A transport vehicle

Abstract

The present invention discloses a transport vehicle, comprising a first vehicle body provided with a pair of first wheels and a second vehicle body provided with a pair of second wheels; a vehicle body connecting plate is connected between the first vehicle body and the second vehicle body; the first end of the vehicle body connecting plate is rigidly connected to the first vehicle body, and the second end is rotationally connected to the second vehicle body; the rotating shaft of the vehicle body connecting plate is vertically arranged relative to the second vehicle body, and the rotating shaft is connected to the middle part of the bridge plate of the second vehicle body through a floating connecting device, so as to realize that the pair of second wheels can swing up and down with the floating connecting device as the swing midpoint. The above-mentioned transport vehicle transforms the support of four wheels into a three-point support of a pair of first wheels and the second end of the vehicle body connecting plate. Since the second end of the vehicle body connecting plate is rotationally connected to the two second wheels through the rotating shaft and the floating connecting device, a highly integrated, stable and reliable vehicle body structure suitable for complex ground is formed, thereby simply and effectively ensuring the ground contact ability of the four wheels under different ground surfaces, and solving the driving problem on uneven ground.

Description

Technical Field

[0001] The invention relates to the field of transportation equipment, and in particular to a transport vehicle. Background Art

[0002] In industrial automation or small transport vehicles, the drive wheels integrate the two functions of driving and steering. In addition to the four load-bearing wheels, the drive and steering modules are driven by elastic contact with the ground. The driving force is limited and easily affected by uneven ground. This greatly limits the application of this vehicle structure on complex roads, especially for the automated transportation needs of aquaculture or agriculture. Summary of the invention

[0003] The purpose of the present invention is to provide a transport vehicle which has good ability to resist uneven ground and is suitable for complex roads.

[0004] To achieve the above-mentioned purpose, the present invention provides a transport vehicle, comprising a first vehicle body provided with a pair of first wheels and a second vehicle body provided with a pair of second wheels; a vehicle body connecting plate is connected between the first vehicle body and the second vehicle body; a first end of the vehicle body connecting plate is rigidly connected to the first vehicle body, and a second end is rotationally connected to the second vehicle body; a rotating shaft of the vehicle body connecting plate is vertically arranged relative to the second vehicle body, and the rotating shaft is connected to the middle part of the bridge plate of the second vehicle body through a floating connecting device, so as to enable a pair of second wheels to swing up and down with the floating connecting device as the swing midpoint.

[0005] Preferably, a mounting groove is provided on the bottom end surface of the rotating shaft;

[0006] The floating connection device comprises a floating block with a bottom fixed to the bridge plate and a top inserted into the mounting groove, and a floating block pivot for hingedly connecting the top of the floating block to the mounting groove; the floating block pivot penetrates radially into the rotating shaft.

[0007] Preferably, the floating block comprises a first floating block and a second floating block which are arranged in parallel on both sides of the bottom end surface of the rotating shaft.

[0008] Preferably, the bottom of any of the floating blocks is strip-shaped and has floating block mounting holes at both ends; the upper end surface of the bridge plate is provided with two bridge plate mounting holes for fasteners to penetrate and correspond to the two floating block mounting holes.

[0009] Preferably, a first bearing is fixed to the second end of the vehicle body connecting plate, and a second bearing is installed on the bridge plate of the second vehicle body; and the first bearing and the second bearing are respectively inserted into the two ends of the rotating shaft.

[0010] Preferably, a sleeve is further sleeved on the outer circumference of the rotating shaft; two ends of the sleeve are respectively inserted into the first bearing and the second bearing.

[0011] Preferably, a front axle fixing seat is also sleeved on the outer periphery of the rotating shaft, the first bearing, the second bearing and the floating connection device; the top end of the front axle fixing seat is fixed to the vehicle body connecting plate through a flange; the second end of the vehicle body connecting plate is provided with a vehicle body connecting plate mounting hole for the top end of the sleeve to pass through.

[0012] Preferably, it also includes a rotary encoder for collecting and controlling the rotation angle between the vehicle body connecting plate and the second vehicle body.

[0013] Preferably, the rotary encoder is fixed to the top end of the rotating shaft.

[0014] Preferably, the second vehicle body is also fixed with two driving motors for independently driving the two second wheels respectively.

[0015] Compared with the above background technology, the transport vehicle provided by the present invention includes a first vehicle body, a second vehicle body and a vehicle body connecting plate; the first end of the vehicle body connecting plate is rigidly connected to the first vehicle body, and the second end is rotatably connected to the second vehicle body.

[0016] A pair of first wheels are respectively provided on both sides of the first vehicle body, and a pair of second wheels are respectively provided on both sides of the second vehicle body; the rotating shaft of the vehicle body connecting plate is vertically connected to the midpoint of the bridge plate of the second vehicle body through a floating connecting device, so that the two second wheels can swing up and down with the floating connecting device as the swing midpoint during travel.

[0017] The transport vehicle transforms the support of four wheels into a three-point support of a pair of first wheels and the second end of the vehicle body connecting plate. Since the second end of the vehicle body connecting plate is rotatably connected to the two second wheels through a rotating shaft and a floating connection device, a highly integrated, stable and reliable vehicle body structure suitable for complex ground is formed. The two second wheels of the transport vehicle can adjust the height of the two ends of the second vehicle body relative to the vehicle body connecting plate according to the height of the ground to ensure that they contact the ground, avoid the uneven ground and assembly errors that cause the bridge of the second vehicle body to have different ground contact forces on the left and right or fail to contact the place, simply and effectively ensure the ground contact ability of the four wheels under different ground conditions, and solve the driving problem on uneven ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of a transport vehicle provided by an embodiment of the present invention;

[0020] Figure 2 A partial cross-sectional view of a transport vehicle provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the assembly of the rotating shaft and the floating connection device of the transport vehicle provided by an embodiment of the present invention;

[0022] Among them, 1-the first vehicle body, 11-the first wheel, 2-the second vehicle body, 21-the second wheel, 22-the bridge plate, 24-the second wheel hub, 3-the vehicle body connecting plate, 4-the rotating shaft, 41-the mounting groove, 5-the floating block, 51-the floating block mounting hole, 6-the floating block pivot, 7-the first bearing, 8-the second bearing, 9-the bushing, 10-the front axle fixing seat, and 12-the rotary encoder. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Please refer to Figures 1 to 3 , Figure 1 A schematic diagram of the structure of a transport vehicle provided by an embodiment of the present invention; Figure 2 A partial cross-sectional view of a transport vehicle provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the assembly of the rotating shaft and the floating connection device of the transport vehicle provided by the embodiment of the present invention.

[0026] The present invention provides a transport vehicle, comprising a first vehicle body 1, a second vehicle body 2 and a vehicle body connecting plate 3 connected between the first vehicle body 1 and the second vehicle body 2; a pair of first wheels 11 are respectively provided on both sides of the first vehicle body 1 and a pair of second wheels 21 are respectively provided on both sides of the second vehicle body 2.

[0027] The first end of the vehicle body connecting plate 3 is rigidly connected to the first vehicle body 1, and the second end of the vehicle body connecting plate 3 is rotatably connected to the bridge plate 22 of the second vehicle body 2 via a longitudinally arranged rotating shaft 4; a floating connection device is also provided between the rotating shaft 4 and the bridge plate 22, and the two second wheels 21 at both ends of the bridge plate 22 form a seesaw structure that swings up and down with the floating connection device as the swing center through the floating connection device.

[0028] Among them, the floating connection device is connected to the rotating shaft 4, which is equivalent to adding a rotating connection relationship at one end of the rotating shaft 4 connected to the bridge plate 22, with the rotating axis perpendicular to the bridge plate 22 and extending radially along the rotating shaft 4, so that the second vehicle body 2 as a whole can rotate relative to the first vehicle body 1, and the two second wheels 21 of the second vehicle body 2 can swing up and down at both ends of the bridge plate 22 of the second vehicle body 2, and the force acting on the rotating shaft 4 is distributed in a balanced manner on the two second wheels 21 at both ends of the bridge plate 22, so that the two second wheels 21 can still fit to the ground on their respective sides when the surface is uneven.

[0029] The bridge deck 22 and the second wheels 21 at both ends rotate around the rotation axis of the floating connection device. In simple terms, when the bridge deck 22 and the second wheels 21 at both ends rotate toward the first direction, one second wheel 21 rotates upward and the other second wheel 21 rotates downward; conversely, when the bridge deck 22 and the second wheels 21 at both ends rotate toward the second direction, the front second wheel 21 rotates downward and the rear second wheel 21 rotates upward, thereby forming a seesaw structure. Due to the limitations of other structures of the transport vehicle and the goods being transported, the bridge deck 22 and the second wheels 21 at both ends mostly reciprocate within a limited angle and will not flip to 180° or more.

[0030] Compared with the body structure of the prior art, the above-mentioned transporter divides the body into a first body 1 and a second body 2, and transforms the support of the four wheels into a three-point support of a pair of first wheels 11 and the second end of the body connecting plate 3 through the body connecting plate 3, the rotating shaft 4 and the floating connection device, forming a highly integrated, stable and reliable body structure suitable for complex terrain.

[0031] The two second wheels 21 of the transport vehicle adjust the heights of the two ends of the second vehicle body 2 relative to the vehicle body connecting plate 3 through a floating connection device, so as to achieve contact with the ground and avoid different ground contact forces or lack of contact between the left and right bridge frames of the second vehicle body 2 due to uneven ground and assembly errors; the rotational connection between the vehicle body connecting frame and the second vehicle body 2 is achieved through the rotating shaft 4, and the above-mentioned performance is guaranteed while realizing the steering of the second vehicle body 2, thereby simply and effectively ensuring the ground contact ability of the four wheels under different ground surfaces and solving the driving problem on uneven ground.

[0032] The transport vehicle provided by the present invention is further described below in conjunction with the accompanying drawings and implementation modes.

[0033] The above-mentioned floating connection device may include a floating block 5 and a floating block pivot 6; the bottom end face of the rotating shaft 4 is provided with a mounting groove 41, the top end of the floating block 5 is inserted into the mounting groove 41 and is rotatably connected to the mounting groove 41 through the floating block pivot 6, and the bottom end of the floating block 5 is fixed to the upper end face of the bridge plate 22.

[0034] The size of the mounting groove 41 is larger than the size of the top end of the floating block 5. The floating block pivot 6 penetrates into the mounting groove 41 along the radial direction of the rotating shaft 4 and passes through the pivot hole set at the top end of the floating block 5. The top end of the floating block 5 rotates around the floating block pivot 6 in the mounting groove 41, so that the bottom end of the floating block 5 and the bridge plate 22 connected to it rotate relative to the mounting groove 41, that is, relative to the rotating bottom end face.

[0035] The size setting of the installation groove 41 can also enable the installation groove 41 to limit the rotation angle of the floating block 5, so that the bridge plate 22 and the second wheels 21 at both ends thereof can swing within a preset angle.

[0036] Furthermore, the floating block 5 is set in two, including a first floating block and a second floating block arranged in parallel on both sides of the bottom end surface of the rotating shaft 4; accordingly, the number of the mounting grooves 41 is also two, and they are arranged in parallel on the bottom end surface of the rotating shaft 4 for the top end of the first floating block and the top end of the second floating block to be inserted.

[0037] The first floating block and the second floating block may be hinged in the two mounting grooves 41 via the same floating block pivot 6 , or may be hinged separately via two floating block pivots 6 .

[0038] For better technical effect, the bottom of the floating block 5, i.e., the first floating block and the second floating block, are both strip-shaped, and both ends are provided with floating block mounting holes 51, and the bottom of the floating block 5 is fixed to the two bridge plate mounting holes of the bridge plate 22 through the floating block mounting holes 51 and the fasteners inserted into the floating block mounting holes 51. Among them, the length direction of the bottom of the floating block 5 is in the same direction as the length direction of the bridge plate 22, and the two bridge plate mounting holes are arranged along the length direction of the bridge plate 22 and the spacing is equal to the spacing between the two floating block mounting holes 51.

[0039] In order to improve the flexibility of the rotating shaft 4, a first bearing 7 is fixed to the second end of the vehicle body connecting plate 3, and a second bearing 8 is installed on the bridge plate 22 of the second vehicle body 2. The top end of the rotating shaft 4 is inserted into the bearing hole of the first bearing 7, and the bottom end of the rotating shaft 4 is inserted into the bearing hole of the second bearing 8.

[0040] The first bearing 7 can be fixed on the lower end surface of the vehicle body connecting plate 3, or can be longitudinally penetrated through the vehicle body connecting plate 3, so that the top end of the rotating shaft 4 penetrates from the lower end surface of the vehicle body connecting plate 3 to the upper end surface of the vehicle body connecting plate 3. The second bearing 8 is arranged above the bridge plate 22, and the bottom end of the rotating shaft 4 passes through the bearing hole of the second bearing 8 and is connected to the floating connection device, and is installed on the upper end surface of the bridge plate 22 through the floating connection device.

[0041] On the basis of the above embodiment, a sleeve 9 is further sleeved on the outer periphery of the rotating shaft 4, the upper end of the sleeve 9 penetrates into the first bearing 7, and the lower end penetrates into the second bearing 8. The sleeve 9 is rotatably connected to the first bearing 7 and the second bearing 8, and the rotating shaft 4 is also rotatably connected to the sleeve 9.

[0042] Furthermore, the transport vehicle provided by the present invention further comprises a front axle fixing seat 10, and the front axle fixing seat 10 is sleeved on the outer periphery of the rotating shaft 4, the first bearing 7, the second bearing 8 and the floating connection device.

[0043] The top end of the front axle fixing seat 10 is fixed to the vehicle body connecting plate 3 through a flange plate to realize the installation of the first bearing 7 and the vehicle body connecting plate 3; the second end of the vehicle body connecting plate 3 is provided with a vehicle body connecting plate 3 mounting hole for the top end of the shaft sleeve 9 to pass through, and the shaft sleeve 9 and the rotating shaft 4 in the shaft sleeve 9 pass through the vehicle body connecting plate 3 mounting hole to extend above the vehicle body connecting plate 3.

[0044] The front axle fixing seat 10 can integrate the rotating shaft 4, the bushing 9, the first bearing 7 and the second bearing 8 into an assembled component, so as to facilitate the rapid and accurate installation of the aforementioned multiple structures between the vehicle body connecting plate 3 and the bridge plate 22, thereby ensuring the installation efficiency and installation accuracy.

[0045] On the basis of any of the above embodiments, the transport vehicle provided by the present invention further includes a rotary encoder 12 , which is connected to the rotating shaft 4 and is used to collect and control the rotation angle of the vehicle body connecting plate 3 and the second vehicle body 2 .

[0046] The rotary encoder 12 collects the rotation angle of the shaft 4, which is equivalent to collecting the rotation angle of the vehicle body connecting plate 3 and the bridge plate 22. The driving condition of the transport vehicle is analyzed based on the data, and the rotation angle of the shaft 4 can be adjusted to facilitate remote control of the driving status of the transport vehicle.

[0047] The rotary encoder 12 can be fixed to the top of the rotating shaft 4. Preferably, the rotary encoder 12 is located above the vehicle body connecting plate 3, so that the rotary encoder 12 and the floating connecting device located at the lower end of the rotating shaft 4 have ample installation space.

[0048] Furthermore, the second vehicle body 2 is fixed with two driving motors, and the two driving motors are respectively connected to the second wheel hubs 24 of the two second wheels 21 to realize independent driving of the two second wheels 21 .

[0049] When the driving motor of one second wheel 21 drives the second wheel 21 to rotate forward, the driving motor of another second wheel 21 drives the other second wheel 21 to rotate forward at the same speed, and the entire transport vehicle keeps moving forward; when the driving motor of one second wheel 21 drives the second wheel 21 to rotate forward, and the driving motor of another second wheel 21 drives the other second wheel 21 to rotate forward at a speed greater than the previous second wheel 21, the entire transport vehicle turns left while moving forward; when the driving motor of one second wheel 21 drives the second wheel 21 to rotate forward, and the driving motor of another second wheel 21 drives the other second wheel 21 to rotate forward at a speed less than the previous second wheel 21, the entire transport vehicle turns right while moving forward; when the driving motor of one second wheel 21 drives the second wheel 21 to rotate forward, and the driving motor of another second wheel 21 drives the other second wheel 21 to rotate counterclockwise at the same speed, the entire transport vehicle adjusts the steering on the spot.

[0050] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0051] The above is a detailed introduction to the transport vehicle provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A transport vehicle, characterized in that: The invention comprises a first vehicle body (1) provided with a pair of first wheels (11) and a second vehicle body (2) provided with a pair of second wheels (21); a vehicle body connecting plate (3) is connected between the first vehicle body (1) and the second vehicle body (2); a first end of the vehicle body connecting plate (3) is rigidly connected to the first vehicle body (1), and a second end is rotationally connected to the second vehicle body (2); a rotating shaft (4) of the vehicle body connecting plate (3) is vertically arranged relative to the second vehicle body (2), and the rotating shaft (4) is connected to the middle part of a bridge plate (22) of the second vehicle body (2) via a floating connecting device, so that the pair of second wheels (21) can swing up and down with the floating connecting device as the swing midpoint; The bottom end surface of the rotating shaft (4) is provided with a mounting groove (41); The floating connection device comprises a floating block (5) whose bottom is fixed to the bridge plate (22) and whose top is inserted into the mounting groove (41), and a floating block pivot (6) for hingedly connecting the top of the floating block (5) to the mounting groove (41); the floating block pivot (6) penetrates into the rotating shaft (4) along the radial direction; The floating block (5) comprises a first floating block and a second floating block which are arranged in parallel on both sides of the bottom end surface of the rotating shaft (4); The bottom of any of the floating blocks (5) is strip-shaped and has floating block mounting holes (51) at both ends; the upper end surface of the bridge plate (22) is provided with two bridge plate mounting holes for fasteners to penetrate and to correspond to and connect to the two floating block mounting holes (51).

2. The transport vehicle according to claim 1, characterized in that: A first bearing (7) is fixed to the second end of the vehicle body connecting plate (3), and a second bearing (8) is installed on the bridge plate (22) of the second vehicle body (2); and the first bearing (7) and the second bearing (8) are respectively inserted into the two ends of the rotating shaft (4).

3. The transport vehicle according to claim 2, characterized in that: The outer circumference of the rotating shaft (4) is also sleeved with a shaft sleeve (9); two ends of the shaft sleeve (9) are respectively inserted into the first bearing (7) and the second bearing (8).

4. The transport vehicle according to claim 3, characterized in that: A front axle fixing seat (10) is sleeved on the outer periphery of the rotating shaft (4), the first bearing (7), the second bearing (8) and the floating connection device; the top end of the front axle fixing seat (10) is fixed to the vehicle body connecting plate (3) via a flange; and a vehicle body connecting plate mounting hole is provided at the second end of the vehicle body connecting plate (3) for the top end of the shaft sleeve (9) to pass through.

5. The transport vehicle according to any one of claims 1 to 4, characterized in that: It also includes a rotary encoder (12) for collecting and controlling the rotation angle between the vehicle body connecting plate (3) and the second vehicle body (2).

6. The transport vehicle according to claim 5, characterized in that: The rotary encoder (12) is fixed to the top end of the rotating shaft (4).

7. The transport vehicle according to claim 5, characterized in that: The second vehicle body (2) is also fixed with two drive motors for respectively independently driving the two second wheels (21).

Images