CN216684667U

CN216684667U - Chassis device

Info

Publication number: CN216684667U
Application number: CN202123450052.3U
Authority: CN
Inventors: 刘胜明; 任兵兵
Original assignee: Suzhou Agv Robot Co ltd
Current assignee: Suzhou Agv Robot Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-06-07
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a chassis device, which comprises a chassis, at least two driving mechanisms arranged at the bottom of the chassis, and a plurality of universal wheel assemblies arranged at the bottom of the chassis, wherein the universal wheel assemblies are arranged on the bottom of the chassis; the driving mechanism comprises a walking driving component and a rotating component arranged in the middle of the walking driving component; the walking driving assembly comprises a first servo motor and a second servo motor which are symmetrically arranged, a first driving wheel in transmission connection with the first servo motor, and a second driving wheel in transmission connection with the second servo motor; the rotating assembly comprises a rotating bearing, a first gear fixedly connected with the outer ring of the rotating bearing, a rotating support disc fixedly connected with the first gear, a rotating disc support fixedly connected with the inner ring of the rotating bearing, and a second gear installed in the rotating disc support, wherein the first gear is positioned in the rotating disc support, the second gear is meshed with the outer ring of the first gear, and the rotating support disc is fixedly connected with the chassis. The chassis device provided by the utility model can realize omnidirectional movement.

Description

Chassis device

Technical Field

The utility model belongs to the technical field of mobile robots, and particularly relates to a chassis device.

Background

Along with the rapid development of social economy, the automation degree of enterprise equipment is also gradually improved, and the traditional manpower transport is replaced by automation equipment to the transport of goods. 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 AGV dolly of application carries out the transport of goods in the market, and is more and more popular.

Most of the existing chassis of the AGV are single differential units, the size is small, and the chassis is not suitable for the AGV of a specific scene (such as long article carrying).

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention is directed to a chassis device, which can move in all directions.

In order to overcome the defects of the prior art, the technical scheme provided by the utility model is as follows:

a chassis device comprises a chassis, at least two driving mechanisms arranged at the bottom of the chassis, and a plurality of universal wheel assemblies arranged at the bottom of the chassis;

the driving mechanism comprises a walking driving component and a rotating component arranged in the middle of the walking driving component;

the walking driving assembly comprises a first servo motor and a second servo motor which are symmetrically arranged, a first driving wheel in transmission connection with the first servo motor, and a second driving wheel in transmission connection with the second servo motor;

the rotating assembly comprises a rotating bearing, a first gear fixedly connected with an outer ring of the rotating bearing, a rotating support disc fixedly connected with the first gear, a rotating disc support fixedly connected with an inner ring of the rotating bearing, and a second gear installed in the rotating disc support, wherein the first gear is located in the rotating disc support, the second gear is meshed with an outer ring of the first gear, and the rotating support disc is fixedly connected with the chassis.

In some embodiments, a damping mechanism is disposed between one radial side of the rotating disc support and the walking drive assembly, and a support assembly is disposed between the other radial side of the rotating disc support and the walking drive assembly.

In some embodiments, the shock absorbing mechanism includes a first connecting rod fixed to the rotating disk support and extending in a horizontal direction, a first shock absorbing member disposed between one end of the first connecting rod and the first driving wheel, and a second shock absorbing member disposed between the other end of the first connecting rod and the second driving wheel.

In some embodiments, the first damping assembly includes a telescopic rod fixed to the first driving wheel, a pressurizing spring sleeved outside the telescopic rod, and a limiting member disposed at an upper end of the telescopic rod, and the limiting member is fixedly connected to the first connecting rod; the second shock absorbing assembly is identical in structure to the first shock absorbing assembly.

In some embodiments, the support assembly includes two legs fixed on the rotating disc support and extending downward, and a second connecting rod passing through the two legs and extending in a horizontal direction, the second connecting rod is in clearance fit with the two legs, and two ends of the second connecting rod are respectively fixedly connected with the first driving wheel and the second driving wheel.

In some embodiments, the universal wheel assembly includes a universal wheel bracket and a universal wheel mounted at a lower end of the universal wheel bracket, and the universal wheel bracket is fixedly connected with the chassis.

In some embodiments, a universal wheel support is fixed on the chassis, and the universal wheel support is fixedly connected with the universal wheel support.

In some embodiments, a rotating disc mounting seat is fixed on the chassis, and the rotating disc is fixedly connected with the rotating disc mounting seat.

Compared with the prior art, the utility model has the advantages that:

1. the chassis is provided with at least two driving mechanisms, so that an AGV trolley with larger volume can be driven conveniently, large-volume goods can be carried conveniently, and the applicability is stronger;

2. when the AGV trolley moves forwards, the automatic control system controls the left driving wheel and the right driving wheel of the walking driving assembly to walk at the same speed, when the AGV trolley rotates leftwards, the speed of the right driving wheel is controlled to be higher than that of the left driving wheel, and when the AGV trolley rotates rightwards, the speed of the left driving wheel is controlled to be higher than that of the right driving wheel; when the chassis transversely moves, the left driving wheel and the right driving wheel are controlled to rotate at opposite speeds, the rotating disc support rotates by 90 degrees, and the chassis can transversely move.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of a portion of a chassis assembly according to an embodiment of the present invention;

FIG. 2 is a schematic view of an installation structure of an embodiment of the present invention;

FIG. 3 is a first schematic perspective view of a driving mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a second embodiment of a driving mechanism according to the present invention;

FIG. 5 is a top view of the drive mechanism (with the rotation support disk removed) in an embodiment of the present invention;

wherein:

1. a chassis; 1-1, rotating a disc mounting support; 1-2, universal wheel support; 1-3, passing through a groove by a universal wheel; 1-4, driving through grooves;

2. a drive mechanism; 2-1, a walking driving component; 2-1a, a first servo motor; 2-1b, a second servo motor; 2-1c, a first drive wheel; 2-1d, a second drive wheel; 2-2, rotating the assembly; 2-2a, a rotary bearing; 2-2b, a first gear; 2-2c, a rotation support disc; 2-2d, rotating the disc holder; 2-2e, a second gear; 2-3, a damping mechanism; 2-3a, a first connecting rod; 2-3b, a telescopic rod; 2-3c, a compression spring; 2-3d, a limiting piece; 2-4, supporting components; 2-4a, supporting legs; 2-4b, a second connecting rod;

3. a universal wheel assembly; 3-1, universal wheel support; 3-2 and universal wheels.

Detailed Description

The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions used in the examples may be further adjusted according to the conditions of the particular manufacturer, and the conditions not specified are generally the conditions in routine experiments.

Referring to fig. 1 and 2, a structural schematic diagram of an embodiment of the present invention provides a chassis device, which includes a chassis 1, two driving mechanisms 2 installed at the bottom of the chassis 1, and four universal wheel assemblies 3 installed at the bottom of the chassis 1, wherein the two driving mechanisms 2 are arranged at two sides of the chassis 1 in the length direction, and the four universal wheel assemblies 3 are arranged between the two driving mechanisms 2 in two groups.

It will be appreciated that in practice, more drive mechanisms 2 may be provided as required, particularly for chassis 1 of greater length. The utility model is not restricted with respect to the number of drive mechanisms 2.

With reference to fig. 3, 4 and 5, the driving mechanism 2 comprises a walking driving component 2-1 and a rotating component 2-2 installed in the middle of the walking driving component 2-1, the walking driving component 2-1 comprises a first servo motor 2-1a and a second servo motor 2-1b which are symmetrically arranged, a first driving wheel 2-1c in transmission connection with the first servo motor 2-1a and a second driving wheel 2-1d in transmission connection with the second servo motor 2-1b, and the speed of the first driving wheel 2-1c and the speed of the second driving wheel 2-1d are controlled by an automatic control system of the AGV trolley, so that the omnidirectional movement of the chassis 1 can be realized.

The rotating assembly 2-2 comprises a rotating bearing 2-2a, a first gear 2-2b fixedly connected with the outer ring of the rotating bearing 2-2a, a rotating support disc 2-2c fixedly connected with the first gear 2-2b, a rotating disc support 2-2d fixedly connected with the inner ring of the rotating bearing 2-2a and a second gear 2-2e installed in the rotating disc support 2-2d, wherein the first gear 2-2b is located in the rotating disc support 2-2d, the second gear 2-2e is meshed with the outer ring of the first gear 2-2b, and the rotating support disc 2-2c is fixedly connected with the chassis 1.

When the bicycle moves forwards, the first driving wheel 2-1c and the second driving wheel 2-1d are controlled to travel at the same speed; when the automobile turns left, the speed of the right driving wheel is controlled to be higher than that of the left driving wheel; when the automobile turns right, the speed of the left driving wheel is controlled to be higher than that of the right driving wheel; the left driving wheel and the right driving wheel are controlled to run at opposite speeds, the rotating disc support 2-2d drives the second gear 2-2e to rotate along the first gear 2-2b, and the driving mechanism 2 rotates ninety degrees, so that the chassis 1 can move transversely.

In order to further optimize the implementation effect of the utility model, a damping mechanism 2-3 is arranged between one radial side of the rotating disk support 2-2d and the walking driving component 2-1, and a supporting component 2-4 is arranged between the other radial side of the rotating disk support 2-2d and the walking driving component 2-1, so that the damping effect can be achieved when the force for transporting objects is applied to the chassis 1 or the objects are separated from the chassis 1.

Specifically, the damping mechanism 2-3 comprises a first connecting rod 2-3a fixed on the rotating disk support 2-2d and extending along the horizontal direction, a first damping component arranged between one end of the first connecting rod 2-3a and the first driving wheel 2-1c, and a second damping component arranged between the other end of the first connecting rod 2-3a and the second driving wheel 2-1 d.

The first damping component comprises telescopic rods 2-3b, the lower ends of which are fixed on the first driving wheels 2-1c, pressurizing springs 2-3c sleeved outside the telescopic rods 2-3b, and limiting pieces 2-3d arranged at the upper ends of the telescopic rods 2-3b, and the limiting pieces 2-3d are fixedly connected with the first connecting rods 2-3 a; the second damping component has the same structure as the first damping component. When the force for conveying the object is applied to the chassis 1 or the object is separated from the chassis 1, the chassis 1 can float up and down due to the action of the pressurizing springs 2-3c, thereby achieving the shock absorption effect.

Specifically, the support assembly 2-4 comprises two support legs 2-4a fixed on the rotating disc support 2-2d and extending downwards and a second connecting rod 2-4b penetrating the two support legs 2-4a and extending along the horizontal direction, the second connecting rod 2-4b is in clearance fit with the two support legs 2-4a (namely the diameter of a through hole on the support leg 2-4a is larger than that of the second connecting rod 2-4 b), and two ends of the second connecting rod 2-4b are fixedly connected with the first driving wheel 2-1c and the second driving wheel 2-1d respectively. The supporting component 2-4 is matched with the damping mechanism 2-3 to realize the damping effect of the chassis 1.

In this example, the universal wheel assembly 3 comprises a universal wheel bracket 3-1 and a universal wheel 3-2 arranged at the lower end of the universal wheel bracket 3-1, and the universal wheel bracket 3-1 is fixedly connected with the chassis 1. Specifically, a universal wheel support 1-2 is fixed on a chassis 1, a universal wheel support 3-1 is fixedly connected with the universal wheel support 1-2, the universal wheel support 1-2 extends to the upper part of the chassis 1, and a universal wheel through groove 1-3 for extending out of a universal wheel component 3 is arranged on the chassis 1.

A rotary disc mounting support 1-1 is fixed on a chassis 1, a rotary supporting disc 2-2c is fixedly connected with the rotary disc mounting support 1-1, specifically, the rotary disc mounting support 1-1 extends to the upper part of the chassis 1, and a driving penetrating groove 1-4 for the driving mechanism 2 to penetrate out is arranged on the chassis 1.

The above examples are only for illustrating the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A chassis arrangement, characterized by: the universal wheel type vehicle chassis comprises a chassis, at least two driving mechanisms arranged at the bottom of the chassis and a plurality of universal wheel assemblies arranged at the bottom of the chassis;

2. The undercarriage arrangement of claim 1 wherein: a damping mechanism is arranged between one radial side of the rotating disc support and the walking driving assembly, and a supporting assembly is arranged between the other radial side of the rotating disc support and the walking driving assembly.

3. The undercarriage arrangement of claim 2 wherein: the damping mechanism comprises a first connecting rod fixed on the rotating disc support and extending along the horizontal direction, a first damping assembly arranged between one end of the first connecting rod and the first driving wheel, and a second damping assembly arranged between the other end of the first connecting rod and the second driving wheel.

4. The undercarriage arrangement of claim 3 wherein: the first damping assembly comprises a telescopic rod fixed on the first driving wheel, a pressurizing spring sleeved outside the telescopic rod and a limiting piece arranged at the upper end of the telescopic rod, and the limiting piece is fixedly connected with the first connecting rod; the second damping assembly is structurally identical to the first damping assembly.

5. The undercarriage arrangement of claim 2 wherein: the supporting assembly comprises two supporting legs and a second connecting rod, the two supporting legs are fixed on the rotating disc support and extend downwards, the second connecting rod penetrates through the two supporting legs and extends in the horizontal direction, the second connecting rod is in clearance fit with the two supporting legs, and two ends of the second connecting rod are fixedly connected with the first driving wheel and the second driving wheel respectively.

6. The undercarriage arrangement of claim 1 wherein: the universal wheel assembly comprises a universal wheel support and a universal wheel arranged at the lower end of the universal wheel support, and the universal wheel support is fixedly connected with the chassis.

7. The undercarriage arrangement of claim 6 wherein: and a universal wheel support is fixed on the chassis, and the universal wheel support is fixedly connected with the universal wheel support.

8. The undercarriage arrangement of claim 1 wherein: and a rotary disc mounting support is fixed on the chassis, and the rotary supporting disc is fixedly connected with the rotary disc mounting support.