CN214776243U

CN214776243U - An adaptive transporter

Info

Publication number: CN214776243U
Application number: CN202120052452.XU
Authority: CN
Inventors: 曾子航
Original assignee: Shenzhen Sun&moon Electronic Co ltd
Current assignee: Shenzhen Sun&moon Electronic Co ltd
Priority date: 2021-01-08
Filing date: 2021-01-08
Publication date: 2021-11-19
Anticipated expiration: 2031-01-08

Abstract

The utility model belongs to the technical field of self-adaptive transportation vehicles, in particular to an adaptive transportation vehicle. The adaptive transporter includes an adaptive chassis system, a booster and a storage box; the adaptive chassis system includes a first driving wheel, a second driving wheel, a third driving wheel, a fourth driving wheel, a movable bracket, a bottom shell and The connecting rod connected to the bottom end of the bottom case is rotated; the first driving wheel and the second driving wheel are both installed on the movable bracket, and the third driving wheel and the fourth driving wheel are both installed on the bottom case; The rotating shaft coincides with the rotating shaft of the second driving wheel and forms the axis of the first wheel; the connecting rod is rotatably connected to the center position of the movable bracket, the first driving wheel and the second driving wheel are installed on the movable bracket, and the first driving wheel and the The second driving wheel is arranged symmetrically with the central line of the connecting rod as the axis of symmetry; the central line of the connecting rod is perpendicular to the rotation axis of the first driving wheel. In the utility model, the self-adaptive transport vehicle has a strong capability of crossing ditch and sill.

Description

Self-adaptive transport vehicle

Technical Field

The utility model belongs to the technical field of the intelligence transport vechicle, especially, relate to a self-adaptation transport vechicle.

Background

With the continuous development of science and technology, intelligent transport vehicles (including AGV vehicles, baby carriages, trolleys and the like) are also more and more widely applied; an agv (automated Guided vehicle) is an example of a transport vehicle equipped with an electromagnetic or optical automatic guide device and capable of traveling along a predetermined guide path. The self-adaptive transport vehicle has safety protection and various carrying functions, is widely applied to factories, can automatically transport goods to a specific position, generally takes a rechargeable storage battery as a power source, controls the transport path and the behavior of the transport vehicle through a terminal, or establishes an advancing route by utilizing an electromagnetic track, or depends on novel movement and action brought by the electromagnetic track.

In the prior art, because the intelligent transport vehicle has a small volume and needs to control the cost, and the intelligent transport vehicle is not provided with a damping device, the self-adaptive transport vehicle cannot move forwards beyond an obstacle due to wheel slip or continues to move forwards by bypassing the obstacle when encountering the obstacle such as a ditch sill and the like on a moving path in the moving process of the self-adaptive transport vehicle; therefore, the self-adaptive transport vehicle in the prior art has the problem that the self-adaptive transport vehicle is difficult to cross the obstacle in the running process.

SUMMERY OF THE UTILITY MODEL

The utility model provides a self-adaptation transport vechicle among the prior art be difficult to cross technical problem such as barrier in the in-process existence of traveling, provide a self-adaptation transport vechicle.

In view of the above problems, an embodiment of the present invention provides a self-adaptive transport cart, which includes a self-adaptive chassis system, a raising member, and a storage box having a storage space; the self-adaptive chassis system comprises a first driving wheel, a second driving wheel, a third driving wheel, a fourth driving wheel, a movable support, a bottom shell and a connecting rod which is rotatably connected to the bottom end of the bottom shell; the storage box is mounted at the top end of the bottom shell through the heightening piece; the first driving wheel and the second driving wheel are both arranged on the movable support, and the third driving wheel and the fourth driving wheel are both arranged on the bottom shell; the rotating shaft of the first driving wheel is superposed with the rotating shaft of the second driving wheel to form a first wheel axis; the rotating shaft of the third driving wheel is superposed with the rotating shaft of the fourth driving wheel to form a second wheel axis; the first wheel axis is parallel to the second wheel axis;

the connecting rod is rotatably connected to the center of the movable support, the first driving wheel and the second driving wheel are both mounted on the movable support, and the first driving wheel and the second driving wheel are symmetrically arranged by taking the center line of the connecting rod as a symmetry axis; the central line of the connecting rod is perpendicular to the rotating shaft of the first driving wheel, and the central line of the connecting rod is parallel to the horizontal plane.

Optionally, the adaptive chassis system further includes a first support seat provided with a first through hole and a second support seat provided with a second through hole; the first supporting seat is installed on the bottom shell, and the second supporting seat is installed on the movable support; the connecting rod penetrates through the first through hole and the second through hole and is rotatably connected with the first supporting seat and the second supporting seat.

Optionally, the adaptive chassis system further comprises a third support seat provided with a third through hole, the third support seat is mounted on the movable support, and two opposite ends of the connecting rod are respectively rotatably connected to the second through hole and the third through hole.

Optionally, an accommodating groove is formed in the movable support, and the first support seat, the second support seat and the third support seat are located in the accommodating groove.

Optionally, the self-adaptation transport vechicle is the AGV car, the AGV car still includes the route inductor that is used for responding to the route of traveling to and all install barrier inductor and alarm on the drain pan, the barrier inductor is connected the alarm.

Optionally, the adaptive chassis system further comprises a bottom plate, and a first through groove, a second through groove, a third through groove and a fourth through groove are formed in the bottom plate; the bottom plate is arranged at the bottom end of the bottom shell, and an installation space is formed between the bottom plate and the bottom shell; the movable bracket, the first driving wheel, the second driving wheel, the third driving wheel and the fourth driving wheel are all arranged in the mounting space; the first driving wheel extends out of the first through groove, the second driving wheel extends out of the second through groove, the third driving wheel extends out of the third through groove, and the fourth driving wheel extends out of the fourth through groove.

Optionally, the adaptive chassis system further comprises a first motor frame and a second motor frame, the movable support comprises a first vertical plate, a second vertical plate and a first transverse plate connected between the first vertical plate and the second vertical plate, and the first motor frame and the second motor frame are both mounted on the first transverse plate;

the first driving wheel comprises a first driving piece, a first connecting shaft and a first wheel; a first mounting hole is formed in the first motor frame, and a second mounting hole is formed in the first vertical plate; the first driving piece is mounted on the first motor frame, one end of the first connecting shaft is rotatably mounted in the second mounting hole, and the other end of the first connecting shaft sequentially penetrates through the first wheel and the first mounting hole to be connected with the first driving piece;

the second driving wheel comprises a second driving piece, a second connecting shaft and a second wheel; a third mounting hole is formed in the second motor frame, and a fourth mounting hole is formed in the second vertical plate; the second driving piece is installed on the second motor frame, one end of the second connecting shaft is rotatably installed in the fourth mounting hole, and the other end of the second connecting shaft sequentially penetrates through the second wheel and the third mounting hole to be connected with the second driving piece.

Optionally, the self-adaptive transport vehicle further comprises a third motor frame, a fourth motor frame, a first fixing block and a second fixing block, wherein the third motor frame, the fourth motor frame, the first fixing block and the second fixing block are all mounted at the bottom end of the bottom shell;

the third driving wheel comprises a third driving piece, a third connecting shaft and a third wheel; a fifth mounting hole is formed in the third motor frame, and a sixth mounting hole is formed in the first fixing block; one end of a third connecting shaft is rotatably installed in the sixth installation hole, and the other end of the third connecting shaft penetrates through the third wheel and the fifth installation hole to be connected with the third driving piece;

the fourth driving wheel comprises a fourth driving part, a fourth connecting shaft and a fourth wheel; a seventh mounting hole is formed in the fourth motor frame, and an eighth mounting hole is formed in the second fixing block; one end of a fourth connecting shaft is rotatably mounted in the eighth mounting hole, and the other end of the fourth connecting shaft penetrates through the fourth wheel and the seventh mounting hole to be connected with the fourth driving part.

Optionally, the third motor frame includes a third vertical plate provided with the fifth mounting hole, and a second horizontal plate connected to the third vertical plate; the second transverse plate is installed on the bottom shell, and the third driving piece is installed on the third vertical plate;

the fourth motor frame comprises a fourth vertical plate provided with the seventh mounting hole and a third transverse plate connected with the fourth vertical plate; the third transverse plate is installed on the bottom shell, and the fourth driving piece is installed on the third vertical plate.

Optionally, the adaptive transport vehicle further comprises a battery, and a control board, a first battery bracket and a second battery bracket which are all mounted on the bottom shell; a first groove is formed in the first battery support, a second groove is formed in the second battery support, and two opposite ends of the battery are respectively inserted into the first groove and the second groove; the control board is connected with the battery, the first driving wheel and the second driving wheel.

In the utility model, the connecting rod is rotatably connected to the center of the movable support, the first driving wheel and the second driving wheel are both mounted on the movable support, and the first driving wheel and the second driving wheel are symmetrically arranged by taking the central line of the connecting rod as a symmetry axis; the central line of the connecting rod is perpendicular to the rotating shaft of the first driving wheel, and the central line of the connecting rod is parallel to the horizontal plane. When the self-adaptive transport vehicle encounters a pit or a raised ridge in the advancing process and the first driving wheel contacts with the ditch ridge, the movable support rotates around the connecting rod and drives the second driving wheel to move upwards or downwards, so that the first driving wheel is kept in a state of contacting with the ground while the second driving wheel is kept in the state of contacting with the ditch ridge, the first driving wheel and the second driving wheel both have driving forces, and the ditch and ridge passing capacity of the self-adaptive transport vehicle is improved. In addition, in the process that the movable support rotates around the connecting rod, the box body is always kept in a horizontal state, and therefore the phenomenon that goods above the material trolley in the box body fall off when the goods cross a ditch ridge is avoided. In addition, the self-adaptive transport vehicle is simple in structure and low in manufacturing cost.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of an adaptive transport vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an adaptive chassis system of an adaptive transport vehicle according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of another view angle of the adaptive chassis system of the adaptive transport vehicle according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a part of an adaptive chassis system of an adaptive transport vehicle according to an embodiment of the present invention;

fig. 5 is a schematic view illustrating a first supporting seat, a second supporting seat, and a third supporting seat of the adaptive transport cart according to an embodiment of the present invention are mounted on a movable support;

fig. 6 is a schematic structural diagram of a third motor frame of the adaptive transport cart according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. an adaptive chassis system; 11. a first drive wheel; 111. a first driving member; 112. a first connecting shaft; 113. a first wheel; 12. a second drive wheel; 121. a second driving member; 122. a second connecting shaft; 123. a second wheel; 13. a third drive wheel; 131. a third driving member; 132. a third connecting shaft; 133. A third wheel; 14. a fourth drive sheave; 141. a fourth drive; 142. a fourth connecting shaft; 143. a fourth wheel; 15. a movable support; 151. accommodating grooves; 152. a first vertical plate; 153. a second vertical plate; 154. A first transverse plate; 16. a bottom case; 161. an installation space; 17. a connecting rod; 18. a first support base; 19. A second support seat; 101. a third support seat; 102. a base plate; 1021. a first through groove; 1022. a second through groove; 1023. a third through groove; 1024. a fourth through groove; 103. a first motor mount; 104. a second motor mount; 105. a third motor mount; 1051. a third vertical plate; 1052. a second transverse plate; 106. a fourth motor mount; 107. a first fixed block; 108. a second fixed block; 2. a padding member; 3. a storage box; 4. a path sensor; 5. an obstacle sensor; 6. a control panel; 7. a first battery holder; 8. a second battery support.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 and 2, an embodiment of the present invention provides a storage box 3 including an adaptive chassis system 1, a padding member 2, and a storage space; the self-adaptive chassis system 1 comprises a first driving wheel 11, a second driving wheel 12, a third driving wheel 13, a fourth driving wheel 14, a movable support 15, a bottom shell 16 and a connecting rod 17 which is rotatably connected to the bottom end of the bottom shell 16; the storage box 3 is mounted at the top end of the bottom shell 16 through the heightening element 2; it can be understood that the heightening member 2 includes, but is not limited to, a connection column, a connection plate, etc., and the height of the storage box 3 is adjusted by the heightening member 2, so that the worker can conveniently take and place materials from the storage space of the storage box 3.

The first driving wheel 11 and the second driving wheel 12 are both mounted (mounted by screw connection and the like) on the movable bracket 15, and the third driving wheel 13 and the fourth driving wheel 14 are both mounted (mounted by screw connection and the like) on the bottom shell 16; the rotating shaft of the first driving wheel 11 and the rotating shaft of the second driving wheel 12 are overlapped and constitute a first wheel axis; the rotating shaft of the third driving wheel 13 and the rotating shaft of the fourth driving wheel 14 are overlapped and constitute a second wheel axis; the first wheel axis is parallel to the second wheel axis; it is understood that the movable support 15 spans the bottom shell 16, and the first driving wheel 11 and the second driving wheel 12 may be two front wheels of the adaptive transport vehicle, or two rear wheels of the adaptive transport vehicle. And the self-adaptive transport vehicle is of a four-wheel drive type, so that the obstacle crossing capability and the transport capability of the self-adaptive transport vehicle are improved.

The connecting rod 17 is rotatably connected to the center of the movable bracket 15, the first driving wheel 11 and the second driving wheel 12 are both mounted on the movable bracket 15, and the first driving wheel 11 and the second driving wheel 12 are symmetrically arranged with the center line of the connecting rod 17 as a symmetry axis; the central line of the connecting rod 17 is perpendicular to the rotating shaft of the first driving wheel 11, and the central line of the connecting rod 17 is parallel to the horizontal plane. Specifically, when the adaptive transport vehicle passes through a ditch sill, the first driving wheel 11 and the second driving wheel 12 are unevenly stressed due to obstacles such as the ditch sill, that is, the first driving wheel 11 and the second driving wheel 12 are not on the same horizontal plane, at this time, the first wheel axis rotates by using the connecting rod 17 as a rotating shaft, so that the first driving wheel 11 and the second driving wheel 12 both maintain a state of contacting with external fixed objects (that is, obstacles, the ground, and the like), and thus the first driving wheel 11 can output driving force, and the second driving wheel 12 can output driving force at the same time.

In the utility model, the connecting rod 17 is rotatably connected to the center of the movable support 15, the first driving wheel 11 and the second driving wheel 12 are both mounted on the movable support 15, and the first driving wheel 11 and the second driving wheel 12 are symmetrically arranged by taking the center line of the connecting rod 17 as a symmetry axis; the central line of the connecting rod 17 is perpendicular to the rotating shaft of the first driving wheel 11, and the central line of the connecting rod 17 is parallel to the horizontal plane. When the self-adaptive transport vehicle encounters a pit or a raised ridge in the advancing process and the first driving wheel 11 contacts a groove ridge, the movable support 15 rotates around the connecting rod 17, the movable support 15 drives the second driving wheel 12 to move upwards or downwards, so that the first driving wheel 11 is kept in contact with the groove ridge, the second driving wheel 12 is kept in a state of being in contact with the ground, the first driving wheel 11 and the second driving wheel 12 both have driving forces, and the groove passing and ridge passing capacity of the self-adaptive transport vehicle is improved. In addition, in the process that the movable support 15 rotates around the connecting rod 17, the box body is always kept in a horizontal state, so that the phenomenon that goods above the material trolley in the box body fall off when the goods cross a ditch ridge is avoided. In addition, the self-adaptive transport vehicle is simple in structure and low in manufacturing cost.

In an embodiment, as shown in fig. 5, the adaptive chassis system 1 further includes a first supporting seat 18 having a first through hole and a second supporting seat 19 having a second through hole; the first supporting seat 18 is mounted (e.g., screwed) on the bottom shell 16, and the second supporting seat 19 is mounted (e.g., screwed) on the movable bracket 15; the connecting rod 17 passes through the first through hole and the second through hole, and the connecting rod 17 is rotatably connected to the first support seat 18 and the second support seat 19. Specifically, the connecting rod 17 is rotatably mounted in the first through hole through a first bearing, and the connecting rod 17 is rotatably mounted in the second through hole through a second bearing. It is understood that the connecting rod 17 is pivotally connected to the bottom end of the bottom shell 16 through the first supporting seat 18, and the connecting rod 17 is pivotally connected to the movable bracket 15 through the second supporting seat 19.

The utility model discloses in, this self-adaptation transport vechicle's simple structure, simple to operate.

In an embodiment, as shown in fig. 5, the adaptive chassis system 1 further includes a third supporting seat 101 having a third through hole, the third supporting seat 101 is mounted on the movable bracket 15, and opposite ends of the connecting rod 17 are rotatably connected to the second through hole and the third through hole, respectively. Specifically, the connecting rod 17 is rotatably mounted in the third through hole through a third bearing. It will be understood that the first support seat 18 is located between the second support seat 19 and the third support seat 101. In this embodiment, this self-adaptation transport vechicle's stability is high, simple to operate.

In another embodiment, the third supporting seat 101 is mounted on the bottom plate 102, the second supporting seat 19 is located between the first supporting seat 18 and the third supporting seat 101, and opposite ends of the connecting rod 17 are rotatably mounted in the first through hole and the second through hole, respectively.

In an embodiment, as shown in fig. 4 and 5, a receiving groove 151 is formed on the movable bracket 15, and the first supporting seat 18, the second supporting seat 19 and the third supporting seat 101 are all located in the receiving groove 151. As can be understood, the accommodating groove 151 is disposed at the middle position of the movable bracket 15, and the design of the accommodating groove 151 improves the compactness of the self-adaptive transport vehicle, avoids the connecting rod 17 from being interfered by the external environment, and improves the stability and the service life of the self-adaptive transport vehicle.

In one embodiment, as shown in fig. 2 and 3, the adaptive transport vehicle is an AGV vehicle, the AGV vehicle further includes a path sensor 4 for sensing a travel path, and an obstacle sensor 5 and an alarm (not shown) both mounted (by means of screw connection, snap connection, etc.) on the bottom shell 16, and the obstacle sensor 5 is connected to the alarm. It will be appreciated that the path sensor 4 is mounted below the floor 102, and that the path sensor 4 includes, but is not limited to, a magnetic sensor or the like that senses a magnetic strip on the floor to guide the AGV vehicle along the path of the magnetic strip. Preferably, two path sensors 4 are provided, and the two path sensors 4 are respectively installed in front of and behind the base plate 102. Further, the obstacle sensor 5 includes, but is not limited to, a laser equidistance sensor. Specifically, when the obstacle sensor 5 detects that a large obstacle exists in the front of the self-adaptive transport vehicle in the running process, the alarm gives out alarm information, and prompts a worker to remove the obstacle in the front or prompts the obstacle in the front to leave. The utility model discloses in, route inductor 4 with the normal driving of self-adaptation transport vechicle has been guaranteed to barrier inductor 5's design.

Further, the adaptive transport vehicle is not limited to an AGV vehicle, but may also be a stroller, a cart, or the like.

In an embodiment, as shown in fig. 2 and fig. 3, the adaptive chassis system 1 further includes a bottom plate 102, and a first through slot 1021, a second through slot 1022, a third through slot 1023, and a fourth through slot 1024 are disposed on the bottom plate 102; the bottom plate 102 is mounted at the bottom end of the bottom shell 16, and a mounting space 161 is formed between the bottom plate 102 and the bottom shell 16; the movable bracket 15, the first driving wheel 11, the second driving wheel 12, the third driving wheel 13 and the fourth driving wheel 14 are all installed in the installation space 161; the first driving wheel 11 extends out of the first through groove 1021, the second driving wheel 12 extends out of the second through groove 1022, the third driving wheel 13 extends out of the third through groove 1023, and the fourth driving wheel 14 extends out of the fourth through groove 1024. It is understood that the bottom plate 102 is mounted at the bottom end of the bottom shell 16, the bottom shell 16 corresponds to a box body with an opening facing downward, and the bottom plate 102 corresponds to a box cover covering the opening of the bottom shell 16; the first driving wheel 11 passes through the first through groove 1021 to contact the ground, the second driving wheel 12 passes through the second through groove 1022 to contact the ground, the third driving wheel 13 passes through the third through groove 1023 to contact the ground, and the fourth driving wheel 14 passes through the fourth through groove 1024 to contact the ground. The utility model discloses in, movable support 15 first drive wheel 11 second drive wheel 12 third drive wheel 13 and fourth drive wheel 14 is all installed in installation space 161 to guaranteed the self-adaptation transport vechicle process of traveling, avoid external barrier right first drive wheel 11 second drive wheel 12 third drive wheel 13 the harm of fourth drive wheel 14, battery and control panel 6 etc. has prolonged the life of this self-adaptation transport vechicle.

In an embodiment, as shown in fig. 2 and 4, the adaptive chassis system 1 further includes a first motor frame 103 and a second motor frame 104, the movable bracket 15 includes a first vertical plate 152, a second vertical plate 153 and a first horizontal plate 154 connected between the first vertical plate 152 and the second vertical plate 153, and the first motor frame 103 and the second motor frame 104 are both mounted (mounted by means of screw connection, snap connection, etc.) on the first horizontal plate 154; it is understood that the first vertical plate 152 and the second vertical plate 153 are respectively installed at the left and right ends of the first horizontal plate 154; the receiving groove 151 is disposed at a central position of the first horizontal plate 154, and the first horizontal plate 154 is rotatably mounted on the bottom housing 16 through the first supporting seat 18 and the connecting rod 17.

The first driving wheel 11 comprises a first driving member 111, a first connecting shaft 112 and a first wheel 113; a first mounting hole is formed in the first motor frame 103, and a second mounting hole is formed in the first vertical plate 152; the first driving member 111 is mounted on the first motor frame 103, one end of the first connecting shaft 112 is rotatably mounted in the second mounting hole, and the other end of the first connecting shaft 112 sequentially passes through the first wheel 113 and the first mounting hole to be connected with the first driving member 111; it is understood that the first drive member 111 includes, but is not limited to, an electric motor or the like; and the first wheel 113 is installed between the first riser 152 and the first motor frame 103, one end of the first connecting shaft 112 is installed in the first installation hole through a fourth bearing, and the other end of the first connecting shaft 112 is installed in the second installation hole through a fifth bearing.

The second driving wheel 12 comprises a second driving member 121, a second connecting shaft 122 and a second wheel 123; a third mounting hole is formed in the second motor frame 104, and a fourth mounting hole is formed in the second vertical plate 153; the second driving element 121 is mounted on the second motor frame 104, one end of the second connecting shaft 122 is rotatably mounted in the fourth mounting hole, and the other end of the second connecting shaft 122 sequentially passes through the second wheel 123 and the third mounting hole to be connected to the second driving element 121. It is understood that the second driving member 121 includes, but is not limited to, a motor, etc.; and the second wheel 123 is mounted between the second vertical plate 153 and the second motor frame 104, one end of the second connecting shaft 122 is mounted in the third mounting hole through a sixth bearing, and the other end of the second connecting shaft 122 is mounted in the fourth mounting hole through a seventh bearing. The utility model discloses in, this self-adaptation transport vechicle compact structure, stability is high and the installation of being convenient for.

In one embodiment, as shown in fig. 2, the adaptive transport vehicle further includes a third motor mount 105, a fourth motor mount 106, a first fixing block 107 and a second fixing block 108, which are all mounted (by means of screws or the like) at the bottom end of the bottom case 16.

The third driving wheel 13 comprises a third driving element 131, a third connecting shaft 132 and a third wheel 133; a fifth mounting hole is formed in the third motor frame 105, and a sixth mounting hole is formed in the first fixing block 107; one end of a third connecting shaft 132 is rotatably mounted in the sixth mounting hole, and the other end of the third connecting shaft 132 passes through the third wheel 133 and the fifth mounting hole to be connected with the third driving element 131; it is understood that the third drive 131 includes, but is not limited to, an electric motor or the like; and the third wheel 133 is installed between the first fixing block 107 and the third motor mount 105, one end of the third connecting shaft 132 is installed in the sixth installation hole through a sixth bearing, and the other end of the third connecting shaft 132 is installed in the fifth installation hole through a seventh bearing.

The fourth driving wheel 14 includes a fourth driving member 141, a fourth connecting shaft 142 and a fourth wheel 143; a seventh mounting hole is formed in the fourth motor frame 106, and an eighth mounting hole is formed in the second fixing block 108; one end of the fourth connecting shaft 142 is rotatably mounted in the eighth mounting hole, and the other end of the fourth connecting shaft 142 passes through the fourth wheel 143 and the seventh mounting hole to be connected to the fourth driving element 141. It is understood that the fourth driving member 141 includes, but is not limited to, a motor, etc.; and the fourth wheel 143 is mounted between the second fixing block 108 and the fourth motor mount 106, one end of the fourth connecting shaft 142 is mounted in the eighth mounting hole through an eighth bearing, and the other end of the fourth connecting shaft 142 is mounted in the seventh mounting hole through a ninth bearing. The utility model discloses in, compact structure, stability height, simple to operate of this self-adaptation transport vechicle.

In an embodiment, as shown in fig. 2 and 6, the third motor frame 105 includes a third vertical plate 1051 provided with the fifth mounting hole, and a second horizontal plate 1052 connected to the third vertical plate 1051; the second cross plate 1052 is mounted (by screw connection or the like) on the bottom shell 16, and the third driving member 131 is mounted on the third vertical plate 1051; it is understood that the second cross plate 1052 and the third vertical plate 1051 are perpendicular to each other.

The fourth motor frame 106 comprises a fourth vertical plate provided with the seventh mounting hole and a third transverse plate connected with the fourth vertical plate; the third horizontal plate is mounted (e.g., by screws) to the bottom housing 16, and the fourth driver 141 is mounted to the third vertical plate 1051. As can be appreciated, the first dispersion transverse plate and the fourth vertical plate are arranged perpendicular to each other; the utility model discloses in, third motor frame 105 with the simple structure of fourth motor frame 106, simple to operate, low in manufacturing cost.

In one embodiment, as shown in fig. 2, the adaptive transport vehicle further includes a battery (not shown), and a control board 6, a first battery bracket 7 and a second battery bracket 8, all mounted on the bottom case 16; a first groove is formed in the first battery support 7, a second groove is formed in the second battery support 8, and two opposite ends of the battery are respectively inserted into the first groove and the second groove; the control board 6 is connected to the battery, the first drive wheel 11 and the second drive wheel 12. It will be appreciated that the control board 6 is also connected to the path sensor 4, the obstacle sensing and the alarm device. The battery is a rechargeable battery, and the battery can provide electric power for the self-adaptive transport vehicle, so that the normal running of the self-adaptive transport vehicle is ensured.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An adaptive transport vehicle, characterized in that it comprises an adaptive chassis system, a booster and a storage box provided with a storage space; the adaptive chassis system includes a first driving wheel, a second driving wheel, A third driving wheel, a fourth driving wheel, a movable bracket, a bottom case and a connecting rod rotatably connected to the bottom end of the bottom case; the storage box is mounted on the top of the bottom case through the booster ; Both the first drive wheel and the second drive wheel are installed on the movable bracket, and the third drive wheel and the fourth drive wheel are installed on the bottom case; the first drive wheel The rotation axis of the wheel coincides with the rotation axis of the second driving wheel and forms the first wheel axis; the rotation axis of the third driving wheel coincides with the rotation axis of the fourth driving wheel and forms the second wheel axis; the axis of the wheel is parallel to the axis of the second wheel;

The connecting rod is rotatably connected at the center of the movable bracket, and the first driving wheel and the second driving wheel are symmetrically arranged with the center line of the connecting rod as the axis of symmetry; the center line of the connecting rod It is arranged perpendicular to the rotating shaft of the first driving wheel, and the center line of the connecting rod is arranged parallel to the horizontal plane.

2 . The adaptive transport vehicle according to claim 1 , wherein the adaptive chassis system further comprises a first support seat with a first through hole and a second support seat with a second through hole; the The first support seat is installed on the bottom case, and the second support seat is installed on the movable bracket; the connecting rod passes through the first through hole and the second through hole, and the connection The rod is rotatably connected with the first support base and the second support base.

3 . The self-adaptive transport vehicle according to claim 2 , wherein the self-adaptive chassis system further comprises a third support seat provided with a third through hole, and the third support seat is mounted on the movable bracket. 4 . The opposite ends of the connecting rod are respectively connected in the second through hole and the third through hole in rotation.

4 . The self-adaptive transport vehicle according to claim 3 , wherein a receiving groove is provided on the movable bracket, and the first support seat, the second support seat and the third support seat are all located in the in the receiving slot.

5. The adaptive transportation vehicle according to claim 1, characterized in that, the adaptive transportation vehicle is an AGV vehicle, and the AGV vehicle further comprises a path sensor for sensing a driving path, and both are installed in the AGV vehicle. An obstacle sensor and an alarm on the bottom case, the obstacle sensor is connected to the alarm.

6 . The self-adaptive transport vehicle according to claim 1 , wherein the self-adaptive chassis system further comprises a bottom plate, and the bottom plate is provided with a first through slot, a second through slot, a third through slot and a third through slot. 7 . Four-way slot; the bottom plate is installed on the bottom end of the bottom case, and an installation space is formed between the bottom plate and the bottom case; the movable bracket, the first driving wheel, and the second driving wheel , the third driving wheel and the fourth driving wheel are installed in the installation space; the first driving wheel extends out of the first through slot, and the second driving wheel extends out of the second A through groove, the third driving wheel extends out of the third through groove, and the fourth driving wheel extends out of the fourth through groove.

7 . The adaptive transport vehicle according to claim 1 , wherein the adaptive chassis system further comprises a first motor frame and a second motor frame, and the movable bracket comprises a first riser and a second riser. 8 . and a first horizontal plate connected between the first vertical plate and the second vertical plate, the first motor frame and the second motor frame are both mounted on the first horizontal plate;

The first driving wheel includes a first driving member, a first connecting shaft and a first wheel; the first motor frame is provided with a first mounting hole, and the first vertical plate is provided with a second mounting hole; A driving member is installed on the first motor frame, one end of the first connection shaft is rotatably installed in the second installation hole, and the other end of the first connection shaft passes through the first wheel and the the first mounting hole is connected to the first driving member;

The second driving wheel includes a second driving member, a second connecting shaft and a second wheel; the second motor frame is provided with a third mounting hole, and the second vertical plate is provided with a fourth mounting hole; Two driving members are installed on the second motor frame, one end of the second connecting shaft is rotatably installed in the fourth installation hole, and the other end of the second connecting shaft passes through the second wheel and the The third mounting hole is connected to the second driving member.

8 . The self-adaptive transport vehicle according to claim 1 , wherein the self-adaptive transport vehicle further comprises a third motor frame, a fourth motor frame, a first fixing block and a third motor frame, all mounted on the bottom end of the bottom shell. 9 . Two fixed blocks;

The third driving wheel includes a third driving member, a third connecting shaft and a third wheel; the third motor frame is provided with a fifth mounting hole, and the first fixing block is provided with a sixth mounting hole; One end of the three connecting shafts is rotatably installed in the sixth installation hole, and the other end of the third connecting shaft passes through the third wheel and the fifth installation hole to connect to the third driving member;

The fourth driving wheel includes a fourth driving member, a fourth connecting shaft and a fourth wheel; the fourth motor frame is provided with a seventh mounting hole, and the second fixing block is provided with an eighth mounting hole; One end of the four connecting shafts is rotatably installed in the eighth installation hole, and the other end of the fourth connecting shaft passes through the fourth wheel and the seventh installation hole to connect to the fourth driving member.

9 . The adaptive transporter of claim 8 , wherein the third motor frame comprises a third vertical plate provided with the fifth mounting hole, and a second vertical plate connected to the third vertical plate. 10 . a horizontal plate; the second horizontal plate is installed on the bottom case, and the third driving member is installed on the third vertical plate;

The fourth motor frame includes a fourth vertical plate provided with the seventh installation hole, and a third horizontal plate connected to the fourth vertical plate; the third horizontal plate is installed on the bottom case, so The fourth driving member is mounted on the third vertical plate.

10. The adaptive transporter of claim 1, wherein the adaptive transporter further comprises a battery and a control board, a first battery bracket and a second battery bracket all mounted on the bottom case; The first battery holder is provided with a first groove, the second battery holder is provided with a second groove, and opposite ends of the battery are respectively inserted into the first groove and the second groove in; the control board is connected to the battery, the first driving wheel and the second driving wheel.