CN209225269U - Unmanned guidance carrier and its chassis - Google Patents
Unmanned guidance carrier and its chassis Download PDFInfo
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- CN209225269U CN209225269U CN201821802468.2U CN201821802468U CN209225269U CN 209225269 U CN209225269 U CN 209225269U CN 201821802468 U CN201821802468 U CN 201821802468U CN 209225269 U CN209225269 U CN 209225269U
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Abstract
The utility model discloses a kind of chassis of unmanned guidance carrier, including chassis body (100), first universal wheel (400) and two driving wheel group modules (200), two driving wheel group modules (200) and first universal wheel (400) are arranged in triangle, the chassis body (100) is the first center line along the center line that length direction extends, in two driving wheel group modules (200), one is mounted on first center line, another one and first universal wheel (400) are separately mounted to the two sides of first center line.A kind of unmanned guidance carrier is also disclosed in the utility model.Above scheme can solve the higher problem of chassis cost of current unmanned guidance carrier.
Description
Technical field
The utility model relates to warehouse logistics technical fields, more particularly to a kind of unmanned guidance carrier and its chassis.
Background technique
With the increasingly prosperity of logistics, the considerations of needing more aspects, is stored in the transhipment of cargo.It is usually stored in warehouse
There is a large amount of cargo.In order to reduce the human cost in logistics progress, more and more logistics companies are carried using cargo at present
Trolley substitutes manual handling, to realize the transfer to cargo.Cargo floor truck can be realized the online work of long period
Make, can undoubtedly reach efficient operation effectiveness.
Current cargo floor truck is usually unmanned guidance carrier, and the chassis of unmanned guidance carrier is to realize its shifting
Dynamic walking mechanism, in order to realize that more flexible cargo is carried, current chassis is omnidirectional chassis, can realize that omnidirectional transports
It is dynamic.
The chassis of unmanned guidance carrier includes there are four driving wheel group module at present, and each driving wheel group module is two-wheel
Differential mould group, can be realized the omnidirectional moving on chassis.Firstly, the price of driving wheel group module is higher, using four driving wheel groups
The cost that module undoubtedly will lead to entire chassis is higher.
In addition, due to ground injustice, will lead to some of driving wheel group module can not be same in actual traveling process
When contact ground, and then may result in the driving wheel of driving wheel group module there is a phenomenon where skidding or aerial, and then will lead to
The traveling control precision of unmanned guidance carrier reduces, and travel track does not meet control and requires.
Utility model content
The utility model discloses the unmanned guidance carrier of one kind and its chassis, to solve current unmanned guidance carrier
The higher problem of chassis cost.
To solve the above-mentioned problems, the utility model adopts the following technical solutions:
A kind of chassis of unmanned guidance carrier, including chassis body, the first universal wheel and two driving wheel group modules, two
A driving wheel group module and first universal wheel are arranged in triangle, and the chassis body extends along length direction
Center line is the first center line, and in two driving wheel group modules, one is mounted on first center line, another one with
First universal wheel is separately mounted to the two sides of first center line.
A kind of unmanned guidance carrier, including described in any item chassis above.
The technical solution adopted in the utility model can reach it is following the utility model has the advantages that
In the chassis of unmanned guidance carrier disclosed by the utility model, two driving wheel group modules are in the first universal wheel
Triangle setting, a driving wheel group module is mounted on chassis body along the first center line that length direction extends, another
A driving wheel group module and the first universal wheel are separately mounted to the two sides of the first center line, and above-mentioned distribution mode is being ensured to be chassis
Under the premise of stabilized driving power is provided, moreover it is possible to be chassis be that more stable support is provided, entire chassis only needs two to drive
Wheel group module reduces the quantity of driving wheel group module, and then can reduce the cost on chassis.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and constitutes one of the utility model
Point, the exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the utility model
Improper restriction.In the accompanying drawings:
Fig. 1 is the chassis structure schematic diagram of unmanned guidance carrier disclosed in the utility model embodiment；
Fig. 2 is the bottom view on the chassis of unmanned guidance carrier disclosed in the utility model embodiment；
Fig. 3 is the perspective view of the explosion of driving wheel group module disclosed in the utility model embodiment；
Fig. 4 is the bottom view on the chassis of the unmanned guidance carrier of another kind disclosed in the utility model embodiment；
Fig. 5 is the structural schematic diagram of torsion shaft castor module disclosed in the utility model embodiment.
Description of symbols:
100- chassis body；
200- driving wheel group module, 210- matrix, 211- installation base plate, 212- floating bearing, 213- attachment base, 220- are poor
Dynamic driving ontology, 221- driving wheel, 222- driving motor, 230- pin shaft,
300- torsion shaft castor module, 310- torsion shaft, 320- support, the second universal wheel of 330-, 340- elastic component, 350-
Mounting plate, 351- axle sleeve, 360- damping piece,
The first universal wheel of 400-.
Specific embodiment
It is specific below in conjunction with the utility model to keep the purpose of this utility model, technical solution and advantage clearer
Technical solutions of the utility model are clearly and completely described in embodiment and corresponding attached drawing.Obviously, described embodiment
It is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, this field
Those of ordinary skill's every other embodiment obtained without making creative work, belongs to the utility model
The range of protection.
Below in conjunction with attached drawing, technical solution disclosed in each embodiment of the utility model is described in detail.
Fig. 1-Fig. 5 is please referred to, the utility model embodiment discloses a kind of chassis of unmanned guidance carrier, disclosed nothing
It includes 100, two driving wheel group modules 200 of chassis body and the first universal wheel 400 that people, which guides the chassis of carrier,.
Chassis body 100 is the main part on chassis, and other components for unmanned guidance carrier provide installation site.Two
A driving wheel group module 200 and the first universal wheel 400 are installed in chassis body 100.Driving wheel group module 200 is for providing
The driving force that chassis is advanced, driving wheel group module 200 generally include driving motor, and then by driving motor supplies power, and two
Driving wheel group module 200 is to guarantee chassis advance, retreat, the building blocks of function of turn signal mobile terminal.First universal wheel 400 can
Realize more flexible deflecting.
In the chassis of unmanned guidance carrier disclosed in the utility model embodiment, two driving wheel group modules 200 and the
One universal wheel 400 is arranged in chassis body 100 in triangle, and chassis body 100 is along the center line that length direction extends
First center line.In two driving wheel group modules 200, one is mounted on the first center line, another one and the first universal wheel 400
It is separately mounted to the two sides of the first center line.
In the chassis of unmanned guidance carrier disclosed in the utility model embodiment, two driving wheel group modules 200 and the
One universal wheel 400 is arranged in triangle, and a driving wheel group module 200 is mounted on chassis body 100 and extends along length direction
The first center line on, another driving wheel group module 200 and the first universal wheel 400 are separately mounted to the two of the first center line
Side, above-mentioned distribution mode is under the premise of being ensured to be chassis offer stabilized driving power, moreover it is possible to more stable branch is provided for chassis
Support, entire chassis only needs two driving wheel group modules 200, reduces the quantity of driving wheel group module, and then can reduce chassis
Cost.
In order to further increase the stationarity of chassis traveling process, in preferred scheme, with the center of chassis body 100 or
Geometric center is origin, take the first center line as installation in the plane coordinate system of the first reference axis (x-axis as shown in Figure 2)
A driving wheel group module 200 on the first center line is located at the second reference axis side, another 200 He of driving wheel group module
First universal wheel 400 is installed in the other side of the second reference axis (y-axis as shown in Figure 2).In above-mentioned mode respectively, two
Around the center of chassis body 100 or geometric center distribution, this undoubtedly can be into for driving wheel group module 200 and the first universal wheel 400
One step improves support effect, and then can improve the stationarity advanced.Need to illustrate when, the first reference axis and the second reference axis phase
Vertically, both parallel with the bottom surface of chassis body 100.
In the present embodiment, the structure of chassis body 100 can there are many, for example, the top surface of chassis body 100 can be flat
Face, chassis body 100 be square perpendicular to the projection of shape on the direction of top surface, rectangle or circle.Certainly, chassis body
100 can also be other shapes, and the present embodiment does not limit the concrete shape of chassis body 100.
In preferred scheme, the top surface of chassis body 100 can be plane, and chassis body 100 is in the side perpendicular to top surface
To projection of shape be rectangle, the center line that chassis body 100 extends along local width direction is the second center line, the second seat
Parameter (y-axis as shown in Figure 2) is overlapped with the second center line.In preferred scheme, another driving wheel group module 200 and the
One universal wheel 400 is respectively positioned on the other side of the second center line and is located at the two sides of the first center line.
It should be noted that the top surface of chassis body 100 refers to that chassis body 100 deviates from the surface on ground.Chassis sheet
The bottom surface of body 100 refers to surface of the chassis body 100 towards ground.Driving wheel group module 200, first described above is universal
Wheel 400 and torsion shaft castor module 300 are installed on the bottom surface of chassis body 100, and then realize the branch to chassis body 100
Support.
In the present embodiment, two driving wheel group modules 200 all can be two-wheeled differential driving module, and then can be realized bottom
The more flexible traveling of disk.Specifically, each driving wheel group module 200 includes two driving wheels and two driving mechanism (examples
Such as driving motor 222), two driving mechanisms respectively drive two driving wheels and roll, and the revolving speed of two driving wheels is different, Jin Ershi
Existing differential cooperation.
Referring again to Fig. 3, the utility model embodiment discloses a kind of driving wheel group module 200, disclosed driving wheel
Group module 200 may include matrix 210 and Differential Driving ontology 220.
Matrix 210 is the basic component of driving wheel group module 200, and matrix 210 is connected with chassis body 100.Differential Driving
Ontology 220 be driving wheel group module 200 driving main body, Differential Driving ontology 220 include two can differential cooperation driving wheel
221, and then can be realized differential walking, be conducive to the flexibility for improving chassis walking.
Differential Driving ontology 220 is rotatably arranged on matrix 210, and two driving wheels 221 can be located at Differential Driving sheet
The two sides of the center of rotation of body 220.In the specific course of work, Differential Driving ontology 220 can be 210 turns relative to matrix
It is dynamic, and then at the region by ground injustice, Differential Driving ontology 220 is then realized same by rotating more flexiblely
Two driving wheels 221 in a driving wheel group module 200 can preferably adapt to rugged ground, reach and more preferably drive
Effect avoids the part driving wheel 221 of driving wheel group module 200 that hanging, phenomena such as skidding occurs.
Two driving wheels 221 of Differential Driving ontology 220 are respectively positioned on Differential Driving ontology 220 in driving wheel group module 200
Center of rotation two sides, and then contact of two driving wheels 221 with ground can be adjusted by rotating, rugged
When advancing on ground, that there is no driving wheels 221 is hanging, phenomena such as skidding, and then can improve the precision of entire chassis traveling.
In preferred scheme, matrix 210 may include installation base plate 211, floating bearing 212 and attachment base 213, install base
Plate 211 is fixedly linked with chassis body 100, and attachment base 213 is rotatedly connected by floating bearing 212 with installation base plate 211, turns round
The rotational plane of bearing 212 can be perpendicular with the rotation direction of Differential Driving ontology 220, and Differential Driving ontology 220 is rotationally
It is connected on attachment base 213.Specifically, Differential Driving ontology 220 can be hinged by pin shaft 230 and attachment base 213, Jin Ershi
Existing rotation of the Differential Driving ontology 220 relative to attachment base 213.In above scheme, the driving wheel 221 of driving wheel group module 200
Can differential traveling on the ground, carry out can improve chassis traveling flexibility.
In the present embodiment, driving wheel group module 200 can also be widely used steering wheel drive module, this implementation in fork truck
Example does not limit the specific type of driving wheel group module 200, other, which can be realized two differential gears and can rotate, reaches while landing
Structure can also.
During chassis is advanced, when load distribution is uniform on the chassis of unmanned guidance carrier or encounters ground height
Not usually, chassis is easier to shake, it is obvious that this is unprofitable to unmanned stablizing for guidance carrier and advances.Based on this, this reality
The chassis of unmanned guidance carrier can also include torsion shaft castor module 300 disclosed in new embodiment.
The torsion shaft castor module 300 is arranged in chassis body 100, and torsion shaft castor module 300 includes rotation
Ground is mounted on torsion shaft 310 and two supports 320 in chassis body 100.
Torsion shaft castor module 300 may include the torsion shaft 310 being rotatably mounted in chassis body 100 and two branch
Seat 320.Torsion shaft 310 is rotatably mounted in chassis body 100, and then can be rotated around the axis of itself.Two supports 320
One end be separately fixed at the both ends of torsion shaft 310, in such cases, two supports 320 can be around the axis of torsion shaft 310
Rotation, the other end of two supports 320 are mounted on the second universal wheel 330, and the other end of two supports 320 may be considered pendulum
Moved end can be swung relative to the end being connected with torsion shaft 310.
In the present embodiment, it is provided with elastic component 340 between the other end and chassis body 100 of two supports 320, elasticity
Part 340 makes it be adjacent to the elastic force on ground to the application of the second universal wheel 330.Elastic component 340 realizes the other end and the chassis of support 320
Resilient support between ontology 100, and then enable to the other end of support 320 by elastic force.One end of two supports 320 is equal
It is fixed in torsion shaft 310, therefore the rotation of torsion shaft 310, two supports 320 is enabled to link.
Using the chassis of above-mentioned torsion shaft castor module 300 during traveling, when chassis is tilted to side, it is located at
Second universal wheel 330 of the side is pressurized, so that the elastic component 340 of the side is shunk, and then can make the support positioned at the side
320 rotations, the support 320 that can then make torsion shaft 310 drive the other side rotates, so that the elastic component 340 of the other side
It is compressed, the synchronization of elastic component 340 of two sides is compressed, and the elastic component 340 of two sides provides support force simultaneously, so as to preferably
The support of balanced two the second universal wheels 330, and then reduce the amplitude of chassis double swerve.As it can be seen that torsion shaft castor module 300
The elastic component 340 at both ends enables to the second universal wheel 330 to realize resilient support, and then can be deformed by linkage and reduce chassis
Shaking amplitude, and then can preferably solve the problems, such as shaking.
Under normal conditions, during traveling, shaking is easier to the generation in the end unbalance stress on chassis, is based on
This, in preferred scheme, torsion shaft castor module 300 be can be set in the end of chassis body 100.Certainly, torsion shaft castor
The other positions of chassis body 100 can also be arranged in module 300.In a kind of specific embodiment, torsion shaft castor module
300 can be set in the end of chassis body 100, and two driving wheel group modules 200 and the first universal wheel 400 are respectively positioned on torsion shaft
The same side of castor module 300.
Two the second universal wheels 330 of torsion shaft castor module 300 can be separately positioned in the first of chassis body 100
The two sides of heart line, this undoubtedly can be further improved the harmony supported to chassis body 100, so that the walking on chassis is more flat
Surely.More preferably in scheme, above-mentioned torsion shaft castor module 300 is mounted on chassis body using the first center line as the axis of symmetry
On 100.It will be apparent that in such cases, two the second universal wheels 330 of torsion shaft castor module 300 can symmetrically realize support,
And then it can be further improved stationarity of chassis during traveling.
In above-mentioned torsion shaft castor module 300, elastic component 340 can be adjustable spring, caoutchouc elasticity block etc., this is practical new
Type embodiment does not limit the specific type of elastic component 340.
In order to facilitate the installation of torsion shaft castor module 300, in preferred scheme, torsion shaft castor disclosed in the present embodiment
Module 300 can also include mounting plate 350, and mounting plate 350 is fixed in chassis body 100, and torsion shaft 310 is rotatably mounted at
On mounting plate 350.Specifically, being provided with axle sleeve 351 on mounting plate 350, torsion shaft 310 is rotatably mounted in axle sleeve 351, axis
Set 351 can directly be rotatably assorted with torsion shaft 310, and being also possible to axle sleeve 351 is bearing holder (housing, cover), be provided with bearing in bearing holder (housing, cover),
Torsion shaft 310 realizes the rolling assembling with bearing holder (housing, cover) by bearing.After prolonged work, when axle sleeve 351 is worn, maintenance
Personnel can individually dismantle mounting plate 350, and then be replaced, this can undoubtedly facilitate maintenance.
In order to further increase the stability in 340 telescopic process of elastic component, in preferred scheme, two supports 320
Damping piece 360 can be set between the other end and chassis body 100.Damping piece 360 can play the role of damping shock absorption,
The shaking that chassis occurs during traveling can be further reduced.
Based on chassis disclosed in the utility model embodiment, the utility model embodiment discloses a kind of unmanned guidance carrying
Vehicle, disclosed unmanned guidance carrier includes chassis described above.
Emphasis describes the difference between each embodiment in the utility model foregoing embodiments, between each embodiment
As long as different optimization feature non-contradiction, can combine to form more preferably embodiment, it is contemplated that style of writing is succinct, this then no longer
It repeats.
The above description is only the embodiments of the present invention, is not intended to limit the utility model.For this field
For technical staff, various modifications and changes may be made to the present invention.All institutes within the spirit and principle of the utility model
Any modification, equivalent substitution, improvement and etc. of work, should be included within the scope of the claims of the utility model.
Claims (11)
1. a kind of unmanned chassis of guidance carrier, which is characterized in that including chassis body (100), the first universal wheel (400) and
Two driving wheel group modules (200), two driving wheel group modules (200) and first universal wheel (400) are set in triangle
It sets, the chassis body (100) is the first center line, two driving wheel group moulds along the center line that length direction extends
In block (200), one is mounted on first center line, and another one and first universal wheel (400) are separately mounted to institute
State the two sides of the first center line.
2. chassis according to claim 1, which is characterized in that with the center of gravity or geometric center of the chassis body (100)
For origin, be one be mounted on first center line in the plane coordinate system of first reference axis with first center line
A driving wheel group module is located at the second reference axis side, another described driving wheel group module and first universal wheel
(400) it is installed in the other side of second reference axis.
3. chassis according to claim 2, which is characterized in that the top surface of the chassis body (100) is plane, the bottom
Projection of shape of the disk ontology (100) in the direction perpendicular to the top surface is rectangle, and the chassis body (100) is along itself width
Spending the center line that direction extends is the second center line, and second reference axis is overlapped with second center line.
4. chassis according to claim 1, which is characterized in that the driving wheel group module (200) include matrix (210) and
Differential Driving ontology (220), described matrix (210) are connected with the chassis body (100), the Differential Driving ontology (220)
Including two can differential cooperation driving wheel (221), the Differential Driving ontology (220) is rotatably arranged at described matrix
(210) on, two driving wheels (221) are located at the two sides of the center of rotation of the Differential Driving ontology (220).
5. chassis according to claim 4, which is characterized in that described matrix (210) includes installation base plate (211), revolution
Bearing (212) and attachment base (213), the installation base plate (211) are fixedly linked with the chassis body (100), the connection
Seat (213) is rotatedly connected by the floating bearing (212) with the installation base plate (211), the floating bearing (212)
Rotational plane and the rotation direction of the Differential Driving ontology (220) are perpendicular, and the Differential Driving ontology (220) rotationally connects
It connects on the attachment base (213).
6. chassis according to claim 1, which is characterized in that further include torsion of the setting in the chassis body (100)
Axis castor module (300), the torsion shaft castor module (300) include being rotatably mounted on the chassis body (100)
Torsion shaft (310) and two supports (320) for being located at first center line two sides, the one of two supports (320)
End is separately fixed at the both ends of the torsion shaft (310), and the other end of two supports (320) is mounted on the second universal wheel
(330), elastic component (340), the bullet are provided between the other end and the chassis body (100) of the support (320)
Property part (340) the second universal wheel of Xiang Suoshu (330) apply so that it is adjacent to the elastic force on ground.
7. chassis according to claim 6, which is characterized in that the torsion shaft castor module (300) is arranged at the bottom
The end of disk ontology (100), two driving wheel group modules (200) and first universal wheel (400) are respectively positioned on the torsion
The same side of power axis castor module (300).
8. chassis according to claim 6, which is characterized in that further include mounting plate (350), the mounting plate (350) is solid
It is scheduled on the chassis body (100), the torsion shaft (310) is rotatably mounted on the mounting plate (350).
9. chassis according to claim 6, which is characterized in that the elastic component (340) is adjustable spring.
10. chassis according to claim 6, which is characterized in that the other end of two supports (320) and the chassis
Damping piece (360) are provided between ontology (100).
11. a kind of unmanned guidance carrier, which is characterized in that including chassis of any of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821802468.2U CN209225269U (en) | 2018-11-02 | 2018-11-02 | Unmanned guidance carrier and its chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821802468.2U CN209225269U (en) | 2018-11-02 | 2018-11-02 | Unmanned guidance carrier and its chassis |
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| Publication Number | Publication Date |
|---|---|
| CN209225269U true CN209225269U (en) | 2019-08-09 |
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ID=67501755
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821802468.2U Active CN209225269U (en) | 2018-11-02 | 2018-11-02 | Unmanned guidance carrier and its chassis |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088420A1 (en) * | 2018-11-02 | 2020-05-07 | 杭州海康机器人技术有限公司 | Unmanned guided carrier and chassis therefor |
| CN114450179A (en) * | 2019-10-08 | 2022-05-06 | 松下知识产权经营株式会社 | Traction device and automated guided vehicle with traction device |
| CN117901952A (en) * | 2024-03-19 | 2024-04-19 | 宁波舜宇贝尔机器人有限公司 | Chassis structure for flexible AGV |
-
2018
- 2018-11-02 CN CN201821802468.2U patent/CN209225269U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088420A1 (en) * | 2018-11-02 | 2020-05-07 | 杭州海康机器人技术有限公司 | Unmanned guided carrier and chassis therefor |
| US12012166B2 (en) | 2018-11-02 | 2024-06-18 | Hangzhou Hikrobot Co., Ltd. | Unmanned guided carrier and chassis therefor |
| CN114450179A (en) * | 2019-10-08 | 2022-05-06 | 松下知识产权经营株式会社 | Traction device and automated guided vehicle with traction device |
| CN114450179B (en) * | 2019-10-08 | 2024-01-30 | 松下知识产权经营株式会社 | Traction device and unmanned carrier with traction device |
| CN117901952A (en) * | 2024-03-19 | 2024-04-19 | 宁波舜宇贝尔机器人有限公司 | Chassis structure for flexible AGV |
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |