WO2020088420A1 - 无人引导搬运车及其底盘 - Google Patents

无人引导搬运车及其底盘 Download PDF

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Publication number
WO2020088420A1
WO2020088420A1 PCT/CN2019/113758 CN2019113758W WO2020088420A1 WO 2020088420 A1 WO2020088420 A1 WO 2020088420A1 CN 2019113758 W CN2019113758 W CN 2019113758W WO 2020088420 A1 WO2020088420 A1 WO 2020088420A1
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WO
WIPO (PCT)
Prior art keywords
chassis
torsion shaft
chassis body
module
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/113758
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English (en)
French (fr)
Inventor
俞文涛
吴超
姜辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Hikrobot Technology Co Ltd
Original Assignee
Hangzhou Hikrobot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Hikrobot Technology Co Ltd filed Critical Hangzhou Hikrobot Technology Co Ltd
Priority to EP19878734.3A priority Critical patent/EP3875353B1/en
Priority to US17/288,818 priority patent/US12012166B2/en
Publication of WO2020088420A1 publication Critical patent/WO2020088420A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/32—Resilient suspensions characterised by arrangement, location or kind of springs having springs of different kinds
    • B60G11/48—Resilient suspensions characterised by arrangement, location or kind of springs having springs of different kinds not including leaf springs
    • B60G11/50—Resilient suspensions characterised by arrangement, location or kind of springs having springs of different kinds not including leaf springs having helical, spiral or coil springs, and also torsion-bar springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/10—Understructures, i.e. chassis frame on which a vehicle body may be mounted in which the main member is plate-like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
    • B62D61/04—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial

Definitions

  • This application relates to the technical field of warehousing and logistics, in particular to an unmanned guided truck and its chassis.
  • the current cargo handling carts are usually unmanned guided trucks.
  • the chassis of an unmanned guided truck is a mechanism that can realize the movement of unmanned guided trucks.
  • An omnidirectional chassis that is, a chassis that can achieve omnidirectional movement.
  • the chassis of the unmanned guided vehicle includes four driving wheel group modules, and each driving wheel group module is a dual-wheel differential module.
  • the chassis of the unmanned guided vehicle using the four drive wheel group modules may be greatly shaken, which may lead to the unmanned guided vehicle. Unstable.
  • the price of the drive wheel group module is relatively high, and the use of four drive wheel group modules will undoubtedly lead to a higher cost of the entire chassis.
  • the embodiments of the present application disclose an unmanned guided truck and its chassis to solve the problems that the chassis of the current unmanned guided truck is prone to sway and high cost during traveling.
  • An unmanned guided vehicle chassis includes a chassis body and a torsion shaft caster module and two drive wheel group modules mounted on the chassis body, the torsion shaft caster module includes a rotatably mounted on the chassis body On the torsion shaft and two supports, one end of the two supports is respectively fixed to the two ends of the torsion shaft, the other end of the two supports is provided with a universal wheel, and the two supports An elastic member is provided between one end of the seat where the universal wheel is installed and the chassis body, and the elastic member applies an elastic force to the universal wheel to make it cling to the ground.
  • the torsion shaft caster module is arranged between the two drive wheel group modules, and the two drive wheel group modules are both arranged on the center line of the chassis body, and the center line is along the The chassis body extends in the longitudinal direction.
  • the two universal wheels are respectively disposed on both sides of the centerline of the chassis body, and the centerline extends along the length direction of the chassis body.
  • the torsion shaft caster module is installed on the chassis body with the center line as a symmetry axis.
  • the top surface of the chassis body is a plane
  • the projected shape of the chassis body in a direction perpendicular to the top surface is a square, a rectangle, or a circle.
  • the torsion shaft caster module further includes a mounting plate, the mounting plate is fixed on the chassis body, and the torsion shaft is rotatably mounted on the mounting plate.
  • the elastic member is a telescopic spring.
  • a damping member is provided between one end of the two mountings on which the universal wheel is installed and the chassis body.
  • the drive wheel group module includes a base body and a differential drive body, the base body is mounted on the chassis body, the differential drive body includes two drive wheels that can be differentially fitted, and the differential The driving body is rotatably mounted on the base body, and the two driving wheels are located on both sides of the rotation center of the differential driving body.
  • the base body includes a mounting base plate, a slewing bearing, and a connecting seat
  • the mounting base plate is installed on the chassis body
  • the connecting seat is rotatably connected to the mounting base plate through the slewing bearing
  • the slewing bearing The rotation plane of is perpendicular to the rotation direction of the differential drive body, and the differential drive body is rotatably connected to the connection base.
  • An unmanned guided vehicle includes any of the chassis described above.
  • the universal wheel on the side when the chassis is tilted to one side, the universal wheel on the side is compressed, the elastic member on the side shrinks, which in turn causes the support on the side to rotate , Then the torsion shaft will drive the support on the other side to rotate, which in turn causes the elastics on the other side to be compressed, the elastics on both sides are compressed simultaneously, and the elastics on both sides provide support at the same time, which can better Balance the support of the two universal wheels, thereby reducing the amplitude of the left and right shaking of the chassis.
  • the elastic members at both ends of the torsion shaft caster module can enable the universal wheel to achieve elastic support, and thus can reduce the sloshing amplitude of the chassis through linkage deformation, which can better solve the sloshing problem.
  • the chassis disclosed in this embodiment can also reduce the cost of the chassis compared to the chassis using four driving modules.
  • FIG. 1 is a bottom view of the chassis of an unmanned guided delivery vehicle disclosed in an embodiment of this application;
  • FIG. 2 is a schematic structural diagram of a torsion shaft caster module disclosed in an embodiment of the present application
  • FIG. 3 is an exploded schematic view of the driving wheel group module disclosed in the embodiment of the present application.
  • 200-drive wheel set module 210-base body, 211-mounting substrate, 212-slewing bearing, 213-connecting seat, 220-differential drive body, 221-drive wheel, 222-drive motor, 230-pin,
  • 300-torque shaft caster module 310-torque shaft, 320-support, 330-universal wheel, 340-elastic member, 350-mounting plate, 351-shaft sleeve, 360-damping member.
  • an embodiment of the present application discloses a chassis of an unmanned guided transport vehicle.
  • the disclosed chassis of the unmanned guided transport vehicle includes a chassis body 100, a torsion shaft caster module 300 and two drive wheel group modules 200.
  • the chassis body 100 is a main part of the chassis, and provides an installation location for other components of the chassis of the unmanned guided vehicle.
  • the torsion shaft caster module 300 and the two drive wheel group modules 200 are both installed on the chassis body 100.
  • the driving wheel group module 200 provides the driving force for the chassis to travel.
  • the two driving wheel group modules 200 are functional members that enable the chassis to move forward, backward, and turn the lamp mobile terminal.
  • the torsion shaft caster module 300 may include a torsion shaft 310 and two supports 320 rotatably mounted on the chassis body 100.
  • the torsion shaft 310 is rotatably mounted on the chassis body 100 and can rotate around its own axis.
  • One end of the two supports 320 is respectively fixed to the two ends of the torsion shaft 310.
  • the two supports 320 can be driven by the torsion shaft 310, and rotate with the torsion shaft 310 around the axis of the torsion shaft 310 at the same time.
  • a universal wheel 330 is installed at the other end of each support 320, and the universal wheel 330 is in contact with the ground.
  • the end of the two supports 320 installed with the universal wheel 330 can be regarded as a swinging end, which can be connected to the torsion shaft 310 The end swings.
  • an elastic member 340 is provided between one end of the two supports 320 on which the universal wheel 330 is installed and the chassis body 100, and the elastic member 340 applies an elastic force to the universal wheel 330 to make it cling to the ground.
  • the elastic member 340 realizes the elastic support between the end of the support 320 to which the universal wheel 330 is mounted and the chassis body 100, and thus the end of the support 320 to which the universal wheel 330 is mounted can be elastic.
  • One end of the two supports 320 is fixed on the torsion shaft 310, so the rotation of the torsion shaft 310 can cause the two supports 320 to be linked.
  • the end of the support 320 on the side connected to the torsion shaft 310 rotates around the axis of the torsion shaft 310, thereby making the support on the side 320 drives the torsion shaft 310 to rotate around the axis of the torsion shaft 310, and then the torsion shaft 310 drives the support 320 on the other side to rotate, thereby causing the elastic member 340 on the other side to be compressed, and the elastic members 340 on both sides are simultaneously synchronized Compression, the elastic members 340 on both sides simultaneously provide supporting force, which can better balance the support of the two universal wheels 330, thereby reducing the amplitude of left and right shaking of the chassis.
  • the elastic members 340 at both ends of the torsion shaft caster module 300 can enable the universal wheel 330 to achieve elastic support, and thus can reduce the sloshing amplitude of the chassis through the linkage deformation, thereby better solving the sloshing problem.
  • the two driving wheel group modules 200 and the two universal wheels 330 support the entire chassis.
  • the two universal wheels 330 can ensure that the chassis has a good walking and steering function.
  • the two driving wheel group modules 200 provide the chassis walking power. Compared with the current chassis using four drive modules, the chassis disclosed in this embodiment can also reduce the cost of the chassis.
  • the torsion shaft caster module 300 and the two drive wheel group modules 200 can form a four-point support, which can make the chassis travel more stable, and to a certain extent, can also reduce the sloshing during chassis travel.
  • the torsion shaft caster module 300 is disposed between the two driving wheel group modules 200, and the two driving wheel group modules 200 are both disposed on the center line of the chassis body 100.
  • the center The line extends along the length of the chassis body 100.
  • the torsion shaft caster module 300 may be disposed on either end of the chassis body 100 without having to be disposed between the two driving wheel group modules 200, and the two driving wheel group modules 200 may both be located on the same side of the torsion shaft caster module 300.
  • the two universal wheels 330 of the torsion shaft caster module 300 can be respectively disposed on both sides of the centerline of the chassis body 100, which can undoubtedly further improve the balance of the support of the chassis body 100 and make the chassis walk more smoothly.
  • the torsion shaft caster module 300 is mounted on the chassis body 100 with the center line as the axis of symmetry.
  • the two universal wheels 330 of the torsion shaft caster module 300 and the two driving wheel group modules 200 are symmetrically supported, which can further improve the stability of the chassis during traveling.
  • the torsion shaft caster module 300 disclosed in this embodiment may further include a mounting plate 350, the mounting plate 350 is fixed on the chassis body 100, and the torsion shaft 310 is rotatably installed On the mounting plate 350.
  • the mounting plate 350 is provided with a bushing 351, and the torsion shaft 310 is rotatably installed in the bushing 351.
  • the bushing 351 can directly rotate and cooperate with the torsion shaft 310, or the bushing 351 is a bearing sleeve A bearing is provided in the sleeve, and the torsion shaft 310 realizes the rotational assembly with the bearing sleeve through the bearing. After a long period of work, when the bushing 351 is worn out, the maintenance personnel can separately remove the mounting plate 350 and then replace it, thereby facilitating maintenance.
  • a damping member 360 may be provided between the other end of the two supports 320 and the chassis body 100.
  • the damping member 360 can play a role of damping and damping shocks, and can further reduce the sloshing of the chassis during traveling.
  • the elastic member 340 may be a telescopic spring, a rubber elastic block, etc.
  • the embodiment of the present application does not limit the specific type of the elastic member 340.
  • both of the two driving wheel group modules 200 may be two-wheel differential driving modules, thereby enabling more flexible operation of the chassis.
  • each driving wheel group module 200 includes two driving wheels and two driving mechanisms (for example, driving motor 222), the two driving mechanisms respectively drive the two driving wheels to roll, and the two driving wheels have different rotation speeds, thereby achieving Differential fit.
  • the disclosed driving wheel group module 200 includes a base body 210 and a differential driving body 220.
  • the base body 210 is a basic component of the driving wheel group module 200, and the base body 210 is connected to the chassis body 100.
  • the differential driving body 220 is the driving body of the driving wheel group module 200.
  • the differential driving body 220 includes two driving wheels 221 that can be differentially matched, thereby enabling differential walking, which is beneficial to increase the flexibility of chassis walking.
  • the differential driving body 220 is rotatably disposed on the base 210, and the two driving wheels 221 may be located on both sides of the rotation center of the differential driving body 220.
  • the differential drive body 220 can rotate relative to the base 210, and then when passing through an uneven area on the ground, the differential drive body 220 can rotate more flexibly, thereby achieving the same in the same drive wheel module 200
  • the two driving wheels 221 can better adapt to uneven ground to achieve a better driving effect, and reduce some of the driving wheels 221 of the driving wheel group module 200 from being suspended, slipping, and the like.
  • the two driving wheels 221 of the differential driving body 220 are located on both sides of the rotation center of the differential driving body 220, so that the contact between the two driving wheels 221 and the ground can be adjusted by rotating When traveling on uneven ground, the phenomenon that the driving wheel 221 is suspended, slipping, etc. is reduced, thereby improving the accuracy of the entire chassis travel.
  • the base 210 may include a mounting substrate 211, a slewing bearing 212, and a connecting seat 213.
  • the mounting substrate 211 is mounted on the chassis body 100.
  • the connecting seat 213 is rotatably connected to the mounting substrate 211 through the slewing bearing 212.
  • the rotation plane is perpendicular to the rotation direction of the differential driving body 220, and the differential driving body 220 is rotatably connected to the connecting base 213.
  • the differential driving body 220 may be hinged with the connecting base 213 through the pin 230, so as to realize the rotation of the differential driving body 220 relative to the connecting base 213.
  • the driving wheels 221 of the driving wheel group module 200 can travel differentially on the ground, which can improve the flexibility of chassis travel.
  • the driving wheel group module 200 can also be a rudder wheel driving module widely used in forklifts. This embodiment does not limit the specific type of the driving wheel group module 200. Others can realize that two differential wheels can rotate to achieve simultaneous landing. Structure is also available.
  • the structure of the chassis body 100 may be various.
  • the top surface of the chassis body 100 may be a flat surface, and the projected shape of the chassis body 100 in a direction perpendicular to the top surface may be square, rectangular, or circular.
  • the chassis body 100 may also have other shapes. This embodiment does not limit the specific shape of the chassis body 100.
  • the chassis body 100 is a regular geometric structure, the two universal wheels 330 of the two driving wheel set modules 200 and the torsion shaft caster module 300 are both arranged symmetrically with the geometric center of the chassis body 100.
  • the top surface of the chassis body 100 refers to the surface of the chassis body 100 facing away from the ground.
  • the bottom surface of the chassis body 100 refers to the surface of the chassis body 100 facing the ground.
  • the driving wheel module 200 and the torsion shaft caster module 300 described above are both installed on the bottom surface of the chassis body 100, thereby achieving support for the chassis body 100.
  • the embodiments of the present application disclose an unmanned guided transport vehicle.
  • the disclosed unmanned guided transport vehicle includes the chassis described above.

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Abstract

一种无人引导搬运车的底盘，以及包括该底盘的无人引导搬运车，该底盘包括底盘本体(100)以及安装在底盘本体(100)上的扭力轴脚轮模块(300)和两个驱动轮组模块(200)，扭力轴脚轮模块(300)包括可转动地安装在底盘本体(100)上的扭力轴(310)和两个支座(320)，两个支座(320)的一端分别固定在扭力轴(310)的两端，两个支座(320)的另一端均安装有万向轮(330)，两个支座(320)安装有万向轮(330)的一端与底盘本体(100)之间均设置有弹性件(340)，弹性件(340)向万向轮(330)施加使其贴紧地面的弹力。该底盘及无人引导搬运车在行进中不易发生晃动。

Description

无人引导搬运车及其底盘
本申请要求于2018年11月2日提交中国专利局、申请号为201821803162.9发明名称为“无人引导搬运车及其底盘”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储物流技术领域，尤其涉及一种无人引导搬运车及其底盘。
背景技术
随着物流业的日益发达，货物的转运、存放需要更多方面的考虑。仓库中通常存放有大量的货物。为了降低物流过程中的人力成本，目前越来越多的物流公司采用货物搬运小车来替代人工搬运，从而实现对货物的转移。货物搬运小车能够实现较长时间的在线工作，无疑能达到高效的作业效果。
目前的货物搬运小车通常为无人引导搬运车，无人引导搬运车的底盘是能够实现无人引导搬运车的移动的机构，为了实现更加灵活的货物搬运，无人引导搬运车的的底盘为全向底盘，即能够实现全向运动的底盘。具体的，无人引导搬运车的底盘包括有四个驱动轮组模块，每个驱动轮组模块均为双轮差动模组。
在实际的行进过程中，由于地面不平或底盘承受的负载不均，采用四个驱动轮组模块的无人引导搬运车的底盘可能会发生较大的晃动，进而导致无人引导搬运车的行进不稳定。另外，驱动轮组模块的价格较高，采用四个驱动轮组模块无疑会导致整个底盘的造价较高。
发明内容
本申请实施例公开一种无人引导搬运车及其底盘，以解决目前的无人引导搬运车的底盘在行进中较容易发生晃动以及造价较高的问题。
为了解决上述问题，本申请实施例采用下述技术方案：
一种无人引导搬运车的底盘，包括底盘本体以及安装在所述底盘本体上 的扭力轴脚轮模块和两个驱动轮组模块，所述扭力轴脚轮模块包括可转动地安装在所述底盘本体上的扭力轴和两个支座，两个所述支座的一端分别固定在所述扭力轴的两端，两个所述支座的另一端均安装有万向轮，两个所述支座安装有万向轮的一端与所述底盘本体之间均设置有弹性件，所述弹性件向所述万向轮施加使其贴紧地面的弹力。
可选的，所述扭力轴脚轮模块设置在两个所述驱动轮组模块之间，两个所述驱动轮组模块均设置在所述底盘本体的中心线上，所述中心线沿所述底盘本体的长度方向延伸。
可选的，两个所述万向轮分别设置在所述底盘本体的中心线两侧，所述中心线沿所述底盘本体的长度方向延伸。
可选的，所述扭力轴脚轮模块以所述中心线为对称轴线安装在所述底盘本体上。
可选的，所述底盘本体的顶面为平面，所述底盘本体在垂直于所述顶面方向上的投影形状为正方形、长方形或圆形。
可选的，所述扭力轴脚轮模块还包括安装板，所述安装板固定在所述底盘本体上，所述扭力轴可转动地安装在所述安装板上。
可选的，所述弹性件为伸缩弹簧。
可选的，两个所述支座安装有万向轮的一端与所述底盘本体之间均设置有阻尼件。
可选的，所述驱动轮组模块包括基体和差动驱动本体，所述基体安装在所述底盘本体上，所述差动驱动本体包括两个可差速配合的驱动轮，所述差动驱动本体可转动地安装在所述基体上，两个所述驱动轮位于所述差动驱动本体的转动中心的两侧。
可选的，所述基体包括安装基板、回转轴承和连接座，所述安装基板安装于所述底盘本体上，所述连接座通过所述回转轴承与所述安装基板转动相连，所述回转轴承的转动平面与所述差动驱动本体的转动方向相垂直，所述差动驱动本体可转动地连接在所述连接座上。
一种无人引导搬运车，包括上文所述的任一种底盘。
本申请实施例采用的技术方案能够达到以下有益效果：
本申请实施例公开的无人引导搬运车的底盘中，当底盘向一侧倾斜时，位于该侧的万向轮受压，该侧的弹性件收缩，进而会使得位于该侧的支座转动，接着会使得扭力轴带动另一侧的支座转动，进而使得另一侧的弹性件被压缩，两侧的弹性件同步被压缩，两侧的弹性件同时提供支撑力，从而能够较好地均衡两个万向轮的支撑，进而减小底盘左右晃动的幅度。可见，扭力轴脚轮模块两端的弹性件能够使得万向轮实现弹性支撑，进而能够通过联动变形减小底盘的晃动幅度，进而能较好地解决晃动问题。而且，由于仅采用了两个驱动轮组模块，因此，相比于采用四个驱动模块的底盘而言，本实施例公开的底盘还能够降低底盘的造价。
附图说明
为了更清楚地说明本申请实施例和现有技术的技术方案，下面对实施例和现有技术中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
在附图中：
图1为本申请实施例公开的无人引导搬运车的底盘的仰视图；
图2为本申请实施例公开的扭力轴脚轮模块的结构示意图；
图3为本申请实施例公开的驱动轮组模块的爆炸示意图。
附图标记说明：
100-底盘本体、
200-驱动轮组模块、210-基体、211-安装基板、212-回转轴承、213-连接座、220-差动驱动本体、221-驱动轮、222-驱动电机、230-销轴、
300-扭力轴脚轮模块、310-扭力轴、320-支座、330-万向轮、340-弹性件、350-安装板、351-轴套、360-阻尼件。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描 述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
以下结合附图，详细说明本申请各个实施例公开的技术方案。
请参考图1-图3，本申请实施例公开一种无人引导搬运车的底盘，所公开的无人引导搬运车的底盘包括底盘本体100、扭力轴脚轮模块300和两个驱动轮组模块200。
底盘本体100为底盘的主体部分，为无人引导搬运车的底盘的其它构件提供安装位置。扭力轴脚轮模块300和两个驱动轮组模块200均安装在底盘本体100上。驱动轮组模块200提供底盘行进的驱动力，两个驱动轮组模块200是使得底盘能够前进、后退、转向灯移动终端的功能构件。
扭力轴脚轮模块300可以包括转动地安装在底盘本体100上的扭力轴310和两个支座320。扭力轴310可转动地安装在底盘本体100上，能够绕自身的轴线转动。两个支座320的一端分别固定在扭力轴310的两端，此种情况下，两个支座320均能够受到扭力轴310的带动，与扭力轴310同时绕扭力轴310的轴线转动，两个支座320的另一端均安装有万向轮330，万向轮330与地面接触，两个支座320安装万向轮330的一端可以认为是摆动端，能够相对于与扭力轴310相连的端部摆动。
本实施例中，两个支座320安装万向轮330的一端与底盘本体100之间均设置有弹性件340，弹性件340向万向轮330施加使其贴紧地面的弹力。弹性件340实现支座320安装万向轮330的一端与底盘本体100之间的弹性支撑，进而能够使得支座320安装万向轮330的一端受到弹力。两个支座320的一端均固定在扭力轴310上，因此扭力轴310的转动，能够使得两个支座320联动。
采用上述扭力轴脚轮模块300的底盘在行进的过程中，当底盘向一侧倾斜时，位于该侧的万向轮330受压，使得该侧的弹性件340收缩，进而会使得位于该侧的支座320安装万向轮330的一端向靠近底盘本体100的方向摆动，这时，该侧的支座320与扭力轴310相连的一端绕扭力轴310的轴线转动，进而使得该侧的支座320带动扭力轴310绕扭力轴310的轴线进行转动， 接着会使得扭力轴310带动另一侧的支座320转动，进而使得另一侧的弹性件340被压缩，两侧的弹性件340同步被压缩，两侧的弹性件340同时提供支撑力，从而能够较好地均衡两个万向轮330的支撑，进而减小底盘左右晃动的幅度。可见，扭力轴脚轮模块300两端的弹性件340能够使得万向轮330实现弹性支撑，进而能够通过联动变形减小底盘的晃动幅度，进而能较好地解决晃动问题。
两个驱动轮组模块200和两个万向轮330实现整个底盘的支撑，两个万向轮330能够确保底盘具备良好的行走转向功能，两个驱动轮组模块200提供底盘行走的动力。相比于目前的底盘采用四个驱动模块而言，本实施例公开的底盘还能够降低底盘的造价。
扭力轴脚轮模块300和两个驱动轮组模块200能够形成四点支撑，进而能使得底盘的行走更加平稳，在一定程度上，同样能降低底盘行走过程中的晃动。
扭力轴脚轮模块300与两个驱动轮组模块200之间的相对位置关系有多种。一种具体的实施方式中，扭力轴脚轮模块300设置两个所述驱动轮组模块200之间，两个所述驱动轮组模块200均设置在底盘本体100的中心线上，本文中，中心线沿底盘本体100的长度方向延伸。或者，扭力轴脚轮模块300可以设置在底盘本体100的任意一端上，不必设置在两个驱动轮组模块200之间，两个驱动轮组模块200可以均位于扭力轴脚轮模块300的同一侧。
扭力轴脚轮模块300的两个万向轮330可以分别设置在底盘本体100的中心线的两侧，这无疑能进一步提高对底盘本体100支撑的均衡性，使得底盘的行走更加平稳。更为优选的方案中，上述扭力轴脚轮模块300以中心线为对称轴线安装在底盘本体100上。此种情况下，扭力轴脚轮模块300的两个万向轮330和两个驱动轮组模块200均对称地实现支撑，进而能进一步提高底盘在行进过程中的平稳性。
为了方便扭力轴脚轮模块300的安装，一种实现方式中，本实施例公开的扭力轴脚轮模块300还可以包括安装板350，安装板350固定在底盘本体100上，扭力轴310可转动地安装在安装板350上。具体的，安装板350上设置有轴套351，扭力轴310可转动地安装在轴套351中，轴套351可以直接与 扭力轴310转动配合，也可以是，轴套351为轴承套，轴承套内设置有轴承，扭力轴310通过轴承实现与轴承套的转动装配。长时间的工作后，轴套351发生磨损时，维修人员可以单独拆卸安装板350，进而进行更换，从而方便维修。
为了进一步提高弹性件340伸缩过程中的稳定性，一种实现方式中，两个支座320的另一端与底盘本体100之间均可以设置有阻尼件360。阻尼件360能够起到阻尼减震的作用，能够进一步减少底盘在行进过程中发生的晃动。
上述扭力轴脚轮模块300中，弹性件340可以是伸缩弹簧、橡胶弹性块等，本申请实施例不限制弹性件340的具体种类。
本实施例中，两个驱动轮组模块200均可以为两轮差动驱动模块，进而能够实现底盘更加灵活的运行。具体的，每个驱动轮组模块200均包括两个驱动轮和两个驱动机构(例如驱动电机222)，两个驱动机构分别驱动两个驱动轮滚动，两个驱动轮的转速不同，进而实现差速配合。
请再次参考图3，本申请实施例公开一种驱动轮组模块200，所公开的驱动轮组模块200包括基体210和差动驱动本体220。
基体210是驱动轮组模块200的基础构件，基体210与底盘本体100相连。差动驱动本体220为驱动轮组模块200的驱动主体，差动驱动本体220包括两个可差速配合的驱动轮221，进而能够实现差速行走，有利于提高底盘行走的灵活性。
差动驱动本体220转动地设置在基体210上，两个驱动轮221可以位于差动驱动本体220的转动中心的两侧。在具体的工作过程中，差动驱动本体220能够相对于基体210转动，进而在经过地面不平的区域时，差动驱动本体220通过更加灵活地转动，进而实现同一个驱动轮组模块200内的两个驱动轮221能够较好地适应高低不平的地面，达到更优的驱动效果，减少驱动轮组模块200的部分驱动轮221发生悬空、打滑等现象。
驱动轮组模块200中，差动驱动本体220的两个驱动轮221均位于差动驱动本体220的转动中心的两侧，进而能够通过旋转来调整两个驱动轮221与地面的接触，在高低不平的地面上行进时，减少驱动轮221悬空、打滑等 现象，进而能提高整个底盘行进的精度。
一种实现方式中，基体210可以包括安装基板211、回转轴承212和连接座213，安装基板211安装于底盘本体100上，连接座213通过回转轴承212与安装基板211转动相连，回转轴承212的转动平面与差动驱动本体220的转动方向相垂直，差动驱动本体220可转动地连接在连接座213上。具体的，差动驱动本体220可以通过销轴230与连接座213铰接，进而实现差动驱动本体220相对于连接座213的转动。上述方案中，驱动轮组模块200的驱动轮221能够在地面上差动行进，进行能提高底盘行进的灵活性。
本实施例中，驱动轮组模块200还可以是叉车中应用广泛的舵轮驱动模块，本实施例不限制驱动轮组模块200的具体种类，其他能够实现两个差动轮能够转动达到同时着地的结构也可。
本实施例中，底盘本体100的结构可以有多种，例如，底盘本体100的顶面可以为平面，底盘本体100在垂直于顶面方向上的投影形状为正方形、长方形或圆形。当然，底盘本体100还可以为其他形状，本实施例不限制底盘本体100的具体形状。在底盘本体100为规则的几何结构件时，两个驱动轮组模块200和扭力轴脚轮模块300的两个万向轮330均以底盘本体100的几何中心对称设置。
本实施例中，底盘本体100的顶面指的是底盘本体100背离地面的表面。底盘本体100的底面指的是底盘本体100朝向地面的表面。上文所述的驱动轮组模块200和扭力轴脚轮模块300均安装在底盘本体100的底面上，进而实现对底盘本体100的支撑。
基于本申请实施例公开的底盘，本申请实施例公开一种无人引导搬运车，所公开的无人引导搬运车包括上文所述的底盘。
本申请上文实施例中重点描述的是各个实施例之间的不同，各个实施例之间不同的优化特征只要不矛盾，均可以组合形成更优的实施例，考虑到行文简洁，在此则不再赘述。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围 之内。

Claims (11)

  1. 一种无人引导搬运车的底盘，其特征在于，包括底盘本体(100)以及安装在所述底盘本体(100)上的扭力轴脚轮模块(300)和两个驱动轮组模块(200)，所述扭力轴脚轮模块(300)包括可转动地安装在所述底盘本体(100)上的扭力轴(310)和两个支座(320)，两个所述支座(320)的一端分别固定在所述扭力轴(310)的两端，两个所述支座(320)的另一端均安装有万向轮(330)，两个所述支座(320)安装有万向轮(330)的一端与所述底盘本体(100)之间均设置有弹性件(340)，所述弹性件(340)向所述万向轮(330)施加使其贴紧地面的弹力。
  2. 根据权利要求1所述的底盘，其特征在于，所述扭力轴脚轮模块(300)设置在两个所述驱动轮组模块(200)之间，两个所述驱动轮组模块(200)均设置在所述底盘本体(100)的中心线上，所述中心线沿所述底盘本体(100)的长度方向延伸。
  3. 根据权利要求1所述的底盘，其特征在于，两个所述万向轮(330)分别设置在所述底盘本体(100)的中心线两侧，所述中心线沿所述底盘本体(100)的长度方向延伸。
  4. 根据权利要求3所述的底盘，其特征在于，所述扭力轴脚轮模块(300)以所述中心线为对称轴线安装在所述底盘本体(100)上。
  5. 根据权利要求1-4中任一项所述的底盘，其特征在于，所述底盘本体(100)的顶面为平面，所述底盘本体(100)在垂直于所述顶面方向上的投影形状为正方形、长方形或圆形。
  6. 根据权利要求1所述的底盘，其特征在于，所述扭力轴脚轮模块(300)还包括安装板(350)，所述安装板(350)固定在所述底盘本体(100)上，所述扭力轴(310)可转动地安装在所述安装板(350)上。
  7. 根据权利要求1所述的底盘，其特征在于，所述弹性件(340)为伸缩弹簧。
  8. 根据权利要求1所述的底盘，其特征在于，两个所述支座(320)安装有万向轮(330)的一端与所述底盘本体(100)之间均设置有阻尼件(360)。
  9. 根据权利要求1所述的底盘，其特征在于，所述驱动轮组模块(200) 包括基体(210)和差动驱动本体(220)，所述基体(210)安装在所述底盘本体(100)上，所述差动驱动本体(220)包括两个可差速配合的驱动轮(221)，所述差动驱动本体(220)可转动地安装在所述基体(210)上，两个所述驱动轮(221)位于所述差动驱动本体(220)的转动中心的两侧。
  10. 根据权利要求9所述的底盘，其特征在于，所述基体(210)包括安装基板(211)、回转轴承(212)和连接座(213)，所述安装基板(211)安装于所述底盘本体(100)上，所述连接座(213)通过所述回转轴承(212)与所述安装基板(211)转动相连，所述回转轴承(212)的转动平面与所述差动驱动本体(220)的转动方向相垂直，所述差动驱动本体(220)可转动地连接在所述连接座(213)上。
  11. 一种无人引导搬运车，其特征在于，包括权利要求1-10中任一项所述的底盘。
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CN113415361B (zh) * 2021-07-29 2022-11-04 宜宾综合保税区供应链管理有限公司 一种基于物流分配的搬运小车

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