CN215043096U - Chassis for automatic guided vehicle and automatic guided vehicle - Google Patents
Chassis for automatic guided vehicle and automatic guided vehicle Download PDFInfo
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- CN215043096U CN215043096U CN202120366707.XU CN202120366707U CN215043096U CN 215043096 U CN215043096 U CN 215043096U CN 202120366707 U CN202120366707 U CN 202120366707U CN 215043096 U CN215043096 U CN 215043096U
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- 239000000725 suspension Substances 0.000 claims abstract description 24
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- 230000009467 reduction Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 6
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- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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Abstract
The utility model is suitable for a robotechnology field discloses a chassis and automated guided vehicle for automated guided vehicle. The chassis for the automatic guided vehicle comprises a bottom plate, a driving wheel, a driving mechanism which is installed on the bottom plate and is in transmission connection with the driving wheel, a driven wheel group arranged beside the driving wheel and a suspension mechanism which is installed on the bottom plate and is connected between the driving mechanism and the driven wheel group, the suspension mechanism comprises a connecting rod, a rotating connection assembly and an elastic connection assembly, the connecting rod is provided with a first end part connected with the driving wheel, a second end part connected with the driven wheel group, a first connection part connected with the bottom plate in a rotating mode through the rotating connection assembly and a second connection part connected with the bottom plate through the elastic connection assembly in a liftable mode, and the first connection part and the second connection part are all arranged between the first end part and the second end part. The utility model provides a chassis for automated guided vehicle can carry out the self-regulation when meetting the barrier, keeps the bottom plate height unchangeable, makes the chassis remove more steadily reliably.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a chassis and automated guided vehicle for automated guided vehicle.
Background
With the continuous development of society, robots are widely applied to various fields such as civil affairs, military affairs and industrial production, and particularly, service robots are widely concerned by people as a new direction of the robot field. Among them, wheeled mobile robot is more suitable for the demand of service robot because of its speed and stability's advantage under indoor environment, but, some robots are because structural design's is unreasonable, and in some occasions that operational environment is relatively poor, when for example ground has a slope or little obstacle, the chassis also can appear unstable state to can not provide a safe, stable state of marcing.
SUMMERY OF THE UTILITY MODEL
A first object of the present invention is to provide a chassis for an automated guided vehicle that is stable in movement and has a more compact structure.
In order to achieve the above purpose, the utility model provides a scheme is: a chassis for an automatic guided vehicle comprises a bottom plate, a driving mechanism, a driving wheel, a driven wheel set and a suspension mechanism, wherein the driving mechanism is installed on the bottom plate and is in transmission connection with the driving wheel;
the suspension mechanism comprises a connecting rod, a rotating connection assembly and an elastic connection assembly, the connecting rod is provided with a first end portion, a second end portion, a first connection portion and a second connection portion, the first connection portion and the second connection portion are arranged between the first end portion and the second end portion, the first end portion is connected to the driving mechanism, the second end portion is connected to the driven wheel set, the first connection portion passes through the rotating connection assembly to rotate and connect the bottom plate, and the second connection portion passes through the elastic connection assembly to be elastically connected with the bottom plate in a liftable mode.
Further, the second connecting portion is disposed between the first connecting portion and the first end portion, or between the first connecting portion and the second end portion.
Further, elasticity coupling assembling includes connecting block and elastic component, the connecting block is connected the second connecting portion, the one end of elastic component is connected connecting block, the other end are connected the bottom plate.
Further, the elastic component is coil spring, elastic connection subassembly still including wear to locate in the elastic component in order to be used for right the flexible spacing direction gag lever post that leads of elastic component.
Furthermore, the guide limiting rod comprises a first rod body and a second rod body, one end of the first rod body is connected with the connecting block, one end of the second rod body is connected with the bottom plate, the end part, far away from the connecting block, of the first rod body extends towards the bottom plate and is vertically spaced and opposite to the end part, far away from the bottom plate, of the second rod body, and two ends of the elastic piece are respectively sleeved on the first rod body and the second rod body; or,
the guide limiting rod comprises a first rod body, the first rod body is connected with the connecting block and is arranged at intervals with the bottom plate, and the elastic part is partially sleeved on the first rod body; or,
the guide limiting rod comprises a second rod body, the second rod body is arranged on the bottom plate and is arranged at an interval with the connecting block, and the elastic part is partially sleeved on the second rod body.
Further, the rotation connecting assembly comprises a rotating shaft and a mounting frame installed on the bottom plate, the rotating shaft is installed on the mounting frame, and the first connecting portion is connected with the mounting frame through the rotating shaft in a rotating mode.
Further, the mounting bracket include along with first mounting panel and the second mounting panel that the direction interval of the axial direction parallel of drive wheel set up, the both ends of pivot are fixed in respectively first mounting panel with on the second mounting panel, first connecting portion connect in just be located in the pivot first mounting panel with between the second mounting panel, and first connecting portion with first mounting panel with the equal interval of second mounting panel sets up.
Further, the mounting bracket further comprises a first limiting portion, wherein the first limiting portion extends above the first connecting portion from the end portion, far away from the bottom plate, of the first mounting plate and/or the second mounting plate and is arranged at an interval with the first connecting portion so as to limit the rising height of the first end portion and/or the second end portion.
Furthermore, the first limiting part extends above the first connecting part from the end part of the first mounting plate far away from the bottom plate and is connected with the second mounting plate.
Further, the second mounting panel includes fixed part, the spacing portion of second and the spacing portion of third, the fixed part the spacing portion of second with the spacing portion of third respectively with first connecting portion the first end with the second end corresponds the setting, the spacing portion interval of second is located actuating mechanism's top, it is right to be used for carrying on spacingly during the drive wheel rebound, the spacing portion interval of third is located the top of driven wheelset is used for right carry on spacingly during the driven wheelset rebound.
Further, the suspension mechanism further comprises at least one rolling part, the rolling part is rotatably connected to the mounting frame, and the outer side wall of the rolling part abuts against the connecting rod.
Further, the suspension mechanism further comprises two rolling members, wherein one rolling member is mounted on the side of the first mounting plate facing the driving wheel, and the other rolling member is mounted on the side of the first mounting plate facing the driven wheel set.
Further, the rolling part is a bearing or a roller.
Furthermore, the first connecting portion is provided with a first through hole and at least two first mounting holes distributed on the periphery of the first through hole in a penetrating manner along a direction parallel to the axial direction of the driving wheel, and the first connecting portion is sleeved on the rotating connection assembly through the first through hole and is connected with the rotating connection assembly through a fastener penetrating through the first mounting holes; and/or the presence of a gas in the gas,
the first end portion penetrates through a second through hole and at least two second mounting holes distributed on the periphery of the second through hole along the direction parallel to the axial direction of the driving wheel, and the first end portion is sleeved on the driving mechanism through the second through hole and connected with the driving mechanism through a fastener penetrating through the second mounting holes.
Further, the driving mechanism comprises a driving motor and a speed reduction transmission assembly in transmission connection between the driving motor and the driving wheel, and the first end portion is fixedly connected with the speed reduction transmission assembly.
Furthermore, the number of the driving mechanisms and the number of the driving wheels are two, the number of the driven wheel sets is four, the two driving wheels are symmetrically arranged on two opposite sides of the bottom plate respectively, the four driven wheel sets are symmetrically arranged on two opposite sides of the bottom plate respectively in pairs, the two driven wheel sets located on the same side of the bottom plate are symmetrically arranged on two opposite sides of the driving wheels, and one driving mechanism is correspondingly connected with one driving wheel in a transmission manner.
A second object of the utility model is to provide an automated guided vehicle, include battery module, controller and as above-mentioned a chassis for automated guided vehicle, the battery module with the controller install respectively in on the bottom plate, just the controller respectively with the battery module with actuating mechanism electric connection.
The utility model provides a chassis for an automatic guided vehicle, which is provided with a driving mechanism for providing power for a driving wheel to rotate so as to drive the chassis to move; the driven wheel set is arranged to assist the driving wheel to support the chassis, so that the stability of the chassis is improved; by arranging the suspension mechanism, when the ground has an obstacle, the driving wheel or the driven wheel set is lifted, and the suspension mechanism can always keep the height of the chassis unchanged, so that the chassis is safer and more reliable, and the motion is more stable; the driving mechanism, the driving wheel, the driven wheel set and the suspension mechanism are favorably arranged on the bottom plate by arranging the bottom plate; the first connecting part of the connecting rod is rotatably connected with the bottom plate by arranging the rotating connecting assembly; the first end part of the connecting rod is connected with the driving wheel, the second end part of the connecting rod is connected with the driven wheel set, the first connecting part of the connecting rod is rotatably connected with the bottom plate through the rotating connecting assembly, when the ground has an obstacle, if the driven wheel set is lifted, the second end part of the connecting rod is lifted, through the action of the rotating connecting assembly, the first end part of the connecting rod cannot be lifted along with the lifting of the second end part, so that the driving wheel is attached to the ground, if the driving wheel is lifted, the first end part of the connecting rod is lifted, through the action of the rotating connecting assembly, the second end part of the connecting rod cannot be lifted along with the lifting of the first end part, so that the driven wheel is attached to the ground, and the height of the chassis is kept unchanged all the time when the driving wheel is lifted or the driven wheel is lifted, so that the stability of the chassis is ensured; through setting up elastic connection assembly, realize the second connecting portion elastic connection bottom plate of connecting rod liftable ground, after the barrier is crossed to drive wheel or driven wheelset, can provide the restoring force for drive wheel or driven wheelset, elastic connection assembly's elastic action also plays certain cushioning effect to the chassis simultaneously, improves the stationarity on chassis. Therefore, the utility model provides a chassis for automated guided vehicle can carry out the self-regulation when meetting the barrier, keeps the bottom plate height unchangeable, makes the chassis remove more steadily reliably.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an angle of a chassis for an automated guided vehicle according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
fig. 3 is a schematic structural diagram of another angle of the chassis for the automated guided vehicle according to the first embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at B;
fig. 5 is a schematic structural diagram of a connecting rod according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a first mounting plate according to an embodiment of the present invention;
fig. 7 is a schematic structural view illustrating the elastic connection assembly according to the second embodiment of the present invention mounted on the bottom plate;
fig. 8 is a schematic structural view of the elastic connection assembly according to the third embodiment of the present invention, which is mounted on the bottom plate.
The reference numbers illustrate: 100. a chassis; 1. a base plate; 2. a drive mechanism; 21. a drive motor; 22. a speed reduction transmission assembly; 3. a drive wheel; 4. a driven wheel set; 41. a driven wheel; 5. a suspension mechanism; 51. a connecting rod; 511. a first end portion; 5111. a second through hole; 5112. a second mounting hole; 512. a second end portion; 513. a first connection portion; 5131. a first through hole; 5132. a first mounting hole; 514. a second connecting portion; 52. rotating the connecting assembly; 520. a mounting frame; 521. a rotating shaft; 522. a first mounting plate; 5221. a first limiting part; 523. a second mounting plate; 5231. a fixed part; 5232. a second limiting part; 5233. a third limiting part; 53. an elastic connection assembly; 531. connecting blocks; 532. an elastic member; 533. guiding a limiting rod; 5331. a first rod body; 5332. a second rod body; 54. a rolling member.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, 3 and 5, an embodiment of the present invention provides a chassis 100 for an automatic guided vehicle, including a bottom plate 1, a driving mechanism 2, a driving wheel 3, a driven wheel set 4 and a suspension mechanism 5, wherein the driving mechanism 2 is mounted on the bottom plate 1 and is in transmission connection with the driving wheel 3, the driven wheel set 4 is disposed beside the driving wheel 3, and the suspension mechanism 5 is mounted on the bottom plate 1 and is connected between the driving mechanism 2 and the driven wheel set 4; the suspension mechanism 5 comprises a connecting rod 51, a rotating connection assembly 52 and an elastic connection assembly 53, wherein the connecting rod 51 is provided with a first end 511, a second end 512, a first connection 513 and a second connection 514, the first connection 513 and the second connection 514 are arranged between the first end 511 and the second end 512, the first end 511 is connected to the driving mechanism 2, the second end 512 is connected to the driven wheel set 4, the first connection 513 is rotatably connected with the bottom plate 1 through the rotating connection assembly 52, and the second connection 514 is elastically connected with the bottom plate 1 through the elastic connection assembly 53 in a liftable mode. The driving mechanism 2 is arranged for providing power for the driving wheel 3 to rotate so as to drive the chassis 100 to move; the driven wheel set 4 is arranged to assist the driving wheel 3 to support the chassis 100, so that the stability of the chassis 100 is improved; by arranging the suspension mechanism 5, when the ground has an obstacle, the driving wheel 3 or the driven wheel group 4 is lifted, and the suspension mechanism 5 can always keep the height of the chassis 100 unchanged, so that the chassis 100 is safer and more reliable, and the motion is more stable; by arranging the bottom plate 1, the driving mechanism 2, the driving wheel 3, the driven wheel set 4 and the suspension mechanism 5 are favorably arranged on the bottom plate 1; the first connecting part 513 of the connecting rod 51 is rotatably connected with the bottom plate 1 by the rotary connecting component 52; by connecting the first end 511 of the link 51 with the driving wheel 3, the second end 512 of the link 51 with the driven wheel set 4, the first connecting portion 513 of the link 51 is rotatably connected with the base plate 1 by the rotating connecting assembly 52, when there is an obstacle on the ground, if the driven wheel set 4 is raised, the second end 512 of the link 51 is raised, by rotating the connecting assembly 52, the first end 511 of the link 51 does not lift up with the second end 512, so that the driving wheel 3 is flush with the ground, if drive wheel 3 is raised, first end 511 of link 51 is raised, and by rotating connecting assembly 52, second end 512 of link 51 is not raised as first end 511 is raised, so that the driven wheel 41 is attached to the ground, and the height of the chassis 100 is always kept unchanged when the driving wheel 3 is lifted or the driven wheel 41 is lifted, thereby ensuring the stability of the chassis 100; through setting up elastic connection assembly 53, realize that second connecting portion 514 of connecting rod 51 resilient connection bottom plate 1 with liftable ground, after drive wheel 3 or driven wheelset 4 crossed the barrier, can provide the restoring force for drive wheel 3 or driven wheelset 4, elastic connection assembly 53's elastic action also played certain cushioning effect to chassis 100 simultaneously, improved chassis 100's stationarity. Therefore, the embodiment of the present invention provides a chassis 100 for an automated guided vehicle, which can adjust itself when encountering an obstacle, so as to keep the height of the bottom plate 1 unchanged, and make the chassis 100 move more stably and reliably.
Preferably, the second connection portion 514 is disposed between the first connection portion 513 and the second end portion 512. It is understood that in another embodiment, it is also possible that the second connection portion 514 is disposed between the first connection portion 513 and the first end portion 511.
Referring to fig. 1, 2 and 5, the elastic connection assembly 53 includes a connection block 531 and an elastic member 532, the connection block 531 is connected to the second connection portion 514, and one end of the elastic member 532 is connected to the connection block 531 and the other end is connected to the base plate 1. Through the arrangement of the elastic member 532, the elastic member 532 is connected with the second connecting portion 514 through the connecting block 531, and under the elastic force of the elastic member 532, the second connecting portion 514 can be driven to perform lifting movement relative to the base plate 1. In addition, the elastic member 532 has a certain buffering effect on the bottom plate 1, which is beneficial to improving the stability of the bottom plate 1.
Preferably, the elastic member 532 is a coil spring, and the elastic connection assembly 53 further includes a guide limiting rod 533 inserted into the elastic member 532 for guiding and limiting the expansion and contraction of the elastic member 532. By providing the guide stopper rod 533, the elastic member 532 can be prevented from being deformed during a long-term extension and compression process, thereby prolonging the service life of the elastic member 532. In other embodiments, the elastic member 532 may be other elastic members such as an elastic sheet.
Referring to fig. 2 and 5, the guiding limiting rod 533 includes a first rod 5331 and a second rod 5332, one end of the first rod 5331 is connected to the connecting block 531, one end of the second rod 5332 is connected to the bottom plate 1, an end of the first rod 5331 far from the connecting block 531 extends toward the bottom plate 1 and is spaced apart from an end of the second rod 5332 far from the bottom plate 1, and two ends of the elastic member 532 are respectively sleeved on the first rod 5331 and the second rod 5332. The two ends of the elastic member 532 are respectively sleeved on the first rod 5331 and the second rod 5332, and the guide limiting rod 533 is not arranged in the middle of the elastic member 532, so that the elastic member 532 has enough space to compress.
Referring to fig. 1, 3 to 5, the rotating connection assembly 52 includes a rotating shaft 521 and a mounting bracket 520 mounted on the base plate 1, the rotating shaft 521 is mounted on the mounting bracket 520, and the first connection part 513 is rotatably connected to the mounting bracket 520 through the rotating shaft 521. Specifically, the mounting bracket 520 includes a first mounting plate 522 and a second mounting plate 523 disposed at an interval in a direction parallel to the axial direction of the driving wheel 3, both ends of the rotating shaft 521 are fixed to the first mounting plate 522 and the second mounting plate 523, the first connecting portion 513 is connected to the rotating shaft 521 and is located between the first mounting plate 522 and the second mounting plate 523, and the first connecting portion 513 is disposed at an interval from both the first mounting plate 522 and the second mounting plate 523. By arranging the first connecting portion 513 and both the first mounting plate 522 and the second mounting plate 523 at an interval, the first mounting plate 522 and the second mounting plate 523 are prevented from generating friction when the first connecting portion 513 rotates, so that the first connecting portion 513 can rotate more smoothly and freely.
Referring to fig. 3 to 6, the mounting bracket 520 further includes a first limiting portion 5221, and the first limiting portion 5221 extends above the first connecting portion 513 from an end portion of the first mounting plate 522 far away from the bottom plate 1 and is spaced apart from the first connecting portion 513 to limit a rising height of the first end portion 511 and the second end portion 512. By providing the first stopper portion 5221, the rising heights of the first end portion 511 and the second end portion 512 are restricted, and excessive rising of the first end portion 511 and the second end portion 512 is prevented, thereby preventing the driving wheel 3 and the driven wheel set 4 (particularly, the driving wheel 3) from being separated from the ground. It is understood that, in another embodiment, the first position-limiting portion 5221 may extend above the first connection portion 513 from the end of the second mounting plate 523 far away from the bottom plate 1 and be spaced apart from the first connection portion 513. Of course, in other embodiments, the first position-limiting portion 5221 may extend above the first connection portion 513 from the end portion of the first mounting plate 522 or the second mounting plate 523 far away from the bottom plate 1 and be spaced apart from the first connection portion 513 to limit the rising height of the first end portion 511 or the second end portion 512.
Preferably, the first position-limiting portion 5221 extends above the first connecting portion 513 from the end of the first mounting plate 522 far away from the bottom plate 1 and is connected to the second mounting plate 523. The second mounting plate 523 is connected to the first stopper portion 5221 of the first mounting plate 522, which is advantageous for improving the mounting stability of the first mounting plate 522 and the second mounting plate 523, thereby improving the mounting stability of the mounting frame 520.
Referring to fig. 3 and 5, the second mounting plate 523 includes a fixing portion 5231, a second limiting portion 5232 and a third limiting portion 5233, the fixing portion 5231, the second limiting portion 5232 and the third limiting portion 5233 are respectively disposed corresponding to the first connecting portion 513, the first end portion 511 and the second end portion 512, the second limiting portion 5232 is disposed above the driving mechanism 2 at an interval for limiting the driving wheel 3 when moving upward, and the third limiting portion 5233 is disposed above the driven wheel set 4 at an interval for limiting the driven wheel set 4 when moving upward. The driving mechanism 2 is drivingly connected to the driving wheel 3, and when the second stopper portion 5232 is disposed above the driving mechanism 2 at an interval, the second stopper portion 5232 restricts the height of the driving mechanism 2, thereby restricting the height of the driving wheel 3. By providing the second stopper portion 5232 and the third stopper portion 5233, the driving wheel 3 and the driven wheel group 4 are prevented from being excessively lifted, and the driving wheel 3 and the driven wheel group 4 (particularly, the driving wheel 3) are prevented from being separated from the ground.
Preferably, the suspension mechanism 5 further comprises at least one rolling member 54, the rolling member 54 is rotatably connected to the mounting frame 520, and an outer side wall of the rolling member 54 abuts against the link 51. Through setting up rolling member 54 to the lateral wall butt connecting rod 51 of rolling member 54 prevents that connecting rod 51 from taking place to rock from side to side in the elevating movement in-process, thereby has improved the stationarity of chassis 100.
Referring to fig. 1 and 4, the suspension mechanism 5 further includes two rolling members 54, wherein one rolling member 54 is mounted on a side of the first mounting plate 522 facing the driving wheel 3, and the other rolling member 54 is mounted on a side of the first mounting plate 522 facing the driven wheel set 4. It is understood that in other embodiments, one or three or four or five rolling members 54 may be provided, and the number of the rolling members 54 is not limited herein. The rolling member 54 may be provided on the second mounting plate 523.
Preferably, the rolling members 54 are bearings. It is understood that in other embodiments, the rolling member 54 may be a roller.
Referring to fig. 1 and 5, the first connecting portion 513 is provided with a first through hole 5131 and at least two first mounting holes 5132 distributed on the periphery of the first through hole 5131 in a direction parallel to the axial direction of the driving wheel 3, and the first connecting portion 513 is sleeved on the rotating connection assembly 52 through the first through hole 5131 and connected to the rotating connection assembly 52 through a fastener (not shown) penetrating through the first mounting hole 5132. Through this kind of mode of setting, simple structure, installation are firm to convenient operation, swift.
Referring to fig. 1 and 5 again, the first end portion 511 is provided with a second through hole 5111 and at least two second mounting holes 5112 distributed on the periphery of the second through hole 5111 in a penetrating manner along a direction parallel to the axial direction of the driving wheel 3, and the first end portion 511 is sleeved on the driving mechanism 2 through the second through hole 5111 and connected to the driving mechanism 2 through a fastener (not shown) penetrating through the second mounting hole 5112. Through this kind of mode of setting, simple structure, installation are firm to convenient operation, swift.
Referring to fig. 1 and 5 again, the driving mechanism 2 includes a driving motor 21 and a reduction transmission assembly 22 drivingly connected between the driving motor 21 and the driving wheel 3, and the first end 511 is fixedly connected to the reduction transmission assembly 22. In this embodiment, the first end portion 511 is sleeved on the speed reduction transmission assembly 22 through the second through hole 5111, and is fixedly connected to the speed reduction transmission assembly 22 through the fastener passing through the second mounting hole 5112. The arrangement of the reduction transmission assembly 22 can adjust the rotating speed output by the driving motor 21 to a proper rotating speed and transmit the rotating speed to the driving wheel 3, so that the moving speed of the driving wheel 3 is not too fast or too slow; on the other hand, the transmission direction of the variable force may be changed so that the output shaft of the drive motor 21 does not necessarily have to be coaxial with the drive shaft of the drive wheel 3.
Referring to fig. 1 and 3, the number of the driving mechanisms 2 and the driving wheels 3 is two, the number of the driven wheel sets 4 is four, the two driving wheels 3 are respectively symmetrically arranged on two opposite sides of the bottom plate 1, the four driven wheel sets 4 are respectively arranged on two opposite sides of the bottom plate 1 in a pairwise symmetry manner, the two driven wheel sets 4 located on the same side of the bottom plate 1 are symmetrically arranged on two opposite sides of the driving wheels 3, and one driving mechanism 2 is correspondingly connected with one driving wheel 3 in a transmission manner. One driving mechanism 2 is correspondingly connected with one driving wheel 3 in a transmission mode, so that flexible control over each driving wheel 3 is achieved, for example, one driving wheel 3 can be controlled to move forwards while the other driving wheel 3 can be controlled to move backwards, and steering is achieved. Of course, in other embodiments, it is also possible for two drive wheels 3 to correspond to one drive mechanism 2. In addition, the number of the driving wheels 3 and the driven wheel sets 4 is not limited by the embodiment and the drawings, the number of the driving wheels 3 may be one or three or four or five, and the like, and the number of the driven wheel sets 4 may be two or three or five or six, and the like. In this embodiment, a suspension mechanism 5 is provided between the driving wheel 3 and one of the driven wheel sets 4 on the same side of the floor 1. Of course, in another embodiment, it is also possible to provide the suspension means 5 between the driving wheel 3 and both driven wheel sets 4 on the same side of the floor 1.
Preferably, the driven wheel set 4 comprises two driven wheels 41 arranged side by side. Of course, in other embodiments, it is also possible that the driven wheel set 4 includes one or three or four driven wheels 41, and the number of the driven wheels 41 is not limited by the embodiment. In this embodiment, the driven wheel 41 is a universal wheel, and the driven wheel 41 is set as a universal wheel, which is beneficial to the chassis 100 to turn.
The embodiment of the utility model provides a still include an automated guided vehicle (not shown), including battery module (not shown), controller (not shown) and the above-mentioned chassis 100 that is used for the automated guided vehicle, battery module and controller are installed respectively on bottom plate 1, and the controller respectively with battery module and 2 electric connection of actuating mechanism. With the chassis 100, the automated guided vehicle can move more smoothly and the ability to pass obstacles can be enhanced.
Example two:
referring to fig. 1, fig. 2 and fig. 7, the chassis 100 for the automated guided vehicle according to the present embodiment is different from the first embodiment mainly in that the structure of the guiding limiting rod 533 is different, which is specifically embodied as: in the first embodiment, the guiding position-limiting rod 533 includes a first rod 5331 and a second rod 5332 spaced apart from each other; in this embodiment, the guiding position-limiting rod 533 includes a first rod 5331 without a second rod.
Preferably, the guiding limiting rod 533 includes a first rod 5331, the first rod 5331 is connected to the connecting block 531 and spaced apart from the base plate 1, and the elastic member 532 is partially sleeved on the first rod 5331. The first rod 5331 is spaced apart from the base plate 1, a portion of the elastic member 532 is sleeved on the first rod 5331, and the other portion of the elastic member 532 has no guiding limiting rod 533 therein, so as to ensure that the elastic member 532 has enough space to compress.
In addition to the above differences, other structures of the chassis 100 for the automated guided vehicle provided in the present embodiment can be optimized with reference to the first embodiment, and will not be described in detail herein.
Example three:
referring to fig. 1, fig. 2 and fig. 8, the chassis 100 for the automated guided vehicle according to the present embodiment is different from the first embodiment mainly in that the structure of the guiding limiting rod 533 is different, which is specifically embodied as: in the first embodiment, the guiding position-limiting rod 533 includes a first rod 5331 and a second rod 5332 spaced apart from each other; in this embodiment, the guiding position-limiting rod 533 includes the second rod 5332 without the first rod.
Preferably, the guiding position-limiting rod 533 includes a second rod 5332, the second rod 5332 is mounted on the base plate 1 and spaced apart from the connecting block 531, and the elastic member 532 is partially sleeved on the second rod 5332. The second rod 5332 and the connecting block 531 are spaced apart from each other, a portion of the elastic member 532 is sleeved on the second rod 5332, and the other portion of the elastic member 532 has no guiding limiting rod 533 therein, so as to ensure that the elastic member 532 has enough space to compress.
In addition to the above differences, other structures of the chassis 100 for the automated guided vehicle provided in the present embodiment can be optimized with reference to the first embodiment, and will not be described in detail herein.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (17)
1. A chassis for an automatic guided vehicle is characterized by comprising a bottom plate, a driving mechanism, a driving wheel, a driven wheel set and a suspension mechanism, wherein the driving mechanism is installed on the bottom plate and is in transmission connection with the driving wheel;
the suspension mechanism comprises a connecting rod, a rotating connection assembly and an elastic connection assembly, the connecting rod is provided with a first end portion, a second end portion, a first connection portion and a second connection portion, the first connection portion and the second connection portion are arranged between the first end portion and the second end portion, the first end portion is connected to the driving mechanism, the second end portion is connected to the driven wheel set, the first connection portion passes through the rotating connection assembly to rotate and connect the bottom plate, and the second connection portion passes through the elastic connection assembly to be elastically connected with the bottom plate in a liftable mode.
2. The chassis for a automated guided vehicle of claim 1, wherein the second connection is disposed between the first connection and the first end or between the first connection and the second end.
3. The chassis for the automated guided vehicle of claim 1, wherein the elastic connection assembly comprises a connection block and an elastic member, the connection block is connected with the second connection portion, one end of the elastic member is connected with the connection block, and the other end of the elastic member is connected with the bottom plate.
4. The chassis for the automated guided vehicle of claim 3, wherein the elastic member is a coil spring, and the elastic connection assembly further comprises a guide limiting rod inserted into the elastic member for guiding and limiting the expansion and contraction of the elastic member.
5. The chassis for the automated guided vehicle according to claim 4, wherein the guide limiting rod comprises a first rod body and a second rod body, one end of the first rod body is connected with the connecting block, one end of the second rod body is connected with the bottom plate, the end of the first rod body, which is far away from the connecting block, extends towards the bottom plate and is vertically spaced and opposite to the end of the second rod body, which is far away from the bottom plate, and two ends of the elastic member are respectively sleeved on the first rod body and the second rod body; or,
the guide limiting rod comprises a first rod body, the first rod body is connected with the connecting block and is arranged at intervals with the bottom plate, and the elastic part is partially sleeved on the first rod body; or,
the guide limiting rod comprises a second rod body, the second rod body is arranged on the bottom plate and is arranged at an interval with the connecting block, and the elastic part is partially sleeved on the second rod body.
6. The chassis for a automated guided vehicle of claim 1, wherein the rotation connection assembly comprises a shaft and a mounting bracket mounted on the base plate, the shaft being mounted on the mounting bracket, the first connection portion being rotatably connected to the mounting bracket via the shaft.
7. The chassis for the automated guided vehicle of claim 6, wherein the mounting bracket includes a first mounting plate and a second mounting plate spaced apart from each other in a direction parallel to an axial direction of the driving wheel, both ends of the shaft are fixed to the first mounting plate and the second mounting plate, respectively, the first connection portion is connected to the shaft and located between the first mounting plate and the second mounting plate, and the first connection portion is spaced apart from both the first mounting plate and the second mounting plate.
8. The chassis for an automated guided vehicle of claim 7, wherein the mounting bracket further comprises a first limiting portion extending above and spaced apart from the first connection portion from an end of the first mounting plate and/or the second mounting plate distal from the floor for limiting a rise height of the first end portion and/or the second end portion.
9. The chassis for a automated guided vehicle of claim 8, wherein the first limiting portion extends above the first connecting portion from an end of the first mounting plate remote from the base plate and is connected to the second mounting plate.
10. The chassis for the automated guided vehicle of claim 7, wherein the second mounting plate includes a fixing portion, a second limiting portion and a third limiting portion, the fixing portion, the second limiting portion and the third limiting portion are respectively disposed corresponding to the first connecting portion, the first end portion and the second end portion, the second limiting portion is disposed above the driving mechanism at an interval for limiting when the driving wheel moves upward, and the third limiting portion is disposed above the driven wheel set at an interval for limiting when the driven wheel set moves upward.
11. The chassis for a automated guided vehicle of claim 7, wherein the suspension mechanism further comprises at least one rolling member rotatably connected to the mounting bracket, and an outer sidewall of the rolling member abuts the link.
12. The chassis for a automated guided vehicle of claim 11, wherein the suspension mechanism further comprises two of the rolling members, one of the rolling members being mounted to the first mounting plate on a side thereof facing the drive wheel, and the other of the rolling members being mounted to the first mounting plate on a side thereof facing the driven wheel set.
13. The chassis for automated guided vehicle of claim 11, wherein the rolling elements are bearings or rollers.
14. The chassis for the automated guided vehicle according to claim 1, wherein the first connecting portion has a first through hole and at least two first mounting holes distributed on the periphery of the first through hole, the first connecting portion is disposed on the rotation connecting assembly through the first through hole and connected to the rotation connecting assembly through a fastener disposed in the first mounting hole; and/or the presence of a gas in the gas,
the first end portion penetrates through a second through hole and at least two second mounting holes distributed on the periphery of the second through hole along the direction parallel to the axial direction of the driving wheel, and the first end portion is sleeved on the driving mechanism through the second through hole and connected with the driving mechanism through a fastener penetrating through the second mounting holes.
15. The chassis for a automated guided vehicle of claim 1, wherein the drive mechanism includes a drive motor and a reduction drive assembly drivingly connected between the drive motor and the drive wheel, the first end portion being fixedly connected to the reduction drive assembly.
16. The chassis for the automated guided vehicle according to any one of claims 1 to 15, wherein the number of the driving mechanism and the driving wheels is two, the number of the driven wheel sets is four, the two driving wheels are symmetrically disposed on two opposite sides of the bottom plate, the four driven wheel sets are symmetrically disposed on two opposite sides of the bottom plate, the two driven wheel sets located on the same side of the bottom plate are symmetrically disposed on two opposite sides of the driving wheels, and one driving mechanism is correspondingly connected with one driving wheel in a transmission manner.
17. An automated guided vehicle, comprising a battery module, a controller and the chassis for an automated guided vehicle according to any one of claims 1 to 16, wherein the battery module and the controller are respectively mounted on the bottom plate, and the controller is respectively electrically connected with the battery module and the driving mechanism.
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CN202120366707.XU CN215043096U (en) | 2021-02-08 | 2021-02-08 | Chassis for automatic guided vehicle and automatic guided vehicle |
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CN202120366707.XU CN215043096U (en) | 2021-02-08 | 2021-02-08 | Chassis for automatic guided vehicle and automatic guided vehicle |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115179976A (en) * | 2021-12-22 | 2022-10-14 | 浙江衣拿智能科技股份有限公司 | Hang integrative integrated structure of hanging and drive that dolly was used |
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2021
- 2021-02-08 CN CN202120366707.XU patent/CN215043096U/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115179976A (en) * | 2021-12-22 | 2022-10-14 | 浙江衣拿智能科技股份有限公司 | Hang integrative integrated structure of hanging and drive that dolly was used |
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