CN114604337A - Chassis structure and automatic carrying trolley thereof - Google Patents

Abstract

The invention provides a chassis structure, which comprises a base body, a driving wheel and universal wheels, wherein the driving wheel is arranged on the base body; the driving wheels are diagonally arranged on different two sides of the base body, the universal wheels are correspondingly arranged on the other two sides of the base body, and any one driving wheel is attached with a steering engine; the driving wheels are at least arranged at the front end side and the rear end side of the base body along the advancing direction of the base body; the steering engine comprises a first driving piece and a speed reducer, the first driving piece is arranged on the upper side of the driving wheel in an opposite mode and is arranged on the upper end face of the base body, and the speed reducer is connected to an output shaft of the first driving piece in an opposite mode; the driving wheel is provided with a second driving piece along the lateral butt joint of the driving wheel, the second driving piece is arranged on the lower side of the steering engine in an opposite mode and is arranged at intervals with the lower end face of the base body. The driving wheels are arranged at opposite angles of the base body, the steering engines are coaxially arranged with the driving wheels, and the universal wheels are arranged at opposite angles below the base body, so that the rotation angle in situ is convenient to realize, and the transportation operation support at any angle is provided for intelligent manufacturing equipment arranged on a chassis structure.

Description

A chassis structure and its automatic transport trolley

technical field

The invention relates to the technical field of logistics and transportation, in particular, to a chassis structure and an automatic transport trolley thereof.

Background technique

Various types of chassis with transportation functions appearing in existing intelligent manufacturing, such as the chassis structure of AGV (Automated Guided Vehicle), which use more mechanisms and parts to realize the functions of forward and steering, high cost and failure rate Also high.

In addition, the driving mode generally adopts four-wheel drive, and also adopts front-wheel drive or rear-wheel drive. However, the cost of using wheel drive is relatively high, and the control of the four wheels when turning around a longitudinal axis is more complicated.

In addition, due to the uneven ground in the use environment, whether it is four-wheel drive, front drive or rear drive, multiple suspensions are required to maintain the level of the chassis, so the cost and failure rate are high.

It should be mentioned that the information disclosed in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes the already known knowledge to a person of ordinary skill in the art of existing technology.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a chassis structure and its automatic transport trolley to solve the above problems.

The present invention adopts the following scheme:

The application provides a chassis structure, comprising: a base body, a driving wheel and a universal wheel arranged on the base body; wherein, the driving wheels are arranged diagonally on different sides of the base body, and the universal wheels are correspondingly arranged On the other two sides of the base body, any driving wheel is equipped with a steering gear; along the traveling direction of the base body, the driving wheel is arranged at least on the front end side and the rear end side of the base body; the steering gear includes a first A driving member and a speed reducer, the first driving member is opposite to the upper side of the driving wheel and is arranged on the upper end surface of the base body, the speed reducing device is butted on the output shaft of the first driving member, and is drivingly coupled to the driving wheel Steering operation is carried out on the above; the driving wheel is provided with a second driving member along its lateral direction, and the second driving member is opposite to the lower side of the steering gear and is arranged at a distance from the lower end surface of the base body.

As a further improvement, it also includes a steering shaft connected to the output end of the reducer, the steering shaft is penetrated through the base body and has a mounting bracket on its end, and the driving wheel is rotatably arranged on the mounting bracket. on the stand.

As a further improvement, the mounting bracket is configured as a U-shaped plate, the end of the steering shaft is fixed on the connecting bottom of the U-shaped plate, and the second driving member is configured on one side of the U-shaped plate and Passing through the plate body to drive and connect to the driving wheel, and the driving wheel is rotatably arranged on the other side of the U-shaped plate and accommodated in the opening of the U-shaped plate.

As a further improvement, a bearing and a rudder plate are arranged between the mounting bracket and the base body; the rudder plate is fastened to the mounting bracket, and the bearing is connected in the end face space formed by the rudder plate and the base body.

As a further improvement, a transmission bushing is embedded between the steering shaft and the base body to allow the steering shaft to rotate freely in the axial direction after being controlled by the first driving member to drive the driving wheel to move.

As a further improvement, a plurality of studs defining a preset height of the first driving member on the base body are arranged between the first driving member and the upper end surface of the base body, and the studs are bolted between the reducer and the base body. between the base bodies, so that the reducer and the base are spaced apart from each other.

As a further improvement, the base body is configured as a plate body structure, and the plate body structure is a rectangular body, and each driving member and a universal wheel are respectively arranged around the bottom of the rectangular body and adjacent to each right angle of the plate body structure.

As a further improvement, a spring member is arranged between the universal wheel and the base body, so as to configure the universal wheel as an elastic universal wheel.

As a further improvement, position detectors are arranged around the base body, and each position detector is installed on the end face of the base body and is flush with the outer edge of the base body.

The present application further provides an automatic transport trolley, which includes the chassis structure.

By adopting the above-mentioned technical scheme, the present invention can achieve the following technical effects:

The chassis structure of the present application, on the one hand, adopts the driving wheel to be installed on the diagonal of the base body, the steering gear is installed coaxially with the driving wheel, and the universal wheel is installed diagonally under the base body, which is convenient to realize in-situ rotation Angle, so as to provide transport operation support at any angle for the intelligent manufacturing equipment installed in the chassis structure. On the other hand, the steering gear is provided with a first driving member and its reducer, and the first driving member for steering operation of the driving wheel is opposite to the upper side of the driving wheel and is arranged on the upper end surface of the base body, and The second driving member for driving the wheel to move movably is opposite to the lower side of the steering gear, and the second driving member is spaced apart from the lower end surface of the base body. Therefore, such a configuration makes each structural member of the steering gear, the driving wheel and the The second driving part is more compactly and efficiently arranged on the base body, which facilitates the connection and coordination between the driving wheels, facilitates their disassembly, assembly and maintenance, and significantly improves the overall conveying efficiency and stability.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a chassis structure according to an embodiment of the present invention from a first perspective;

2 is a schematic structural diagram of a chassis structure according to an embodiment of the present invention from a second viewing angle;

3 is a schematic structural diagram of a chassis structure according to an embodiment of the present invention from a third viewing angle;

FIG. 4 is a schematic diagram of the structure between the steering wheel and the driving wheel in FIG. 1 .

Icon: 1- base body; 2- drive wheel; 3- universal wheel; 4- first drive part; 5- reducer; 6- second drive part; 7- mounting bracket; 8- bearing; 9- rudder plate ; 10- drive shaft sleeve; 11- stud; 12- spring piece; 13- position detector; 14- steering shaft.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present invention.

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

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

Example

1 to 4 , this embodiment provides a chassis structure, including: a base body 1 , and a drive wheel 2 and a universal wheel 3 disposed on the base body 1 . The driving wheels 2 are arranged diagonally on different sides of the base body 1 , the universal wheels 3 are correspondingly arranged on the other two sides of the base body 1 , and any driving wheel 2 is equipped with a steering gear. The drive wheels 2 are arranged at least on the front end side and the rear end side of the base body 1 along the traveling direction of the base body 1 . The steering gear includes a first driving member 4 and a reducer 5 . The first driving member 4 is opposite to the upper side of the driving wheel 2 and is arranged on the upper end surface of the base body 1 , and the reducer 5 is connected to the output shaft of the first driving member 4 . on the drive wheel 2, and drive it to the drive wheel 2 to implement the steering operation. The driving wheel 2 is provided with a second driving member 6 along its lateral direction, and the second driving member 6 is opposite to the lower side of the steering gear, and the second driving member 6 is spaced from the lower end surface of the base body 1 .

In the above, the drive wheel 2 is installed on the diagonal of the base body 1, the steering gear is installed coaxially with the drive wheel 2, and the universal wheel 3 is installed diagonally under the base body 1, which is convenient to realize the in-situ rotation angle, thereby Provide transport operation support at any angle for intelligent manufacturing equipment mounted on the chassis structure.

In addition, the steering gear is provided with a first driving member 4 and its reducer 5 , and the first driving member 4 for steering operation of the driving wheel 2 is opposed to the upper side of the driving wheel 2 and is arranged on the upper end surface of the base body 1 , and the second driving member 6 for driving the wheel 2 to move movably is opposite to the lower side of the steering gear, and the second driving member 6 is spaced from the lower end surface of the base body 1, so that this configuration makes each steering gear The structural member, the driving wheel 2 and its second driving member 6 are arranged on the base body 1 more compactly and efficiently, which is conducive to closer and coordinated connection between the driving wheels 2, facilitates their disassembly, assembly and maintenance, and significantly improves the overall performance. Delivery efficiency and stability.

In one embodiment, the chassis structure further includes a steering shaft 14 connected to the output end of the reducer 5 . The steering shaft 14 is passed through the base body 1 and has a mounting bracket 7 on its end, and the driving wheel 2 is rotatable. ground on the mounting bracket 7 . The mounting bracket is controlled by the steering gear, and can be steered and moved relative to the base body 1 under the driving of the steering gear, so that the driving wheel 2 arranged on the mounting bracket 7 can switch angles.

More specifically, in one of the embodiments, the mounting bracket 7 is configured as a U-shaped plate, the end of the steering shaft 14 is fixed on the connecting bottom of the U-shaped plate, and the second driving member 6 is configured on the bottom of the U-shaped plate. One side of the U-shaped plate passes through the plate body to drive and connect to the driving wheel 2, and the driving wheel 2 is rotatably arranged on the other side of the U-shaped plate and accommodated in the opening of the U-shaped plate. Therefore, the connecting bottom of the U-shaped plate defines the installation space with the steering gear, and the two sides of the U-shaped plate define the installation space with the second driving member 6 and the accommodating space of the driving wheel 2 to ensure that each Compact and rational arrangement of functional components on the mounting bracket 7 .

In another embodiment, the mounting bracket 7 is configured as a U-shaped plate structure composed of a plurality of L-shaped plates (as shown in FIG. 4 ). The two L-shaped plates are connected and matched by fasteners, a space for the installation of the second driving member 6 is formed outside one side of one L-shaped plate, and a driving wheel is formed inside one side of the other L-shaped plate. 2 installation space, and the driving wheel 2 is accommodated in the inner space formed by the combination of two L-shaped plates, which is convenient for further disassembly and maintenance.

As shown in FIG. 1 and FIG. 4 , a bearing 8 and a steering wheel 9 are provided between the mounting bracket 7 and the base body 1 . The rudder wheel 9 is fastened on the mounting bracket 7 , and the bearing 8 is connected in the end face space formed by the rudder wheel 9 and the base body 1 . Through the sliding contact between the bearings 8, the frictional contact of the output end of the reducer 5 after the chassis body is worn is greatly reduced, and the smoothness of the steering movement and the transmission efficiency are significantly improved.

Furthermore, in order to improve the flexibility during the steering process, a transmission bushing 10 is embedded between the steering shaft 14 and the base body 1 to allow the steering shaft 14 to be controlled by the rear edge of the first driving member 4 . The axial direction is free to rotate to drive the driving wheel 2 to turn and move.

Obviously, in this embodiment, the base body 1 can implement an in-situ rotation angle around any steering shaft 14. Specifically, the first driving member 4 of one steering gear outputs power, and the first driving member 4 of the other steering gear The driving member 4 is in a standby state, so that the base body 1 takes the driving wheel 2 where the steering gear outputting power is located as the central rotation axis, and cooperates with other wheels to implement the central rotation, the steering is more flexible, and the position switching accuracy is higher.

As shown in FIG. 4 , in an embodiment, a plurality of studs defining a preset height of the first driving member 4 on the base body 1 are disposed between the first driving member 4 and the upper end surface of the base body 1 11. The stud 11 is bolted between the reducer 5 and the base body 1, so that the reducer 5 and the base are spaced apart from each other. Therefore, the steering gear can be quickly disassembled and assembled on the upper end face of the main body through a plurality of studs 11 with adjustable height, which is beneficial to the subsequent installation and maintenance, and the adjustment of the position of the steering gear makes the connection between the steering gear and the driving wheel 2 more compact and suitable. match.

In one embodiment, the base body 1 is configured as a plate body structure, and the plate body structure is a rectangular body, and each driving member and the universal wheel 3 are respectively arranged around the bottom of the rectangular body, and are adjacent to the bottom of the plate body structure. at each right angle. Obviously, this can well improve the overall balance performance of the chassis structure, and the base body 1 can be used to support and lift the objects to be transported and automatically transport them to the desired position.

A spring member 12 is arranged between the universal wheel 3 and the base body 1 to configure the universal wheel 3 into an elastic universal wheel 3 . Therefore, at least the swivel wheel 3 is provided with a spring member 12 for buffering, so that the stability of the chassis structure is higher, and the problem that the swivel wheel 3 is easily damaged can be avoided.

As shown in FIG. 3 , in an embodiment, position detectors 13 are arranged around the base body 1 , and each position detector 13 is installed at the end face position of the base body 1 , specifically at the lower end face position, so as to facilitate hiding distributed design, and each position detector 13 is flush with the outer edge of the base body 1 . The position detectors 13 arranged in all directions can quickly monitor the surrounding environment, and the position detectors 13 flush at the outer edge can improve the appearance and recognition of the overall layout, and can also greatly improve the monitoring efficiency.

This embodiment further provides an automatic transport trolley, which includes the above-mentioned chassis structure. During the driving process, if the two driving wheels 2 rotate in the same direction, the chassis moves straight forward. When the driving wheel 2 on one side rotates and the driving wheel 2 on the other side does not rotate, the base body 1 performs a rotary motion, and can perform a reversing motion at any angle according to the steering angle of the driving wheel 2 and its steering gear, thereby Carrying and conveying work along preset designated locations.

The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions that belong to the idea of the present invention belong to the protection scope of the present invention.

Claims (10)

1. A chassis structure, comprising: the driving wheel and the universal wheel are arranged on the base body; wherein,

the driving wheels are diagonally arranged on different two sides of the base body, the universal wheels are correspondingly arranged on the other two sides of the base body, and any one driving wheel is attached with a steering engine; the driving wheels are arranged at least at the front end side and the rear end side of the base body along the advancing direction of the base body;

the steering engine comprises a first driving piece and a speed reducer, the first driving piece is arranged on the upper side of the driving wheel in an opposite mode and arranged on the upper end face of the base body, and the speed reducer is connected to an output shaft of the first driving piece in an opposite mode and is in transmission connection with the driving wheel to implement steering operation;

the driving wheel is provided with a second driving piece along the lateral butt joint of the driving wheel, and the second driving piece is arranged on the lower side of the steering engine in an opposite mode and arranged at intervals with the lower end face of the base body.

2. The chassis structure according to claim 1, further comprising a steering shaft butted against an output end of the speed reducer, wherein the steering shaft is penetrated through the base body and provided with a mounting bracket at an end portion thereof, and the driving wheel is rotatably disposed on the mounting bracket.

3. The floor structure according to claim 2, wherein the mounting bracket is configured as a U-shaped plate, the end of the steering shaft is fixedly arranged on the connecting bottom of the U-shaped plate, the second driving member is configured on one side edge of the U-shaped plate and penetrates through the plate body of the U-shaped plate to be connected to the driving wheel in a transmission manner, and the driving wheel is rotatably configured on the other side edge of the U-shaped plate and is accommodated in the opening of the U-shaped plate.

4. The chassis structure according to claim 3, wherein a bearing and a rudder disc are provided between the mounting bracket and the base body; the steering wheel is fixedly connected to the mounting support, and the bearing is connected to the end face space formed by the steering wheel and the base body.

5. The chassis structure according to claim 2, wherein the steering shaft is engaged with the base body through a transmission shaft sleeve to allow the steering shaft to be controlled by the first driving member and then freely rotate in the axial direction to drive the driving wheel to steer.

6. The chassis structure according to claim 1, wherein a plurality of studs defining a predetermined height of the first driving member on the base body are disposed between the first driving member and the upper end surface of the base body, and the studs are bolted between the decelerator and the base body so that the decelerator and the base are spaced apart from each other.

7. The chassis structure according to claim 1, wherein the base body is constructed as a plate structure, and the plate structure is formed as a rectangular body, and the driving members and the universal wheels are respectively disposed around the bottom of the rectangular body adjacent to the corners of the plate structure.

8. The chassis structure of claim 1, wherein a spring member is provided between the universal wheel and the base body to configure the universal wheel as a resilient universal wheel.

9. The chassis structure according to claim 1, wherein the peripheral side of the base body is provided with position detectors, and each position detector is mounted on the end face of the base body and flush with the outer edge of the base body.

10. An automated handling cart, comprising a chassis structure according to any of claims 1-9.

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