CN214648669U

CN214648669U - Chassis device

Info

Publication number: CN214648669U
Application number: CN202120268525.9U
Authority: CN
Inventors: 刘胜明
Original assignee: Suzhou Agv Robot Co ltd
Current assignee: Suzhou Agv Robot Co ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-11-09
Anticipated expiration: 2031-01-29

Abstract

The utility model discloses a chassis device, which relates to the technical field of mobile robots, and comprises a traveling system arranged on a chassis and 2 groups of driving suspension mechanisms, wherein the 2 groups of driving suspension mechanisms are arranged on the left side and the right side of the chassis; each group of driving suspension mechanisms comprises an elastic device, a swing arm and a swing arm fulcrum supporting device. Through being provided with resilient means in chassis device for can control chassis fluctuation and then guarantee the normal operating of getting off through resilient means when the road surface unevenness, solve the problem that AGV dolly probably can't normal operating among the current scheme.

Description

Chassis device

Technical Field

The utility model belongs to the technical field of mobile robot, a chassis device is related to.

Background

Along with the rapid development of social economy, the automation degree of enterprise equipment is also gradually improved, and the traditional manpower that automatic equipment replaced is carried to the transport of goods also. At present to the transport of goods, adopt the manipulator to snatch usually or the transmission belt transmits, foretell transport mode flexibility can be poor and the cost is higher. The market uses agv (automated Guided vehicle) for transporting goods, and the agv (automated Guided vehicle) is becoming more popular.

At present, the driving wheel and the universal wheel of many AGV dollies adopt rigid connection's mode to connect in the automobile body of automated guided transporting vehicle, meet the unevenness scheduling problem on road surface when the automated guided transporting vehicle in the use, probably lead to the driving wheel to skid for the automobile body of automated guided transporting vehicle is uncontrolled, influences the marcing of automated guided transporting vehicle.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the purpose is: a chassis device is provided, and then the problem that an AGV may not normally advance in the existing scheme is solved.

The technical scheme of the utility model is that: a chassis device comprises a walking system arranged on a chassis and 2 groups of driving suspension mechanisms,

2 groups of the driving suspension mechanisms are arranged on the left side and the right side of the chassis;

each group of the driving suspension mechanisms comprises an elastic device, a swing arm and a swing arm fulcrum supporting device.

The further technical scheme is as follows: the elastic device comprises a spring support, an adjusting stud, a pressurizing spring, a spring bearing and a spring bearing seat;

the spring support is fixedly connected with the chassis, the top end of the pressurizing spring is fixedly connected with the spring support through the adjusting stud, and the bottom of the pressurizing spring is fixedly connected with the spring bearing seat through the spring bearing.

The further technical scheme is as follows: one end of the swing arm is fixedly connected with the spring bearing seat, the other end of the swing arm is fixedly connected with the swing arm fulcrum supporting device, and a swing arm small hole is formed in the center of the other end of the swing arm.

The further technical scheme is as follows: the traveling system comprises 4 universal wheels and 2 traveling driving assemblies, the 4 universal wheels are installed at 4 corners of the chassis device, the 2 traveling driving assemblies are installed on the left side and the right side of the bottom of the chassis device, each traveling driving assembly comprises a driving wheel and a servo motor, the servo motors control the driving wheels to rotate, and the servo motors are driven by drivers.

The further technical scheme is as follows: the middle of the swing arm is provided with a round hole, the servo motor penetrates through the round hole, and the swing arm is fixedly connected with the driving wheel.

The further technical scheme is as follows: the swing arm fulcrum supporting device comprises a cantilever rotating shaft, a bearing and a swing arm support, wherein the cantilever rotating shaft, the bearing, the swing arm support and the center of the swing arm small hole are positioned on the same straight line.

The further technical scheme is as follows: the cantilever rotating shaft is provided with a first boss, a second boss, a third boss and a fourth boss, the first boss is inserted into the swing arm small hole, the second boss is fixedly connected with the swing arm, the third boss is fixed to the bearing, and the bearing sleeve is arranged on the fourth boss.

The further technical scheme is as follows: the swing arm support is fixed in the chassis, the middle of the swing arm support is a smooth circular ring, the fourth boss penetrates through the smooth circular ring, the outer end of the swing arm support is fixedly provided with a matched end cover, and the end cover is fixedly sleeved on the bearing on the fourth boss.

The further technical scheme is as follows: and a raised part is arranged on the middle ring of the swing arm support and is used for fixing the bearing sleeved on the fourth boss.

The further technical scheme is as follows: the chassis device further comprises a walking system driver for driving the walking system.

The utility model has the advantages that:

the chassis device comprises a traveling system and 2 groups of driving suspension mechanisms, wherein the traveling system is arranged on a chassis; each group of driving suspension mechanisms comprises an elastic device, a swing arm and a swing arm fulcrum supporting device. Through being provided with resilient means in chassis device for can control chassis fluctuation and then guarantee the normal operating of getting off through resilient means when the road surface unevenness, solve the problem that AGV dolly probably can't normal operating among the current scheme.

Drawings

The invention will be further described with reference to the following drawings and examples:

FIG. 1 is a cross-sectional view of a chassis arrangement provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a chassis device provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a swing arm in a chassis device provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a cantilever hinge in a chassis apparatus according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a one-side swing arm support in the chassis apparatus according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of an end cap of a swing arm support in a chassis apparatus provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of another side swing arm support in the chassis apparatus according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a driving lifting assembly according to an embodiment of the present application.

Wherein: 11. 12, 13 and 14 are universal wheels; 21. 22 is a driving wheel; 23. 24 is a servo motor; 31 is an elastic device; 32 is a swing arm; 33 is a swing arm fulcrum supporting device; 311 is a spring support; 312 is an adjusting stud; 313 is a compression spring; 314 is a spring bearing; 315 is a spring bearing seat; 321 circular holes; 322 is a swing arm aperture; 331. 332 is a cantilever rotating shaft; 341. 342 is a bearing; 351. 352 is a swing arm support; 3311 is the first boss; 3312 is the second boss; 3313 is the third boss; 3314 is the fourth boss; 3511 is a smooth ring; 3512 is an end cap; 3521 refers to a convex part.

Detailed Description

Example (b):

referring to fig. 1, which shows a cross-sectional view of a chassis device, referring to fig. 2, which shows a schematic structural diagram of the chassis device provided by the present application, and referring to fig. 1 and fig. 2, the chassis device includes a walking system mounted on a chassis and 2 sets of driving suspension mechanisms.

The traveling system comprises 4

universal wheels

11, 12, 13, 14 and 2 traveling driving assemblies, wherein the 4 universal wheels are arranged at 4 corners of the automatic guide trolley, the 2 traveling driving assemblies are arranged on the left side and the right side of the chassis, the traveling driving assemblies comprise

driving wheels

21 and 22 and

servo motors

23 and 24, the servo

motors

23 and 24 control the

driving wheels

21 and 22 to rotate, and the servo motors are driven by a driver. Wherein, each driving wheel corresponds to a servo motor and a driver for controlling the servo motor.

The group driving suspension mechanisms are arranged on the left side and the right side of the chassis.

Each set of driving suspension mechanism comprises an elastic device 31, a swing arm 32 and a swing arm fulcrum supporting device 33.

The resilient means 31 may be a spring means, and in practice the resilient means 31 may comprise a spring support 311, an adjustment stud 312, a compression spring 313, a spring bearing 314 and a spring bearing seat 315.

The spring support 311 is fixedly connected with the chassis, the top end of the pressurizing spring 313 is fixedly connected with the spring support 311 through an adjusting stud 312, and the bottom of the pressurizing spring 313 is fixedly connected with a spring bearing seat 315 through a spring bearing 314.

One end of the swing arm 32 is fixedly connected with the spring bearing seat 315, a round hole 321 is arranged in the middle of the swing arm 32, the diameter of the round hole is slightly larger than the diameters of the

servo motors

23 and 24, the servo motors penetrate through the round hole 321, and the swing arm 32 is fixedly connected with the

driving wheels

21 and 22.

The other end of the swing arm 32 is fixedly connected with the swing arm fulcrum supporting device 33, and a swing arm small hole 322 is arranged at the center of the other end of the swing arm 32.

The swing arm fulcrum support device 33 includes

cantilever rotation shafts

331 and 332,

bearings

341 and 342, and swing arm supports 351 and 352, and the centers of the cantilever rotation shaft, the bearings, the swing arm supports, and the swing arm small holes 322 are located on the same straight line, so as to provide a fulcrum for the swing of the swing arm 32.

Referring to fig. 2, the cantilever rotation shaft is provided with a first boss 3311, a second boss 3312, a third boss 3313 and a fourth boss 3314, the radius of the first boss 3311 is slightly smaller than the diameter of the swing arm small hole 322, the first boss 3311 is inserted into the swing arm small hole 322, the second boss 3312 is fixedly connected with the swing arm 32, the third boss 3313 fixes the

bearings

341 and 342, the radius of the fourth boss 3314 is slightly smaller than the radius of the inner rings of the

bearings

341 and 342, and the

bearings

341 and 342 are sleeved on the fourth boss 3314.

The swing arm supports 351, 352 are fixed in the chassis, and in practical implementation, the fixing mode can include the following two possible implementation modes:

the first method comprises the following steps: referring to fig. 3 and 4, the swing arm supports 351 and 352 are provided with a smooth ring 3511 in the middle, the fourth boss 3314 penetrates the smooth ring 3511, the outer ends of the swing arm supports 351 and 352 are fixedly provided with a matched end cap 3512, and the end cap 3512 is fixedly sleeved on the

bearings

341 and 342 of the fourth boss 3314.

And the second method comprises the following steps: referring to fig. 5, the middle ring of the

swing arm support

351, 352 is provided with a protrusion 3521, and the protrusion 3521 is used for fixing the

bearing

341, 342 sleeved on the fourth boss 3314.

In summary, by providing a chassis device, the chassis device includes a traveling system mounted on a chassis and 2 sets of driving suspension mechanisms, wherein the 2 sets of driving suspension mechanisms are mounted on the left and right sides of the chassis; each group of driving suspension mechanisms comprises an elastic device, a swing arm and a swing arm fulcrum supporting device. Through being provided with resilient means in chassis device for can control chassis fluctuation and then guarantee the normal operating of getting off through resilient means when the road surface unevenness, solve the problem that AGV dolly probably can't normal operating among the current scheme.

In addition, the chassis device occupies a small area, can be butted with a production line, and is further suitable for an environment with narrow ground.

The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A chassis device is characterized in that the chassis device comprises a traveling system arranged on a chassis and 2 groups of driving suspension mechanisms,

2. The chassis arrangement of claim 1, wherein the resilient arrangement includes a spring support, an adjustment stud, a compression spring, a spring bearing and a spring bearing mount;

3. The chassis device according to claim 2, wherein one end of the swing arm is fixedly connected with the spring bearing seat, the other end of the swing arm is fixedly connected with the swing arm fulcrum supporting device, and a swing arm small hole is formed in the center of the other end of the swing arm.

4. The chassis device according to claim 3, wherein the walking system comprises 4 universal wheels and 2 walking driving assemblies, the 4 universal wheels are arranged at 4 corners of the chassis device, the 2 walking driving assemblies are arranged at the left side and the right side of the bottom of the chassis device, the walking driving assemblies comprise driving wheels and servo motors, the servo motors control the driving wheels to rotate, and the servo motors are driven by drivers.

5. The chassis device according to claim 4, wherein a round hole is formed in the middle of the swing arm, the servo motor penetrates through the round hole, and the swing arm is fixedly connected with the driving wheel.

6. The chassis device according to claim 3, wherein the swing arm fulcrum support device comprises a cantilever rotating shaft, a bearing and a swing arm support, and the centers of the cantilever rotating shaft, the bearing, the swing arm support and the swing arm small hole are in the same straight line.

7. The chassis device according to claim 6, wherein the cantilever rotating shaft is provided with a first boss, a second boss, a third boss and a fourth boss, the first boss is inserted into the swing arm small hole, the second boss is fixedly connected with the swing arm, the third boss fixes the bearing, and the bearing is sleeved on the fourth boss.

8. The chassis device according to claim 7, wherein the swing arm support is fixed in the chassis, a smooth ring is arranged in the middle of the swing arm support, the fourth boss penetrates through the smooth ring, a matched end cover is fixedly installed at the outer end of the swing arm support, and the end cover is fixedly sleeved on the bearing on the fourth boss.

9. The chassis device according to claim 7, wherein a raised portion is provided on the middle ring of the swing arm support, and the raised portion is used for fixing the bearing sleeved on the fourth boss.