述第一避让孔，且所述增压支架的承载端和连接端均延伸至所述第一避让孔之外。
可选地，上述任一实施例中，所述增压支架具有承载端，所述搬运车还包括第一连接轴和滚轮组，所述第一连接轴设置于所述增压支架的承载端，所述滚轮组套设于所述第一连接轴。
可选地，所述驱动支架与所述底盘滑动连接，所述增压支架与所述底盘滑动连接，
在所述搬运车所受负载的重量大于所述预设值的情况下，所述增压支架相对于所述底盘沿第一方向滑动，以通过所述第一弹性件驱动所述驱动支架相对于所述底盘沿所述第一方向滑动。
可选地，所述驱动支架与所述增压支架之间具有容纳空间，所述第二弹性件和所述第一弹性件均设置于所述容纳空间内，所述第二弹性件和所述第一弹性件的数量均为至少两个，在所述搬运车的行驶方向上，各所述第二弹性件分别设置于所述驱动轮的两侧，各所述第一弹性件分别设置于所述驱动轮的两侧。
可选地，所述增压支架具有承载端，所述搬运车还包括顶板和多个支撑柱，所述多个支撑柱均设置于所述底盘与所述顶板之间，所述顶板通过所述多个支撑柱与所述底盘相连，
所述顶板开设有第二避让孔，所述增压支架的承载端外露于所述第二避让孔。
可选地，所述增压支架具有承载端，所述搬运车还包括顶板和多个支撑柱，所述多个支撑柱均设置于所述底盘与所述顶板之间，所述顶板通过至少一个所述支撑柱与所述底盘活动连接，所述顶板的底面与所述增压支架的承载端接触，以按压所述增压支架的承载端。
本申请实施例中，在搬运车所受负载的重量大于预设值的情况下，增压支架受到来自负载的作用力而相对于底盘运动，以通过第一弹性件驱动驱动支架相对于底盘运动，以按压驱动轮，从而增大驱动轮的抓地力，避免驱动轮因抓地力不足导致搬运车倾斜。
附图说明
图1为本申请实施例公开的浮动式驱动装置的结构示意图。
图2至图3为本申请实施例公开的搬运车处于不同视角下的结构示意图。
图4为本申请实施例公开的搬运车的部分结构示意图。
图5为本申请实施例公开的搬运车处于负载状态下的结构示意图。
图6为本申请实施例公开的搬运车处于空载状态下的结构示意图。
图7至图8为本申请再一实施例公开的搬运车处于不同视角下的结构示意图。
图9为本申请另一实施例公开的浮动式驱动装置的结构示意图。
图10为本申请另一实施例公开的搬运车的结构示意图。
图11为本申请另一实施例公开的搬运车的部分结构示意图。
图12至图13为本申请又一实施例公开的浮动式驱动装置处于不同视角下的结构示意图。
图14至图15为本申请又一实施例公开的搬运车处于不同视角下的结构示意图。
图16为本申请又一实施例公开的搬运车的部分结构示意图。
附图标记说明：
100-底盘、110-主体、120-防护罩；
200-浮动式驱动装置、210-驱动支架、211-第一连接处、212-驱动轮连接部、213-弹
性件连接部、220-增压支架、221-第二基座、222-增压臂、223-第二连接处、230-第二弹性件、240-第一弹性件、250-驱动轮；
300-脚轮；
400-第一基座；
500-第一连接轴；
600-滚轮组；
700-顶板、710-第二避让孔；
800-支撑柱；
901-螺母、902-第一支座、903-第二支座、904-第三支座、905-第四支座、910-第二
连接轴、920-第三连接轴、930-第一转动轴、940-第二转动轴、950-第三转动轴、960-第四转动轴、970-第一滑动件、980-第二滑动件、990-负载。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例进行清楚、完整的描述。显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求书中的“和/或”表示所连接对象的至少其中之一。字符“/”，一般表示前后关联对象是一种“或”的关系。
实际应用中，浮动式驱动装置通常采用单点支撑结构，即一端为铰接端，另一端为直接安装压缩弹簧的浮动端。然而，当负载的重量远大于搬运车的自重时，该浮动式驱动装置存在驱动轮抓地力不足的问题。
本申请实施例的目的是提供一种搬运车，能够解决目前搬运车存在的驱动轮抓地力不足的问题。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的搬运车进行详细地说明。本申请实施例提供的搬运车可以为AGV(Automated Guided Vehicle，自动导引运输车)，当然也可以为其它智能化的搬运车，这里不作具体限制。
实施例一
如图1至图8所示，本申请实施例公开一种搬运车，该搬运车包括底盘100和浮动式驱动装置200。
底盘100为搬运车的基础构件，能够为搬运车的其它结构提供设置基础，底盘100上可以安装用于为搬运车提供动力的动力装置。
浮动式驱动装置200包括驱动支架210、增压支架220、第二弹性件230、第一弹性件240和驱动轮250。驱动支架210和增压支架220均可活动地设置于底盘100。驱动轮250设置于驱动支架210，可选地，驱动轮250可以设置于驱动支架210的侧面，即驱动轮250与驱动支架210并排设置，从而降低搬运车的高度。当驱动轮250受到来自 动力装置的驱动力时，该驱动力能够使驱动轮250转动，驱动轮250带动整个搬运车产生运动，以确保搬运车正常行驶。第二弹性件230连接于驱动支架210与底盘100之间，第一弹性件240连接于驱动支架210与增压支架220之间。可选地，第二弹性件230和第一弹性件240可以均为弹簧等结构，这里不作具体限制。进一步可选地，第二弹性件230与驱动支架210之间以及第二弹性件230与底盘100之间、第一弹性件240与驱动支架210之间以及第一弹性件240与增压支架220之间均可以通过挂接、焊接等方式连接，这里不作具体限制。
在搬运车空载的情况下，第二弹性件230受到底盘100的按压力，驱动驱动支架210相对于底盘100运动，以按压驱动轮250，使得驱动轮250与地面之间存在抓地力，从而实现驱动轮250行驶。当然，搬运车也可以不设置第二弹性件230。
在搬运车所受负载990的重量大于预设值的情况下，增压支架220受到来自负载990的作用力而相对于底盘100运动，以通过第一弹性件240驱动驱动支架210相对于底盘100运动，以按压驱动轮250，从而增大驱动轮250的抓地力，以避免驱动轮250因抓地力不足导致搬运车倾斜。因此，本申请实施例能够解决目前搬运车存在的驱动轮250的抓地力不足的问题。
需要说明的是，本申请实施例中的预设值可以为搬运车的自重，当然也可以为其它数值，只要搬运车所受负载990的重量能够驱动增压支架220相对于底盘100运动，并通过第一弹性件240驱动驱动支架210相对于底盘100运动即可，这里不作具体限制。
可选地，浮动式驱动装置200的数量为至少两个，其中包括第一浮动式驱动装置和第二浮动式驱动装置，第一浮动式驱动装置和第二浮动式驱动装置沿垂直于搬运车的行驶方向，且平行于驱动轮250的转动轴线的方向，即搬运车的宽度方向间隔设置，从而进一步增大驱动轮250的抓地力。
可选的实施例中，驱动支架210与底盘100铰接，即驱动支架210可以相对于底盘100转动。可选地，搬运车还包括第二连接轴910，第二连接轴910设置于驱动支架210，驱动支架210通过第二连接轴910与底盘100铰接。当然，驱动支架210也可以通过其它方式与底盘100转动连接，这里不作具体限制。增压支架220与底盘100铰接，即增压支架220可以相对于底盘100转动。可选地，搬运车还包括第三连接轴920，第三连接轴920设置于增压支架220，增压支架220通过第三连接轴920与底盘100铰接。当然，增压支架220也可以通过其它方式与底盘100转动连接，这里不作具体限制。此种连接方式所需的运动空间较小，因此更便于搬运车的结构设计。在搬运车所受负载990 的重量大于预设值的情况下，增压支架220相对于底盘100转动，以通过第一弹性件240驱动驱动支架210相对于底盘100转动。本申请实施例中的增压支架220相对于底盘100转动以及驱动支架210相对于底盘100转动均可以基于杠杆原理进行设置，以实现力的传递，从而确保驱动轮250有足够的抓地力，避免驱动轮250打滑或翘起。
一种可选的实施例中，驱动支架210具有驱动轮连接部212和弹性件连接部213，驱动轮连接部212和弹性件连接部213分别位于第二连接轴910的两侧。驱动轮连接部212具有沿第二连接轴910的延伸方向相背设置的第一端和第二端，驱动轮250与驱动轮连接部212的第一端相连，且驱动轮250与驱动轮连接部212沿第二连接轴910的延伸方向排布。弹性件连接部213与第一弹性件240相连，增压支架220位于弹性件连接部213背离驱动轮连接部212的一侧，第二弹性件230位于第一弹性件240与第二连接轴910之间。此时增压支架220与驱动轮250之间的距离较远，搬运车的各部件之间的作用力更为分散，因此不容易出现搬运车因局部受力过大而损坏的情况。
可选地，驱动支架210的驱动轮连接部212和驱动支架210的弹性件连接部213可以呈一字形设置，此时驱动支架210为直条形结构，不仅不便于驱动支架210与底盘100铰接，且直条形结构所占空间较大。故，可选地，弹性件连接部213相对于驱动轮连接部212弯折，可选地，驱动支架210可以呈V形结构，以便于驱动支架210与底盘100铰接，且能够减小驱动支架210的占用空间。进一步可选地，驱动轮连接部212与弹性件连接部213的连接处可以为第一连接处211，第一连接处211可以通过第二连接轴910与底盘100铰接，以便于驱动支架210绕铰接轴转动。
可选地，搬运车还包括第一基座400，第一基座400设置于底盘100，第二弹性件230铰接于第一基座400与驱动支架210之间，驱动支架210通过第二连接轴910与第一基座400铰接，以便于驱动支架210与底盘100连接。
进一步可选的实施例中，底盘100包括主体110和防护罩120，防护罩120设置于主体110。搬运车还包括脚轮300，脚轮300用于供搬运车运动。可选地，脚轮300可以为万向轮，从而实现搬运车在水平面可以360°转动。进一步可选地，脚轮300的数量为至少四个，各脚轮300沿底盘100的边缘间隔设置，从而增大搬运车与地面的接触面积，提高搬运车的稳定性。更进一步可选地，在搬运车的行驶方向上，驱动轮250设置于相邻脚轮300之间。由于驱动轮250为主动轮，脚轮300为从动轮，驱动轮250设置于相邻脚轮300之间，不仅可以提高驱动轮250的驱动效率，而且相邻两个脚轮300受到几乎同等大小的驱动力，从而避免搬运车倾斜。脚轮300设置于主体110。可选地， 主体110的边缘开设有通孔，脚轮300的一端穿过通孔与地面接触，以使整个搬运车的结构更加紧凑，有利于提高搬运车的稳定性。脚轮300的至少部分位于防护罩120的容纳空间内，由于脚轮300行走于地面，而地面不可避免地存在灰尘、水渍等杂物，此时杂物容易携带到脚轮300上，从而落到底盘100以及其它结构上，因此通过设置该防护罩120可以避免灰尘、水渍等杂物落到底盘100和其它结构上。
可选地，增压支架220包括第二基座221和增压臂222。第二基座221设置于防护罩120，此时防护罩120作为增压支架220的设置基础，以便于增压支架220与底盘100连接。当然，也可以直接在底盘100上额外设置支座以便于增压支架220与底盘100铰接，但是此种方式相对于将第二基座221设置于防护罩120的方式，将增加搬运车的零部件数量，会增加安装工作量和制作成本。因此，本申请实施例中的防护罩120具有一物两用的效果，即，本申请实施例中的防护罩120不仅可以避免灰尘、水渍等杂物落到底盘100和其它结构上，而且可以作为增压支架220的设置基础。
增压臂222与第二基座221铰接。可选地，第三连接轴920可以设置于第二基座221，以使增压臂222通过第三连接轴920与第二基座221转动连接。增压臂222具有承载端和连接端，第一弹性件240连接于驱动支架210的弹性件连接部213和增压臂222的连接端之间，搬运车上的负载990可以按压于增压臂222的承载端，从而实现作用力的传递。
增压支架220的结构可以灵活设置。可选地，增压臂222的承载端和增压臂222的连接端可以呈一字形设置，此时增压支架220为直条形结构，但是直条形结构所占据的空间较大，且在增压支架220转动的过程中容易与其它结构发生干涉。故，可选地，增压支架220包括相连的第一部分和第二部分，增压臂222的承载端设置于第一部分，增压臂222的连接端设置于第二部分，第一部分相对于第二部分弯折。可选地，增压支架220可以呈L形结构，从而减小增压支架220的占用空间，并且可以避免在增压支架220转动过程中与其他结构发生干涉。进一步可选地，第一部分与第二部分的连接处为第二连接处223，第二连接处223可以通过第三连接轴920与第二基座221进而与防护罩120铰接，以便于增压支架220绕铰接轴转动。
可选地，搬运车还包括第一转动轴930和第二转动轴940，第一弹性件240的第一端通过第一转动轴930与增压支架220的连接端转动连接，第一弹性件240的第二端通过第二转动轴940与驱动支架210的弹性件连接部213转动连接，此时第一弹性件240的两端的自由度更多，从而提高增压支架220和驱动支架210的转动灵活性。
可选地，搬运车还包括第三转动轴950和第四转动轴960，第二弹性件230的第一端通过第三转动轴950与驱动支架210转动连接，第二弹性件230的第二端通过第四转动轴960与第一基座400转动连接，此时第二弹性件230的两端的自由度更多，从而提高驱动支架210的转动灵活性。
进一步可选地，第二弹性件230可以分别挂接于第三转动轴950和第四转动轴960上，第一弹性件240可以分别挂接于第一转动轴930和第二转动轴940上，但是此种设置方式的应力较为集中，容易损坏第二弹性件230和第一弹性件240。故，可选地，搬运车还包括第一支座902、第二支座903、第三支座904和第四支座905，第二弹性件230通过第一支座902和第二支座903分别与第三转动轴950和第四转动轴960连接，第一弹性件240通过第三支座904和第四支座905分别与第一转动轴930和第二转动轴940连接，以增大连接面积，从而保护第二弹性件230和第一弹性件240。
一种可选的实施例中，增压支架220具有承载端，搬运车还包括顶板700和多个支撑柱800，顶板700通过各支撑柱800与底盘100相连，顶板700作为负载990的承载件。可选地，顶板700可以由钣金件制成，当然也可以由其它具有较强刚性的材料制成，这里不作具体限制。多个支撑柱800均设置于底盘100与顶板700之间，支撑柱800的设置可以避免顶板700直接按压到设置在底盘100上的驱动支架210等结构，以保护设置于底盘100与顶板700之间的结构。
可选的实施例中，顶板700开设有第二避让孔710，增压支架220的承载端外露于第二避让孔710。此时，搬运车所受负载990直接按压到承载端，可以避免承载端损坏顶板700，以保护顶板700。
另一可选的实施例中，如图7和图8所示，顶板700通过至少一个支撑柱800与底盘100活动连接，顶板700的底面与增压支架220的承载端接触，以按压增压支架220的承载端，此时由于顶板700的面积较大，可以适用于多种尺寸的负载990。可选地，各支撑柱800可以沿底盘100的边缘周向间隔设置，此时顶板700远离承载端的一端可以与支撑柱800铰接，顶板700靠近承载端的一端可以与支撑柱800之间具有间隙，以便于增压支架220运动，并限制顶板700的转动角度。可选地，各支撑柱800可以沿底盘100的边缘周向间隔设置，此时设置于顶板700与底盘100之间的多个支撑柱800可以相对于顶板700或底盘100滑动，同时可以额外设置限位件，以限制顶板700的滑动距离。在搬运车所受负载990的重量大于预设值的情况下，增压支架220可以相对于底盘100运动。当然，也可以是一部分支撑柱800设置于底盘100的中心区域，另一部分 支撑柱800设置于底盘100的边缘，只要能够满足增压支架220相对于底盘100运动即可，本申请实施例对此不作具体限制。
实施例二
实施例二与实施例一相同的内容这里不再重复。参考图9至图11所示，实施例二与实施例一不同之处在于增压支架220的设置位置。具体来讲：驱动支架210通过第二连接轴910与底盘100铰接，驱动支架210具有驱动轮连接部212和弹性件连接部213，驱动轮连接部212和弹性件连接部213分别位于第二连接轴910的两侧。驱动轮连接部212具有沿第二连接轴910的延伸方向相背设置的第一端和第二端，驱动轮250与驱动轮连接部212的第一端相连，且驱动轮250与驱动轮连接部212沿第二连接轴910的延伸方向排布。弹性件连接部213与第一弹性件240相连，增压支架220的至少一部分位于驱动轮连接部212与弹性件连接部213之间，第二弹性件230位于第一弹性件240背离驱动轮连接部212的一侧。此时增压支架220与驱动轮250的距离较近，浮动式驱动装置200的各结构更加紧凑，能够减小整个浮动式驱动装置200的占用空间，同时可以防止搬运车因重心不稳而倾斜。
可选地，底盘100包括主体110和防护罩120，搬运车还包括第一基座400，第一基座400设置于防护罩120，第二弹性件230连接于第一基座400与驱动支架210的弹性件连接部213之间。防护罩120作为驱动支架210的设置基础，以便于驱动支架210与底盘100连接。当然，也可以直接在底盘100上额外设置支座以便于驱动支架210与底盘100铰接，但是此种方式相对于将第一基座400设置于防护罩120的方式，将增加搬运车的零部件数量，会增加安装工作量和制作成本。因此，本申请实施例中的防护罩120具有一物两用的效果，即，本申请实施例中的防护罩120不仅可以避免灰尘、水渍等杂物落到底盘100和其它结构上，而且可以作为驱动支架210的设置基础。
增压支架220可以与驱动支架210并排设置，此时浮动式驱动装置200占用的空间较大。故，可选地，增压支架220具有承载端和连接端，驱动支架210设有第一避让孔，增压支架220穿设于第一避让孔，且增压支架220的承载端和连接端均延伸至第一避让孔之外，从而进一步减小浮动式驱动装置200的占用空间，使浮动式驱动装置200的各结构更加紧凑。
可选地，增压支架220包括第二基座221和增压臂222，第二基座221设置于主体110，增压臂222具有承载端和连接端，第一弹性件240连接于驱动支架210的弹性件连接部213和增压臂222的连接端之间，搬运车上的负载990可以按压于增压臂222的 承载端，从而实现作用力的传递。
可选地，增压支架220包括相连的第一部分和第二部分，增压臂222的承载端设置于第一部分，增压臂222的连接端设置于第二部分，第一部分相对于第二部分弯折。可选地，第一部分和第二部分之间的夹角可以为钝角，从而减小增压支架220的占用空间，并且可以避免在增压支架220转动过程中与其他结构发生干涉。进一步可选地，第一部分与第二部分的连接处为第二连接处223，第二连接处223可以通过第三连接轴920与底盘100的主体110铰接，以便于增压支架220绕铰接轴转动。
上述实施例一和实施例二中，可选地，增压支架220具有承载端，搬运车还包括第一连接轴500和滚轮组600，第一连接轴500设置于增压支架220的承载端，滚轮组600套设于第一连接轴500。当搬运车具有负载990时，该滚轮组600可以相对于负载990运动，从而减小承载端的摩擦力，有利于提高增压支架220的转动灵活性。可选地，第一连接轴500可以为螺钉等紧固件，这里不作具体限制。进一步可选地，搬运车还可以包括螺母901，第一连接轴500的一部分开设有螺纹，螺母901与第一连接轴500螺纹配合，以提高第一连接轴500的连接稳定性。
实施例三
实施例三与实施例一和实施例二相同的内容这里不再重复。参考图12至图16所示，实施例三与实施例一和实施例二不同的是：驱动支架210与底盘100滑动连接，增压支架220与底盘100滑动连接。可选地，驱动支架210可以开设导向槽，底盘100可以设有导轨，或者，驱动支架210可以设有导轨，底盘100可以开设导向槽，导轨与导向槽滑动配合，从而提高驱动支架210的滑动稳定性。进一步可选地，搬运车还包括第一滑动件970，第一滑动件970可以包括导轨和导向槽，驱动支架210通过导轨和导向槽与底盘100滑动连接，即在驱动支架210与底盘100之间额外增加滑动连接件，以便于导轨和导向槽的设置，从而方便驱动支架210与底盘100的滑动连接。可选地，增压支架220可以开设导向槽，底盘100可以设有导轨，或者，增压支架220可以设有导轨，底盘100可以开设导向槽，导轨与导向槽滑动配合，从而提高增压支架220的滑动稳定性。更进一步可选地，搬运车还包括第二滑动件980，第二滑动件980可以包括导轨和导向槽，增压支架220通过导轨和导向槽与底盘100滑动连接，即在增压支架220与底盘100之间额外增加滑动连接件，以便于导轨和导向槽的设置，从而方便增压支架220与底盘100的滑动连接。在搬运车所受负载990的重量大于预设值的情况下，增压支架220相对于底盘100沿第一方向滑动，以通过第一弹性件240驱动驱动支架210相对于底盘100 沿第一方向滑动，即增压支架220和驱动支架210的滑动方向相同，其中，第一方向为底盘100的厚度方向。采用此种方式，驱动支架210与底盘100之间的连接面积和增压支架220与底盘100之间的连接面积均较大，在增压支架220相对于底盘100滑动和驱动支架210相对于底盘100滑动的过程中，有利于提高整个浮动式驱动装置200的稳定性。
可选的实施例中，驱动支架210与增压支架220之间具有容纳空间，第二弹性件230和第一弹性件240均设置于容纳空间内，使浮动式驱动装置200的各结构更加紧凑，从而提高浮动式驱动装置200的空间利用率。第二弹性件230连接于驱动支架210与底盘100之间，第一弹性件240连接于驱动支架210与增压支架220之间。可选地，第二弹性件230和第一弹性件240的数量可以均为一个，此时需要将第二弹性件230和第一弹性件240均设置于驱动支架210和增压支架220的中间部分，从而避免驱动支架210和增压支架220在滑动的过程中发生倾斜，但是此种情况下，该第二弹性件230和第一弹性件240容易与驱动轮250发生干涉。故，另一可选的实施例中，第二弹性件230和第一弹性件240的数量均为至少两个，在搬运车的行驶方向上，各第二弹性件230分别设置于驱动轮250的两侧，即各第二弹性件230沿驱动轮250的行驶方向间隔设置，分布于驱动轮250前后两侧，各第一弹性件240分别设置于驱动轮250的两侧，即各第一弹性件240沿驱动轮250的行驶方向间隔设置，分布于驱动轮250前后两侧，从而避免驱动支架210和增压支架220在滑动的过程中发生倾斜，并且可以灵活设置第二弹性件230和第一弹性件240，以降低设置难度。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式。上述的具体实施方式仅仅是示意性的，而不是限制性的。本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围的情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (15)

  1. 一种搬运车，包括底盘(100)和浮动式驱动装置(200)，其中：
    所述浮动式驱动装置(200)包括驱动支架(210)、增压支架(220)、第一弹性件(240)和驱动轮(250)，所述驱动支架(210)和所述增压支架(220)均可活动地设置于所述底盘(100)，所述驱动轮(250)设置于所述驱动支架(210)，所述第一弹性件(240)连接于所述驱动支架(210)与所述增压支架(220)之间，
    在所述搬运车所受负载(990)的重量大于预设值的情况下，所述增压支架(220)相对于所述底盘(100)运动，以通过所述第一弹性件(240)驱动所述驱动支架(210)相对于所述底盘(100)运动，以按压所述驱动轮(250)。
  2. 根据权利要求1所述的搬运车，所述搬运车还包括第二弹性件(230)，所述第二弹性件(230)连接于所述驱动支架(210)与所述底盘(100)之间，
    在所述搬运车处于空载状态的情况下，所述第二弹性件(230)驱动所述驱动支架(210)相对于所述底盘(100)运动，以按压所述驱动轮(250)。
  3. 根据权利要求2所述的搬运车，其中，所述驱动支架(210)与所述底盘(100)铰接，所述增压支架(220)与所述底盘(100)铰接，
    在所述搬运车所受负载(990)的重量大于所述预设值的情况下，所述增压支架(220)相对于所述底盘(100)转动，以通过所述第一弹性件(240)驱动所述驱动支架(210)相对于所述底盘(100)转动。
  4. 根据权利要求3所述的搬运车，其中，所述驱动支架(210)通过第二连接轴(910)与所述底盘(100)铰接，所述驱动支架(210)具有驱动轮连接部(212)和弹性件连接部(213)，所述驱动轮连接部(212)和所述弹性件连接部(213)分别位于所述第二连接轴(910)的两侧，
    所述驱动轮连接部(212)具有沿所述第二连接轴(910)的延伸方向相背设置的第一端和第二端，所述驱动轮(250)与所述驱动轮连接部(212)的第一端相连，且所述驱动轮(250)与所述驱动轮连接部(212)沿所述第二连接轴(910)的延伸方向排布，
    所述弹性件连接部(213)与所述第一弹性件(240)相连，所述增压支架(220)位于所述弹性件连接部(213)背离所述驱动轮连接部(212)的一侧，所述第二弹性件(230)位于所述第一弹性件(240)与所述第二连接轴(910)之间。
  5. 根据权利要求1至4中任一项所述的搬运车，其中，所述底盘(100)包括主体(110)和防护罩(120)，所述防护罩(120)设置于所述主体(110)，所述搬运车还包括脚轮(300)，所述脚轮(300)设置于所述主体(110)，且所述脚轮(300)的至少部 分位于所述防护罩(120)的容纳空间内。
  6. 根据权利要求4所述的搬运车，其中，所述底盘(100)包括主体(110)和防护罩(120)，所述防护罩(120)设置于所述主体(110)，
    所述增压支架(220)包括第二基座(221)和增压臂(222)，所述第二基座(221)设置于所述防护罩(120)，所述增压臂(222)与所述第二基座(221)铰接，所述增压臂(222)具有承载端和连接端，所述第一弹性件(240)连接于所述弹性件连接部(213)和所述增压臂(222)的连接端之间。
  7. 根据权利要求3所述的搬运车，其中，所述驱动支架(210)通过第二连接轴(910)与所述底盘(100)铰接，所述驱动支架(210)具有驱动轮连接部(212)和弹性件连接部(213)，所述驱动轮连接部(212)和所述弹性件连接部(213)分别位于所述第二连接轴(910)的两侧，
    所述驱动轮连接部(212)具有沿所述第二连接轴(910)的延伸方向相背设置的第一端和第二端，所述驱动轮(250)与所述驱动轮连接部(212)的第一端相连，且所述驱动轮(250)与所述驱动轮连接部(212)沿所述第二连接轴(910)的延伸方向排布，
    所述弹性件连接部(213)与所述第一弹性件(240)相连，所述增压支架(220)的至少一部分位于所述驱动轮连接部(212)与所述弹性件连接部(213)之间，所述第二弹性件(230)位于所述第一弹性件(240)背离所述驱动轮连接部(212)的一侧。
  8. 根据权利要求7所述的搬运车，其中，所述底盘(100)包括主体(110)和防护罩(120)，所述防护罩(120)设置于所述主体(110)，所述搬运车还包括脚轮(300)，所述脚轮(300)设置于所述主体(110)，且所述脚轮(300)的至少部分位于所述防护罩(120)的容纳空间内。
  9. 根据权利要求7所述的搬运车，其中，所述底盘(100)包括主体(110)和防护罩(120)，所述防护罩(120)设置于所述主体(110)，所述搬运车还包括第一基座(400)，所述第一基座(400)设置于所述防护罩(120)，所述第二弹性件(230)连接于所述第一基座(400)与所述弹性件连接部(213)之间。
  10. 根据权利要求7所述的搬运车，其中，所述增压支架(220)具有承载端和连接端，所述驱动支架(210)设有第一避让孔，所述增压支架(220)穿设于所述第一避让孔，且所述增压支架(220)的承载端和连接端均延伸至所述第一避让孔之外。
  11. 根据权利要求1至10中任一项所述的搬运车，其中，所述增压支架(220)具有承载端，所述搬运车还包括第一连接轴(500)和滚轮组(600)，所述第一连接轴(500)设置于所述增压支架(220)的承载端，所述滚轮组(600)套设于所述第一连接轴(500)。
  12. 根据权利要求2所述的搬运车，其中，所述驱动支架(210)与所述底盘(100)滑动连接，所述增压支架(220)与所述底盘(100)滑动连接，
    在所述搬运车所受负载(990)的重量大于所述预设值的情况下，所述增压支架(220)相对于所述底盘(100)沿第一方向滑动，以通过所述第一弹性件(240)驱动所述驱动支架(210)相对于所述底盘(100)沿所述第一方向滑动。
  13. 根据权利要求12所述的搬运车，其中，所述驱动支架(210)与所述增压支架(220)之间具有容纳空间，所述第二弹性件(230)和所述第一弹性件(240)均设置于所述容纳空间内，所述第二弹性件(230)和所述第一弹性件(240)的数量均为至少两个，在所述搬运车的行驶方向上，各所述第二弹性件(230)分别设置于所述驱动轮(250)的两侧，各所述第一弹性件(240)分别设置于所述驱动轮(250)的两侧。
  14. 根据权利要求1所述的搬运车，其中，所述增压支架(220)具有承载端，所述搬运车还包括顶板(700)和多个支撑柱(800)，所述多个支撑柱(800)均设置于所述底盘(100)与所述顶板(700)之间，所述顶板(700)通过所述多个支撑柱(800)与所述底盘(100)相连，
    所述顶板(700)开设有第二避让孔(710)，所述增压支架(220)的承载端外露于所述第二避让孔(710)。
  15. 根据权利要求1所述的搬运车，其中，所述增压支架(220)具有承载端，所述搬运车还包括顶板(700)和多个支撑柱(800)，所述多个支撑柱(800)均设置于所述底盘(100)与所述顶板(700)之间，
    所述顶板(700)通过至少一个所述支撑柱(800)与所述底盘(100)活动连接，所述顶板(700)的底面与所述增压支架(220)的承载端接触，以按压所述增压支架(220)的承载端。
PCT/CN2023/112438 2022-09-06 2023-08-11 搬运车 WO2024051438A1 (zh)

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