Drive device for automatic guided vehicle, automatic guided vehicle and robot

Abstract

The present invention is applicable to the field of robots, and discloses a driving device for an automatic guided vehicle, an automatic guided vehicle, and a robot. The driving device for the automatic guided vehicle includes a base plate, a driving wheel, a driving motor, a reducer connected between the driving motor and the driving wheel, and a first encoder installed on the reducer for monitoring the output speed of the reducer; the reducer and / or the driving motor are installed on the base plate, and the reducer and the first encoder are both arranged between the center of the base plate and the driving wheel. The present invention uses a first encoder installed on the reducer to indirectly monitor the motion information of the driving wheel, and the reducer and the first encoder are both arranged on the axial inner side of the driving wheel, so that it is beneficial to protect the first encoder, thereby effectively avoiding the first encoder from colliding with obstacles and being damaged when the automatic guided vehicle is moving, thereby improving the safety and reliability of the automatic guided vehicle and the robot.

Description

Technical Field

[0001] The present invention relates to the field of automatic guided vehicles, and in particular to a driving device for an automatic guided vehicle, an automatic guided vehicle having the driving device, and a robot having the automatic guided vehicle. Background Art

[0002] Automated Guided Vehicles (AGVs) are often used to combine with different functional mechanisms to form different robots, where the AGV is mainly used to provide driving traction for the robot to walk. In the prior art, a safety encoder is directly mounted on the driving wheel, and the safety encoder is convexly arranged on the axial outer side of the driving wheel facing away from the center of the AGV. In this way, when the AGV is walking, the safety encoder is easily damaged by colliding with obstacles. Summary of the invention

[0003] The first object of the present invention is to provide a driving device for an automatic guided vehicle, which aims to solve the technical problem that the encoder of the existing automatic guided vehicle is protruded on the axial outside of the driving wheel, which makes the encoder easily damaged.

[0004] To achieve the above-mentioned purpose, the present invention provides a solution: a driving device for an automatic guided vehicle, comprising a base plate, a driving wheel, a driving motor, a reducer transmission-connected between the driving motor and the driving wheel, and a first encoder installed on the reducer for monitoring the output speed of the reducer; the reducer and / or the driving motor are installed on the base plate, and the reducer and the first encoder are both arranged between the center of the base plate and the driving wheel.

[0005] As an implementation mode, the reducer is arranged between the driving wheel and the first encoder.

[0006] As an embodiment, the reducer includes a first housing, a reduction transmission mechanism disposed in the first housing, an input shaft at least partially disposed in the first housing and connected to the reduction transmission mechanism, and a first output shaft at least partially disposed in the first housing and connected to the reduction transmission mechanism, the input shaft being transmission-connected to the drive motor, the first output shaft having a first output end and a second output end disposed opposite to each other, the first output end being transmission-connected to the drive wheel, and the second output end being connected to the first encoder.

[0007] As an embodiment, the first housing has a first side portion, a second side portion and a third side portion, the first side portion and the second side portion are arranged opposite to each other, the two sides of the third side portion are respectively connected to the first side portion and the second side portion, the first output end is connected to the driving wheel from the first side portion, the second output end is connected to the first encoder from the second side portion, and the input shaft is connected to the driving motor from the third side portion; and / or,

[0008] The central axis of the first output shaft is coaxially arranged with the central axis of the driving wheel.

[0009] As an embodiment, the driving wheel, the driving motor, the reducer and the first encoder are each provided with two, the two driving wheels are respectively arranged on opposite sides of the bottom plate, and the central axes of the two driving wheels are coaxially arranged, the two reducers are arranged between the two driving wheels along the axial direction of the driving wheels, and the two first encoders are arranged between the two reducers along the axial direction of the driving wheels; and each reducer is respectively correspondingly connected to one driving motor and one driving wheel, and each first encoder is respectively connected to one reducer; and / or,

[0010] The driving motor is a motor capable of rotating forward and reverse.

[0011] As an embodiment, the driving device for the automatic guided vehicle further includes a suspension mechanism, and the reducer is suspended and mounted on the base plate via the suspension mechanism.

[0012] As an embodiment, the suspension mechanism includes a connecting rod member, a rotating connection component and an elastic connection component, the connecting rod member includes a first connection part, a second connection part and a third connection part arranged between the first connection part and the second connection part, the first connection part is arranged on one side of the driving wheel and is rotatably connected to the base plate through the rotating connection component, the second connection part is arranged on the other side of the driving wheel and is elastically connected to the base plate so as to be liftable through the elastic connection component, and the third connection part is connected to the reducer.

[0013] As an embodiment, the elastic connection assembly includes a guide and limiting member and at least one elastic member, the guide and limiting member is connected to the base plate, the second connection part is slidably connected to the guide and limiting member in a liftable manner, and the elastic member is provided between the second connection part and the guide and limiting member and / or between the second connection part and the base plate.

[0014] As an embodiment, the guide and limiting component includes a guide and limiting rod and a fixed block, the fixed block is mounted on the bottom plate, the guide and limiting rod includes a main rod body connected to the fixed block at one end and a limiting boss protruding from the other end of the main rod body, the second connecting portion is sleeved on the main rod body and is liftably arranged between the limiting boss and the fixed block, and the elastic member is arranged between the second connecting portion and the limiting boss and / or between the second connecting portion and the fixed block; or,

[0015] The guide and limit member comprises a guide and limit rod, and the guide and limit rod comprises a main rod body connected to the base plate at one end and a limit boss protruding from the other end of the main rod body. The second connecting portion is sleeved on the main rod body and can be raised and lowered between the limit boss and the base plate. The elastic member is provided between the second connecting portion and the limit boss and / or between the second connecting portion and the base plate.

[0016] As an embodiment, the suspension mechanism also includes a guide limit bracket, which is arranged on the side of the guide limit rod and connected to the base plate, and a guide limit groove is provided on the guide limit bracket. The connecting rod component also includes a fourth connecting part that passes through the guide limit groove and slides with the guide limit groove.

[0017] As an embodiment, the second connection portion is disposed between the third connection portion and the fourth connection portion; and / or,

[0018] A distance from the second connection portion to the fourth connection portion is smaller than a distance from the second connection portion to the third connection portion.

[0019] As an embodiment, the connecting rod component includes a connecting rod and a rolling component rotatably mounted on one end of the connecting rod, the end of the connecting rod away from the rolling component constitutes the first connecting portion, the end of the connecting rod close to the rolling component and the rolling component constitute the fourth connecting portion, and the connecting rod is formed with the second connecting portion and the third connecting portion, the outer side wall of the rolling component abuts against the two opposite inner side walls of the guide limiting groove, and there is a distance between the end of the connecting rod close to the rolling component and the two opposite inner side walls of the guide limiting groove; or,

[0020] The connecting rod component includes a connecting rod and a rolling component rotatably mounted on one end of the connecting rod, the end of the connecting rod away from the rolling component constitutes the first connecting portion, and the connecting rod is formed with the second connecting portion and the third connecting portion, the rolling component constitutes the fourth connecting portion, and the outer side wall of the rolling component abuts against the two opposite inner side walls of the guide limit groove.

[0021] As an embodiment, the rolling component is a bearing or a roller; and / or,

[0022] The connecting rod and the central axis of the driving wheel are perpendicular to each other.

[0023] As an implementation manner, the guide and limit bracket includes two vertical support arms which are arranged opposite to each other at an interval and protrude from the bottom plate, and the two vertical support arms enclose the guide and limit groove.

[0024] As an implementation manner, the guide and limiting bracket further includes a transverse support arm connected between the two vertical support arms, and the transverse support arm is arranged above the bottom plate at intervals.

[0025] The second object of the present invention is to provide an automatic guided vehicle, which includes a battery module, a controller and the above-mentioned driving device for the automatic guided vehicle, wherein the battery module and the controller are respectively installed on the base plate, and the controller is respectively connected to the battery module, the driving motor and the first encoder.

[0026] A third object of the present invention is to provide a robot comprising the above-mentioned automatic guided vehicle and a function execution mechanism arranged on the automatic guided vehicle.

[0027] The driving device for an automatic guided vehicle, the automatic guided vehicle and the robot provided by the present invention can indirectly monitor the motion information of the driving wheel by installing the first encoder on the reducer to monitor the output speed of the reducer, thereby facilitating the precise control of the motion of the driving wheel, and facilitating the avoidance of the undesirable phenomenon that the driving wheel loses control and slips on the spot or causes the automatic guided vehicle to collide with an obstacle, thereby ensuring the safe and reliable operation of the automatic guided vehicle and the robot. In addition, the present invention arranges the reducer and the first encoder between the center of the driving wheel and the bottom plate, that is, the reducer and the first encoder are both arranged on the axial inner side of the driving wheel, so that it is beneficial to protect the first encoder, thereby effectively avoiding the phenomenon that the first encoder collides with an obstacle and is damaged when the automatic guided vehicle is moving, thereby improving the safety and reliability of the automatic guided vehicle and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0029] Figure 1 It is a three-dimensional assembly schematic diagram of a driving device for an automatic guided vehicle provided by an embodiment of the present invention from one viewing angle;

[0030] Figure 2 is a three-dimensional assembly schematic diagram of a driving device for an automatic guided vehicle provided by an embodiment of the present invention from another perspective;

[0031] Figure 3 is an exploded schematic diagram of a drive device for an automatic guided vehicle provided by an embodiment of the present invention;

[0032] Figure 4 is an exploded schematic diagram of a drive motor, a reducer and a first encoder provided in an embodiment of the present invention;

[0033] Figure 5 is a schematic structural diagram of a reducer provided by an embodiment of the present invention;

[0034] Figure 6 It is a three-dimensional assembly schematic diagram of a suspension mechanism provided by an embodiment of the present invention from one viewing angle;

[0035] Figure 7 It is a three-dimensional assembly schematic diagram of the suspension mechanism provided by an embodiment of the present invention from another perspective.

[0036] Description of Figure Numbers:

[0037] 10. Driving device; 100. Bottom plate; 110. First edge; 120. Second edge; 130. Avoidance hole; 200. Driving wheel; 300. Driving motor; 310. Second housing; 320. Second output shaft; 400. Speed ​​reducer; 410. First housing; 411. First side; 412. Second side; 413. Third side; 420. Input shaft; 430. First output shaft; 431. First output end; 432. Second output end; 440. Fixing flange; 500. First encoder; 600. Second encoder; 700. Driven wheel group; 710. Driven wheel; 800. Suspension mechanism; 810. Connecting rod component; 8101, first connecting part; 8102, second connecting part; 8103, third connecting part; 8104, fourth connecting part; 8105, first through hole; 8106, second through hole; 811, connecting rod; 812, rolling component; 820, rotating connecting assembly; 821, rotating shaft; 822, fixing seat; 830, elastic connecting assembly; 831, guide limiting component; 8311, guide limiting rod; 8301, main rod body; 8302, limiting boss; 8312, fixing block; 832, elastic member; 840, guide limiting bracket; 841, guide limiting groove; 842, vertical support arm; 843, horizontal support arm. DETAILED DESCRIPTION

[0038] 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.

[0039] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0040] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or may be indirectly connected to the other element through an intermediate element.

[0041] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] like Figure 1-7As shown, the driving device 10 for an automatic guided vehicle provided by an embodiment of the present invention comprises a base plate 100, a driving wheel 200, a driving motor 300, a reducer 400 drivingly connected between the driving motor 300 and the driving wheel 200, and a first encoder 500 installed on the reducer 400 for monitoring the output speed of the reducer 400; the reducer 400 and / or the driving motor 300 are installed on the base plate 100, and the reducer 400 and the first encoder 500 are both arranged between the center of the base plate 100 and the driving wheel 200. The first encoder 500 monitors the output speed of the reducer 400, thereby indirectly monitoring the output speed of the driving wheel 200. In this embodiment, the reducer 400 and the first encoder 500 are both arranged between the center of the driving wheel 200 and the base plate 100, that is, the distance between the reducer 400 and the center of the base plate 100 and the distance between the first encoder 500 and the center of the base plate 100 are both smaller than the distance between the driving wheel 200 and the center of the base plate 100, and the reducer 400 and the first encoder 500 are both located on the axial inner side of the driving wheel 200, which is beneficial to protect the reducer 400 and the first encoder 500, thereby effectively avoiding the reducer 400 and the first encoder 500 from colliding with obstacles and being damaged when the automatic guided vehicle is moving.

[0043] As an embodiment, the reducer 400 is arranged between the driving wheel 200 and the first encoder 500, that is, the first encoder 500 is located on the inner side of the reducer 400. This is beneficial to protecting the first encoder 500 and avoiding the first encoder 500 from interfering with the transmission connection between the reducer 400 and the driving wheel 200.

[0044] Reference Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, as an embodiment, the reducer 400 includes a first housing 410, a reduction transmission mechanism (not shown) disposed in the first housing 410, an input shaft 420 at least partially disposed in the first housing 410 and connected to the reduction transmission mechanism, and a first output shaft 430 at least partially disposed in the first housing 410 and connected to the reduction transmission mechanism, the input shaft 420 is transmission-connected to the drive motor 300, the first output shaft 430 has a first output end 431 and a second output end 432 disposed opposite to each other, the first output end 431 is transmission-connected to the drive wheel 200, and the second output end 432 is connected to the first encoder 500. The reduction transmission mechanism can be specifically a gear transmission mechanism, and the reducer 400 is a gear reduction box, which has the characteristics of compact structure, stable transmission, and high transmission efficiency. The first output shaft 430 adopts a dual output end design, which can ensure that the power output by the reducer 400 can be transmitted to the drive wheel 200, and is also conducive to the second encoder 600 to monitor the output speed of the reducer 400.

[0045] Reference Figure 3 , Figure 4 and Figure 5 As shown, as an embodiment, the first housing 410 has a first side portion 411, a second side portion 412 and a third side portion 4113, the first side portion 411 and the second side portion 412 are arranged opposite to each other, the two sides of the third side portion 4113 are respectively connected to the first side portion 411 and the second side portion 412, one end of the first output shaft 430 is connected to the driving wheel 200 from the first side portion 411, and the other end is connected to the first encoder 500 from the second side portion 412, and the input shaft 420 is connected to the driving motor 300 from the third side portion 4113. The driving motor 300, the first encoder 500 and the driving wheel 200 are respectively arranged on three sides of the driving wheel 200, and the structure is compact and helps to avoid interference.

[0046] As an implementation mode, the central axis of the first output shaft 430 is coaxially arranged with the central axis of the driving wheel 200 , which is beneficial to improving the structural compactness and running stability of the driving device 10 .

[0047] Reference Figure 1 and Figure 3 As shown, as an embodiment, there are two driving wheels 200, driving motors 300, reducers 400 and first encoders 500, two driving wheels 200 are respectively arranged on opposite sides of the bottom plate 100, and the central axes of the two driving wheels 200 are coaxially arranged, two reducers 400 are arranged between the two driving wheels 200 along the axial direction of the driving wheels 200, and two first encoders 400 are arranged between the two reducers 400 along the axial direction of the driving wheels 200; and each reducer 400 is respectively correspondingly connected to a driving motor 300 and a driving wheel 200, and each first encoder 500 is respectively connected to a reducer 200. The coaxial arrangement of the central axes of the two driving wheels 200 can facilitate the symmetrical arrangement of the two driving wheels 200, thereby facilitating the smooth operation of the automatic guided vehicle. In addition, the present embodiment uses two drive motors 300 to drive the two drive wheels 200 to move respectively, so as to drive the automatic guided vehicle to move. In this way, on the one hand, it is convenient for each drive wheel 200 to be independently and flexibly controlled, on the other hand, it can help to ensure the stability of the automatic guided vehicle's movement, and on the other hand, it can also help to ensure that the automatic guided vehicle has sufficiently large traction.

[0048] As a preferred implementation of this embodiment, the drive motor 300 is a drive motor that can rotate forward and backward, so that it is convenient to flexibly control the forward, backward and steering of the automatic guided vehicle. Specifically, when the two drive motors 300 are controlled to rotate forward, the automatic guided vehicle can be driven forward; when the two drive motors 300 are controlled to rotate backward, the automatic guided vehicle can be driven backward; when one drive motor 300 is controlled to rotate forward and the other drive motor 300 is controlled to rotate backward, the automatic guided vehicle can be driven to turn.

[0049] Reference Figure 1 , Figure 3 and Figure 4 As shown, as an embodiment, the driving device 10 for the automatic guided vehicle further includes two second encoders 600, each of which is respectively connected to a driving motor 300 to monitor the output speed of the driving motor 300. In this embodiment, the output speed of the driving motor 300 is monitored by the first encoder 500, and the output speed of the reducer 400 is monitored by the second encoder 600. In this way, when any one of the first encoder 500 and the second encoder 600 fails, the other can still feedback the motion information of the driving wheel 200 in real time, so as to accurately control the motion of the driving wheel 200, and to avoid the undesirable phenomenon that the driving wheel 200 slips out of control or causes the automatic guided vehicle to hit an obstacle, thereby greatly improving the operation safety and reliability of the automatic guided vehicle.

[0050] Reference Figure 1 , Figure 3 and Figure 4 As shown, as an embodiment, the driving motor 300 includes a second housing 310, a stator (not shown), a rotor (not shown) and a second output shaft 320. The stator and the rotor are both arranged in the second housing 310. The middle part of the second output shaft 320 is arranged in the second housing 310 and connected to the rotor. One end of the second output shaft 320 is connected to the reducer 400 from one side of the second housing 310, and the other end is connected to the second encoder 600 from the other side of the second housing 310. The second output shaft 320 adopts a dual output end design, which can ensure that the power output by the driving motor 300 can be transmitted to the reducer 400, and is conducive to the second encoder 600 to monitor the output speed of the driving motor 300. The second encoder 600 is installed at the tail end of the driving motor 300 away from the reducer 400, which is conducive to preventing the second encoder 600 from interfering with the power transmission between the driving motor 300 and the reducer 400.

[0051] Reference Figure 2As shown, as an embodiment, the driving device 10 for the automatic guided vehicle further includes an even number of driven wheel groups 700 respectively rotatably connected to the base plate 100. The driven wheel group 700 and the driving wheel 200 are used to jointly support the automatic guided vehicle to walk on the ground. The arrangement of the driven wheel group 700 can improve the carrying capacity and operation stability of the automatic guided vehicle without adding power components.

[0052] Reference Figure 2 As shown, as an embodiment, the number of driven wheel assemblies 700 is four, and the base plate 100 has a first edge 110 and a second edge 120 arranged opposite to each other, wherein two sets of driven wheel assemblies 700 and one driving wheel 200 are arranged near the first edge 110, and the other two sets of driven wheel assemblies 700 and another driving wheel 200 are arranged near the second edge 120, and the two sets of driven wheel assemblies 700 arranged near the first edge 110 are symmetrically arranged on both sides of the driving wheel 200 arranged near the first edge 110, and the two sets of driven wheel assemblies 700 arranged near the second edge 120 are symmetrically arranged on both sides of the driving wheel 200 arranged near the second edge 120. In this embodiment, the four sets of driven wheel assemblies 700 are respectively arranged near the four vertices of the base plate 100, and the two driving wheels 200 are respectively arranged near the middle part of the first edge 110 and the middle part of the second edge 120. The use of this distribution method can help ensure the stability of the operation of the automatic guided vehicle. Of course, in a specific application, the number and distribution of the driven wheel groups 700 are not limited thereto. For example, the number of the driven wheel groups 700 may be two groups, six groups, eight groups, or more groups.

[0053] Reference Figure 2 and Figure 3 As shown, as an embodiment, an avoidance hole 130 is penetrated through the bottom plate 100 at a position near the middle of the first edge 110 and a position near the middle of the second edge 120, and the driving wheel 200 is floatably and liftably arranged in the avoidance hole 130.

[0054] As a preferred implementation scheme of this embodiment, the two driving wheels 200 are symmetrically arranged, and the four sets of driven wheel groups 700 are symmetrically arranged in pairs, which is conducive to ensuring the stability of the automatic guided vehicle.

[0055] Reference Figure 2As shown, as a preferred implementation of this embodiment, each set of driven wheel groups 700 includes two driven wheels 710 arranged side by side, which is conducive to improving the carrying capacity of the automatic guided vehicle; in addition, since when one driven wheel 710 in a set of driven wheel groups 700 fails, the other driven wheel 710 can still operate normally, the driven wheel group 700 adopts a solution of two driven wheels 710 arranged side by side, which can help ensure the reliability of the long-term operation of the automatic guided vehicle. Of course, in specific applications, the number of driven wheels 710 included in the driven wheel group 700 is not limited to two, for example, one, three, four or more are also possible.

[0056] Reference Figure 1 As shown, as an embodiment, the driving device 10 for the automatic guided vehicle further includes two suspension mechanisms 800, and each reducer 400 is suspended and mounted on the base plate 100 through a suspension mechanism 800. The setting of the suspension mechanism 800 allows the driving wheel 200 to float and rise relative to the base plate 100, so that the self-adjusting adaptability of the automatic guided vehicle to uneven ground can be improved, so that when the automatic guided vehicle runs on an uneven section, the driving wheel 200 can maintain sufficient contact with the ground, so that the driving wheel 200 has a good gripping ability, thereby avoiding the phenomenon of tipping or slipping when the automatic guided vehicle runs on an uneven section, and fully ensuring the stability and safety reliability of the operation of the automatic guided vehicle.

[0057] Reference Figure 1 and Figure 3As shown, as an embodiment, the suspension mechanism 800 includes a connecting rod member 810, a rotating connection component 820 and an elastic connection component 830, the connecting rod member 810 includes a first connection portion 8101, a second connection portion 8102 and a third connection portion 8103 arranged between the first connection portion 8101 and the second connection portion 8102, the first connection portion 8101 is arranged on one side of the driving wheel 200 and is rotatably connected to the base plate 100 through the rotating connection component 820, the second connection portion 8102 is arranged on the other side of the driving wheel 200 and is elastically connected to the base plate 100 so as to be liftable through the elastic connection component 830, and the third connection portion 8103 is connected to the reducer 400. In the present embodiment, the connecting rod member 810 spans across the reducer 400 and is thereby indirectly connected to the drive wheel 200, and one end of the connecting rod member 810 can rotate relative to the base plate 100, and the other end can elastically move up and down relative to the base plate 100. In this way, the connecting rod member 810 can swing up or down under the action of external force with the connection portion between the connecting rod and the rotating connection component 820 as the rotation center, thereby realizing the suspension installation of the drive wheel 200 on the base plate 100, and its structure is simple. In a specific application, when the automatic guided vehicle travels to an uphill section or a section with a protruding obstacle, the front of the driving wheel 200 first encounters the uphill surface or the protruding obstacle, and the driving wheel 200 overcomes the elastic force of the elastic connection component 830 under the pressure of the uphill surface or the protruding obstacle, and drives the connecting rod member 810 to lift upward to avoid the phenomenon that the driving wheel 200 and the protruding part of the ground are hard squeezed and cause the automatic guided vehicle to tip over; when the automatic guided vehicle travels to a downhill section or a section with a pit, the front of the driving wheel 200 sinks first, and the driving wheel 200 overcomes the elastic force of the elastic connection component 830 under the action of gravity, and drives the connecting rod member 810 to descend, so that the driving wheel 200 has sufficient contact with the ground, ensuring that the driving wheel 200 has a good grip and avoids the automatic guided vehicle from slipping.

[0058] Reference Figure 1 , Figure 3 and Figure 6As shown, as an embodiment, the elastic connection assembly 830 includes a guide and limiting member 831 and at least one elastic member 832, the guide and limiting member 831 is connected to the bottom plate 100, the second connection portion 8102 is slidably connected to the guide and limiting member 831, and the elastic member 832 is arranged between the second connection portion 8102 and the guide and limiting member 831. In this embodiment, the two ends of the elastic member 832 are respectively connected to the connecting rod member 810 and the guiding and limiting member 831, and the connecting rod member 810 can compress or stretch the elastic member 832 under the action of an external force, thereby achieving a floating lifting effect of the driving wheel 200. Of course, in specific applications, the setting position of the elastic member 832 is not limited to this. For example, as an alternative implementation, the elastic member 832 can also be set between the second connecting part 8102 and the base plate 100. In this case, the two ends of the elastic member 832 are respectively connected to the second connecting part 8102 and the base plate 100; or, as another alternative implementation, at least one elastic member 832 can be set between the second connecting part 8102 and the base plate 100, and at least one elastic member 832 can also be set between the second connecting part 8102 and the guide limiting member 831.

[0059] Reference Figure 1 , Figure 3 , Figure 6 and Figure 7As shown, as an embodiment, the guide limiting member 831 includes a guide limiting rod 8311 and a fixed block 8312, the fixed block 8312 is installed on the bottom plate 100, the guide limiting rod 8311 includes a main rod body 8301 connected to the fixed block 8312 at one end and a limiting boss 8302 convexly arranged at the other end of the main rod body 8301, the second connecting portion 8102 is sleeved on the main rod body 8301 and is movably arranged between the limiting boss 8302 and the fixed block 8312, and the elastic member 832 is arranged between the second connecting portion 8102 and the limiting boss 8302. In this embodiment, the two ends of the elastic member 832 are respectively connected to the connecting rod member 810 and the limiting boss 8302. Of course, in a specific application, the arrangement of the elastic member 832 is not limited to this. For example, as an alternative implementation, the elastic member 832 may be arranged between the second connecting portion 8102 and the fixing block 8312. In this case, the two ends of the elastic member 832 are respectively connected to the second connecting portion 8102 and the fixing block 8312; or, as another alternative implementation, at least one elastic member 832 may be arranged between the second connecting portion 8102 and the limiting boss 8302, and at least one elastic member 832 may also be arranged between the second connecting portion 8102 and the fixing block 8312. 2; or, as another alternative implementation scheme, the fixing block 8312 may not be provided, and the second connecting portion 8102 may be sleeved on the main rod body 8301 and be liftably provided between the limiting boss 8302 and the bottom plate 100. In this case, the elastic member 832 may be provided between the second connecting portion 8102 and the limiting boss 8302, or between the second connecting portion 8102 and the bottom plate 100; or the elastic member 832 may be provided between the second connecting portion 8102 and the limiting boss 8302, and between the second connecting portion 8102 and the bottom plate 100 at the same time.

[0060] As an embodiment, the elastic member 832 is a coil spring, which is sleeved on the outer circumference of the main rod body 8301, and the two ends of the coil spring are respectively connected to the limiting boss 8302 and the first connecting portion 8101. Of course, in specific applications, the arrangement of the elastic member 832 is not limited to this. For example, the elastic member 832 may not be sleeved on the main rod body 8301, but may be distributed at intervals on the side of the main rod body 8301, and the elastic member 832 may also be a spring sheet.

[0061] As an implementation method, refer to Figure 1 , Figure 3 , Figure 6 and Figure 7As shown, the suspension mechanism 400 further includes a guide limit bracket 840, which is arranged beside the guide limit rod 8311 and connected to the bottom plate 100. The guide limit bracket 840 is provided with a guide limit groove 841, and the connecting rod member 810 further includes a fourth connecting portion 8104 which is penetrated in the guide limit groove 841 and slidably matched with the guide limit groove 841. The setting of the guide limit bracket 840 can guide and limit the swing of the connecting rod member 810, thereby facilitating the smoothness and reliability of the floating lifting and lowering of the driving wheel 200.

[0062] As an implementation manner, the second connection portion 8102 is disposed between the third connection portion 8103 and the fourth connection portion 8104 , that is, the first connection portion 8101 and the fourth connection portion 8104 are respectively located at two ends of the connecting rod member 810 .

[0063] As an implementation manner, the distance from the second connection portion 8102 to the fourth connection portion 8104 is smaller than the distance from the second connection portion 8102 to the third connection portion 8103 .

[0064] As an implementation method, refer to Figure 3 , Figure 6 and Figure 7As shown, the connecting rod assembly 810 includes a connecting rod 811 and a rolling component 812 rotatably mounted on one end of the connecting rod 811, the end of the connecting rod 811 away from the rolling component 812 constitutes a first connecting portion 8101, the end of the connecting rod 811 close to the rolling component 812 and the rolling component 812 constitute a fourth connecting portion 8104, and the connecting rod 811 is formed with a second connecting portion 8102 and a third connecting portion 8103, the outer side wall of the rolling component 812 abuts against the two opposite inner side walls of the guide limit groove 841, and there is a distance between the end of the connecting rod 811 close to the rolling component 812 and the two opposite inner side walls of the guide limit groove 841. When the connecting rod member 810 swings up or down, only the outer wall of the rolling component 812 abuts against the inner wall of the guide limit groove 841. In this way, while ensuring the limiting reliability of the guide limit groove 841, it is also beneficial to reduce the friction between the connecting rod member 810 and the guide limit bracket 840, thereby ensuring the smoothness of the rise and fall of the driving wheel 200. In this embodiment, the fourth connecting portion 8104 is jointly constituted by the rolling component 812 and the end of the connecting rod 811 close to the rolling component 812, that is, the rolling component 812 and the end of the connecting rod 811 close to the rolling component 812 are both inserted into the guide limit groove 841, but the end of the connecting rod 811 does not contact the inner wall of the guide limit groove 841, and only the outer wall of the rolling component 812 contacts the inner wall of the guide limit groove 841; of course, in specific applications, as an alternative implementation scheme, the fourth connecting portion 8104 can also be composed of the rolling component 812 alone, that is, only the rolling component 812 is inserted into the guide limit groove 841, and the end of the connecting rod 811 close to the rolling component 812 is not inserted into the guide limit groove 841.

[0065] As an implementation, the rolling component 812 is a bearing. The bearing has good rotation performance and good wear resistance. In addition, the bearing can be a standard part, which is easy to obtain and facilitates later maintenance and replacement. Of course, the setting method of the rolling component 812 is not limited to this. For example, as an alternative implementation, the rolling component 812 can also be a roller.

[0066] Reference Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, as an embodiment, the reducer 400 is provided with a fixing flange 440, and the third connecting portion 8103 is sleeved on the reducer 400 and connected to the fixing flange 440 by screws or bolts. The fixing flange 440 can be arranged on the first housing 410 of the reducer 400. Specifically, the third connecting portion 8103 is provided with a first through hole 8105 and a plurality of second through holes 8106 surrounding the outer periphery of the first through hole 8105 in a direction parallel to the axial direction of the driving wheel 200, the third connecting portion 8103 is sleeved on the reducer 400 through the first through hole 8105, and is connected to the fixing flange 440 by screws or bolts passing through the second through holes 8106.

[0067] As an implementation mode, the connecting rod 811 and the central axis of the driving wheel 200 are perpendicular to each other, so that the reducer 400 and the connecting rod 811 are easily connected and the stability and reliability of the connection between the reducer 400 and the connecting rod 811 are ensured.

[0068] Reference Figure 1 , Figure 3 and Figure 6 As shown, as an embodiment, the guide limit bracket 840 includes two vertical support arms 842 that are arranged opposite to each other and protrude from the bottom plate 100, and the two vertical support arms 842 enclose a guide limit groove 841. The bottom ends of the two vertical support arms 842 are respectively connected to the bottom plate 100, and the facing walls of the two vertical support arms 842 are the two inner side walls opposite to the guide limit groove 841.

[0069] Reference Figure 1 , Figure 3 and Figure 6 As shown, as an embodiment, the guide limit bracket 840 further includes a transverse support arm 843 connected between the two vertical support arms 842, and the transverse support arms 843 are arranged above the bottom plate 100. The arrangement of the transverse support arms 843 can be used to limit the upward stroke of the fourth connection portion 8104 in the guide limit groove 841, thereby facilitating the improvement of the safety and reliability of the automatic guided vehicle.

[0070] As a preferred implementation of this embodiment, the two ends of the horizontal support arm 843 are respectively connected to the top ends of the two vertical support arms 842, so that, under the premise of ensuring that the guide limit slot 841 has a sufficiently large stroke, it is also beneficial to reduce the volume of the guide limit bracket 840. Of course, in specific applications, the shape of the guide limit bracket 840 is not limited thereto, for example, the two ends of the horizontal support arm 843 are not connected to the top ends of the vertical support arms 842, but are connected to a portion below the top ends of the vertical support arms 842.

[0071] Reference Figure 1 and Figure 7As shown, as an embodiment, the rotating connection assembly 820 includes a rotating shaft 821 and a fixing seat 822, the fixing seat 822 is installed on the bottom plate 100, and the first connection part 8101 is rotatably connected to the fixing seat 822 through the rotating shaft 821, and its structure is simple, and the connection is stable and reliable. Of course, in specific applications, the setting method of the rotating connection assembly 820 is not limited to this, for example, the first connection part 8101 is directly connected to the bottom plate 100 through the rotating shaft 821.

[0072] Furthermore, the present embodiment also provides an automatic guided vehicle, which includes a battery module (not shown), a controller (not shown) and the above-mentioned driving device 10 for the automatic guided vehicle, the battery module and the controller are respectively mounted on the bottom plate 100, and the controller is respectively connected to the battery module, two driving motors 300, two second encoders 600 and two first encoders 500. The automatic guided vehicle of this embodiment, because the above-mentioned driving device 10 is adopted, effectively improves the safety reliability and running stability of the automatic guided vehicle.

[0073] Furthermore, the present embodiment also provides a robot, which includes the above-mentioned automatic guided vehicle and a function execution mechanism (not shown) arranged on the automatic guided vehicle. In specific applications, different function execution mechanisms can be arranged on the automatic guided vehicle to form robots with different functions. For example, the function execution mechanism can be a manipulator for clamping goods, in which case the robot is a handling robot; or, the function execution mechanism can also be a scanning component for scanning, in which case the robot is a scanning robot; or, the function execution mechanism can also be a mechanism for performing other functions. The robot of this embodiment, because it adopts the above-mentioned automatic guided vehicle, effectively improves the safety, reliability and running stability of the robot.

[0074] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A driving device for an automatic guided vehicle, characterized in that: It includes a bottom plate, a driving wheel, a driving motor, a reducer drivingly connected between the driving motor and the driving wheel, and a first encoder installed on the reducer for monitoring the output speed of the reducer; The speed reducer and / or the driving motor are mounted on the bottom plate, and the speed reducer and the first encoder are both arranged between the center of the bottom plate and the driving wheel; The driving wheel, the driving motor, the reducer and the first encoder are each provided with two, the two driving wheels are respectively arranged on opposite sides of the bottom plate, and the central axes of the two driving wheels are coaxially arranged, the two reducers are arranged between the two driving wheels along the axial direction of the driving wheels, and the two first encoders are arranged between the two reducers along the axial direction of the driving wheels; and each reducer is respectively correspondingly connected to one driving motor and one driving wheel, and each first encoder is respectively connected to one reducer; The driving device for the automatic guided vehicle further includes two second encoders, each of which is connected to a corresponding driving motor to monitor the output speed of the driving motor; The driving device for the automatic guided vehicle further comprises a suspension mechanism, and the reducer is suspended and mounted on the base plate through the suspension mechanism; The suspension mechanism includes a connecting rod component, a rotating connection component and an elastic connection component, the connecting rod component includes a first connection part, a second connection part and a third connection part arranged between the first connection part and the second connection part, the first connection part is arranged on one side of the driving wheel and is rotatably connected to the base plate through the rotating connection component, the second connection part is arranged on the other side of the driving wheel and is elastically connected to the base plate through the elastic connection component so as to be liftable, and the third connection part is connected to the reducer; The elastic connection assembly includes a guide and limiting member and at least one elastic member, the guide and limiting member is connected to the base plate, the second connection portion is slidably connected to the guide and limiting member in a liftable manner, and the elastic member is provided between the second connection portion and the guide and limiting member and / or between the second connection portion and the base plate.

2. The driving device for an automatic guided vehicle according to claim 1, characterized in that: The speed reducer is arranged between the driving wheel and the first encoder.

3. The driving device for an automatic guided vehicle according to claim 2, characterized in that: The reducer includes a first housing, a reduction transmission mechanism disposed in the first housing, an input shaft at least partially disposed in the first housing and connected to the reduction transmission mechanism, and a first output shaft at least partially disposed in the first housing and connected to the reduction transmission mechanism, the input shaft being transmission-connected to the drive motor, the first output shaft having a first output end and a second output end disposed opposite to each other, the first output end being transmission-connected to the drive wheel, and the second output end being connected to the first encoder.

4. The driving device for an automatic guided vehicle according to claim 3, characterized in that: The first housing has a first side portion, a second side portion and a third side portion, the first side portion and the second side portion are arranged opposite to each other, the two sides of the third side portion are respectively connected to the first side portion and the second side portion, the first output end is connected to the driving wheel from the first side portion, the second output end is connected to the first encoder from the second side portion, and the input shaft is connected to the driving motor from the third side portion; and / or, The central axis of the first output shaft is coaxially arranged with the central axis of the driving wheel.

5. The driving device for an automatic guided vehicle according to any one of claims 1 to 4, characterized in that: The driving motor is a motor capable of rotating forward and reverse.

6. The driving device for an automatic guided vehicle according to claim 1, characterized in that: The guide and limit member comprises a guide and limit rod and a fixed block, wherein the fixed block is mounted on the bottom plate, the guide and limit rod comprises a main rod body connected to the fixed block at one end and a limit boss protruding from the other end of the main rod body, the second connecting portion is sleeved on the main rod body and is movably arranged between the limit boss and the fixed block, and the elastic member is arranged between the second connecting portion and the limit boss and / or between the second connecting portion and the fixed block; or, The guide and limit member comprises a guide and limit rod, and the guide and limit rod comprises a main rod body connected to the base plate at one end and a limit boss protruding from the other end of the main rod body. The second connecting portion is sleeved on the main rod body and can be raised and lowered between the limit boss and the base plate. The elastic member is provided between the second connecting portion and the limit boss and / or between the second connecting portion and the base plate.

7. The driving device for an automatic guided vehicle according to claim 6, characterized in that: The suspension mechanism also includes a guide limit bracket, which is arranged on the side of the guide limit rod and connected to the base plate. The guide limit bracket is provided with a guide limit groove, and the connecting rod component also includes a fourth connecting part that passes through the guide limit groove and slidably cooperates with the guide limit groove.

8. The driving device for an automatic guided vehicle according to claim 7, characterized in that: The second connection portion is disposed between the third connection portion and the fourth connection portion; and / or, A distance from the second connection portion to the fourth connection portion is smaller than a distance from the second connection portion to the third connection portion.

9. The driving device for an automatic guided vehicle according to claim 8, characterized in that: The connecting rod component includes a connecting rod and a rolling component rotatably mounted on one end of the connecting rod, the end of the connecting rod away from the rolling component constitutes the first connecting portion, the end of the connecting rod close to the rolling component and the rolling component constitute the fourth connecting portion, and the connecting rod is formed with the second connecting portion and the third connecting portion, the outer side wall of the rolling component abuts against the two opposite inner side walls of the guide limiting groove, and there is a distance between the end of the connecting rod close to the rolling component and the two opposite inner side walls of the guide limiting groove; or, The connecting rod component includes a connecting rod and a rolling component rotatably mounted on one end of the connecting rod, the end of the connecting rod away from the rolling component constitutes the first connecting portion, and the connecting rod is formed with the second connecting portion and the third connecting portion, the rolling component constitutes the fourth connecting portion, and the outer side wall of the rolling component abuts against the two opposite inner side walls of the guide limit groove.

10. The driving device for an automatic guided vehicle according to claim 9, characterized in that: The rolling component is a bearing or a roller; and / or, The connecting rod and the central axis of the driving wheel are perpendicular to each other.

11. The driving device for an automatic guided vehicle according to claim 7, characterized in that: The guide and limit bracket comprises two vertical support arms which are arranged opposite to each other at an interval and protrude from the bottom plate, and the two vertical support arms enclose the guide and limit groove.

12. The driving device for an automatic guided vehicle according to claim 11, characterized in that: The guide and limit bracket also includes a transverse support arm connected between the two vertical support arms, and the transverse support arms are arranged above the bottom plate at intervals.

13. An automatic guided vehicle, characterized in that: It comprises a battery module, a controller and a driving device for an automatic guided vehicle as described in any one of claims 1 to 12, wherein the battery module and the controller are respectively mounted on the base plate, and the controller is respectively connected to the battery module, the driving motor and the first encoder.

14. A robot, characterized in that: The invention comprises an automatic guided vehicle as claimed in claim 13 and a function execution mechanism arranged on the automatic guided vehicle.

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