Floating driving wheel structure

Abstract

The utility model discloses a floating driving wheel structure. The floating driving wheel structure comprises a driving module and a floating rack, wherein the floating rack is used for mounting a first connecting bracket and a second connecting bracket of the floating rack; the first connecting bracket and the second connecting bracket are fixed to preset positions of a chassis of the transfer robot; one end of the floating rack is hinged to the first connecting bracket; a guide shaft is mounted on the second connecting bracket in the vertical direction; a kidney-shaped hole is formed in the other end of the floating rack, and the floating rack is arranged on the periphery of the guide shaft in a sleeving mode through the kidney-shaped hole; a limiting baffle is arranged at the end, away from the second connecting support, of the guiding shaft. The periphery of the guide shaft is sleeved with a spring adjusting arm used for flexibly adjusting the floating rack. The upper end of the spring adjusting arm is fixed to the limiting baffle, and the lower end abuts against the upper side face of the floating rack. The driving module is fixed to the floating rack and located between the first connecting support and the second connecting support. The floating driving wheel structure is high in ground adaptability, so that the running safety of a chassis is higher.

Description

Technical Field

[0001] The utility model relates to a floating driving wheel structure. Background Art

[0002] The chassis drive structure commonly used in AGV transporters is equipped with drive wheels, which are used to drive the vehicle. The existing drive wheel installation structure is a rigid installation structure, which is always in hard contact with the ground. When the vehicle is traveling on uneven ground, due to the heavy load, the chassis is prone to follow the drive wheels up and down under the action of gravity and inertia when passing through the uneven ground, thus causing a hard landing. The rigidly installed drive wheels in hard contact with the ground are likely to damage the chassis, and also damage the goods on the transporter. Utility Model Content

[0003] The utility model provides a floating drive wheel structure to solve the above-mentioned technical problems, and specifically adopts the following technical solutions:

[0004] A floating driving wheel structure comprises: a driving module, a floating frame for installing the driving module, a first connecting bracket and a second connecting bracket for installing the floating frame; the first connecting bracket and the second connecting bracket are both fixed to preset positions of the chassis of the handling robot; one end of the floating frame is hingedly connected to the first connecting bracket; the second connecting bracket is provided with a guide shaft installed in the vertical direction; a waist-shaped hole is formed at the other end of the floating frame, and is sleeved on the outer periphery of the guide shaft through the waist-shaped hole; a limit baffle is provided at one end of the guide shaft away from the second connecting bracket; a spring adjusting arm for flexibly adjusting the floating frame is sleeved on the outer periphery of the guide shaft; the upper end of the spring adjusting arm abuts against the lower side of the limit baffle and the lower end abuts against the upper side of the floating frame; the driving module is fixed to the floating frame and is located between the first connecting bracket and the second connecting bracket.

[0005] Furthermore, the driving module includes: a driving wheel, a driving motor, a reducer, a driver for controlling the driving motor and a mounting frame; the driving motor is connected to the reducer and fixed to the mounting frame as a whole with the reducer; the driving wheel is sleeved on the outer periphery of the reducer and connected to the output end of the reducer; the driver is plugged into the socket of the driving motor through a plug-in provided therein, thereby being electrically connected to the driving motor; and the mounting frame is fixed to the bottom of the floating frame.

[0006] Furthermore, a first mounting portion and a second mounting portion for limiting the mounting of the mounting frame are formed on the lower side of the floating frame; a first mounting surface and a second mounting surface are respectively formed on the positions of the mounting frame on both sides of the driving motor; the first mounting surface is fixed to the lower side of the first mounting portion by means of screws and threaded holes; and the second mounting surface is fixed to the lower side of the second mounting portion by means of screws and threaded holes.

[0007] Furthermore, the floating frame is formed with heat dissipation grooves for improving the heat dissipation of the drive motor.

[0008] Furthermore, the driver is provided with two plug-ins; the driving motor is formed with two sockets for matching the two plug-ins; the two sockets are respectively located on the upper and lower sides of the mounting frame; the two plug-ins are respectively inserted into the corresponding sockets in accordance with the upper and lower sides of the mounting frame.

[0009] Furthermore, guide grooves for guiding the plug-in to be inserted into the corresponding sockets are respectively formed on the upper side and the lower side of the mounting frame.

[0010] Furthermore, a hinged end is formed at the lower end of the guide shaft; the guide shaft is rotatably connected to the second connecting bracket via the hinged end.

[0011] Furthermore, the limit baffle is detachably mounted on the upper end of the guide shaft by means of fixing screws.

[0012] Furthermore, a spring slot for clamping the upper end of the spring adjustment arm is formed on the lower side of the limiting baffle.

[0013] The utility model is beneficial in that a floating drive wheel structure is provided by installing a floating frame on the drive module, so that the drive module and the floating frame form a drive module as a whole with flexible buffering performance, and then the contact between the drive module and the ground is flexibly adjusted by the spring adjustment arm arranged on the floating frame, so that the drive module can always maintain a flexible structure with the ground during driving, the ground adaptability is strong, the chassis operation is safer, and the transport trolley is more stable.

[0014] In addition, the floating frame, the spring adjustment arm and the drive module are installed into a structural whole, which has a high degree of structural integration and is more convenient to install. At the same time, the installation space of the overall flexible adjustment structure can be reduced, and the requirements for the installation space are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 is a schematic diagram of a floating drive wheel structure involved in the present application;

[0017] Figure 2 yes Figure 1 A schematic diagram of a driving module of a floating driving wheel structure;

[0018] Figure 3 yes Figure 1 A schematic diagram of a floating frame of a floating drive wheel structure;

[0019] Floating drive wheel structure 10, drive module 11, drive wheel 111, drive motor 112, socket 113, reducer 114, driver 115, plug-in 116, mounting frame 12, first mounting surface 121, second mounting surface 122, guide groove 123, floating frame 13, waist-shaped hole 131, first mounting portion 132, second mounting portion 133, heat dissipation groove 134, first connecting bracket 14, second connecting bracket 15, guide shaft 16, hinged end 161, limit baffle 17, spring adjustment arm 18. DETAILED DESCRIPTION

[0020] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0023] like Figures 1 to 3As shown, a floating drive wheel structure 10 of the present application includes: a drive module 11, a floating frame 13, a first connecting bracket 14 and a second connecting bracket 15. The floating frame 13 is used to install the drive module 11, so as to form a drive assembly with flexible performance with the drive module 11, so that the drive module 11 always maintains flexible contact with the ground. The first connecting bracket 14 and the second connecting bracket 15 are used to install the floating frame 13, that is, the first connecting bracket 14 and the second connecting bracket 15 are both fixed to the preset position of the chassis of the handling robot, and then one end of the floating frame 13 is hingedly connected to the first connecting bracket 14, and then one end of the floating frame 13 is floatingly connected to the second connecting bracket 15, and the drive module 11 is fixed to the floating frame 13 and is located between the first connecting bracket 14 and the second connecting bracket 15. Such an installation structure enables the floating frame 13 to have the ability to swing up and down, and then when the drive module 11 travels on an uneven concave and convex ground, it can drive the drive module 11 to have a movement tendency along the up and down buffering movement, so as to always maintain flexible contact with the ground.

[0024] Specifically, the second connecting bracket 15 is installed with a guide shaft 16 in the vertical direction, and a waist-shaped hole 131 is formed at the other end of the floating frame 13, and the floating frame 13 is sleeved on the outer periphery of the guide shaft 16 through the waist-shaped hole 131, and a limit baffle 17 is provided at the end of the guide shaft 16 away from the second connecting bracket 15. A spring adjustment arm 18 is sleeved on the outer periphery of the guide shaft 16 for flexibly adjusting the floating frame 13, and the upper end of the spring adjustment arm 18 abuts against the lower side of the limit baffle 17, and the lower end thereof abuts against the upper side of the floating frame 13. In this way, when the driving module 11 travels to the protruding ground, the driving module 11 moves upward under the action of the ground, and the end of the floating frame 13 connected with the spring adjustment arm 18 is tilted upward. At this time, the spring adjustment arm 18 applies a downward buffering pressure to the floating frame 13, that is, a downward buffering pressure is applied to the driving module 11, so that the driving module 11 keeps in contact with the ground, so that the driving module 11 will not be separated from the ground due to inertia and the protruding ground, and will not cause a large bump;

[0025] When the driving module 11 travels to the sunken ground, the driving module 11 moves upward under the action of the ground and gravity, and the end of the floating frame 13 connected to the spring adjustment arm 18 sinks. At this time, the spring adjustment arm 18 applies an upward buffering pulling force to the floating frame 13, that is, an upward buffering pulling force is applied to the driving module 11, so that the driving module 11 will not have a hard contact with the ground, so that the driving module 11 will not sink quickly and have a large impact on the sunken ground due to gravity, inertia and the depression of the ground.

[0026] As a specific implementation, the driving module 11 includes: a driving wheel 111, a driving motor 112, a reducer 114, a driver 115 for controlling the driving motor 112, and a mounting frame 12. During installation, the driving motor 112 is connected to the reducer 114, and is fixed to the mounting frame 12 as a whole with the reducer 114. The driving wheel 111 is sleeved on the outer periphery of the reducer 114 and connected to the output end of the reducer 114. The driver 115 is plugged into the socket 113 provided on the driving motor 112 through the plug-in 116 provided thereon, thereby being electrically connected to the driving motor 112. Then the mounting frame 12 is fixed to the bottom of the floating frame 13, so that the driving module 11 and the floating frame 13 form a flexible driving module 11 structure, and the overall structure has a high degree of integration and is easy to assemble.

[0027] That is to say, the floating drive wheel structure 10 is provided with a floating frame 13 on the drive module 11, so that the drive module 11 and the floating frame 13 form a drive module 11 with flexible buffering performance, and then the spring adjustment arm 18 provided on the floating frame 13 is used to flexibly adjust the contact between the drive module 11 and the ground, so that the drive module 11 can always maintain a flexible structure with the ground during driving, with strong ground adaptability, higher chassis operation safety, and more stable driving of the transport vehicle. In addition, the floating frame 13, the spring adjustment arm 18 and the drive module 11 are installed as a structural whole, with high structural integration, more convenient installation, and can reduce the installation space of the overall flexible adjustment structure, thereby reducing the requirements for the installation space.

[0028] As a specific implementation, the lower side of the floating frame 13 is formed with a first mounting portion 132 and a second mounting portion 133 for limiting the mounting of the mounting frame 12. The mounting frame 12 is formed with a first mounting surface 121 and a second mounting surface 122 at both sides of the driving motor 112. The first mounting surface 121 is fixed to the lower side of the first mounting portion 132 by means of screws and threaded holes, and the second mounting surface 122 is fixed to the lower side of the second mounting portion 133 by means of screws and threaded holes. Such a mounting structure is simple, easy to assemble and disassemble, and has high assembly efficiency.

[0029] Furthermore, the floating frame 13 is formed with a heat dissipation groove 134 for improving the heat dissipation of the drive motor 112 , thereby ensuring the operation stability of the drive motor 112 .

[0030] As a specific implementation, the driver 115 is provided with two plug-ins 116, and the driving motor 112 is formed with two sockets 113 for matching the two plug-ins 116, the two sockets 113 are respectively located on the upper side and the lower side of the mounting frame 12, and the two plug-ins 116 are respectively inserted into the corresponding sockets 113 in accordance with the upper side and the lower side of the mounting frame 12. Such installation can improve the stability of the installation structure of the driver 115 and ensure the operation stability of the driving module 11.

[0031] Furthermore, guide grooves 123 are respectively formed on the upper and lower sides of the mounting frame 12, and the guide grooves 123 can guide the plug-in 116 to be inserted into the corresponding socket 113, thereby improving the insertion efficiency and improving the structural stability of the connection between the plug-in 116 and the socket 113 through the limiting effect.

[0032] As a specific implementation, a hinged end 161 is formed at the lower end of the guide shaft 16, and the guide shaft 16 is rotatably connected to the second connecting bracket 15 via the hinged end 161. Such an articulated connection structure can increase the amplitude of the up and down swinging of the floating frame 13, thereby improving the overall adaptability of the floating drive wheel structure 10 to a ground with a larger degree of unevenness.

[0033] As a specific structure, the limit baffle 17 is detachably mounted on the upper end of the guide shaft 16 by means of a fixing screw 19, so as to facilitate the maintenance and replacement of the spring adjustment arm 18. That is, the fixing screw 19 is passed through the through hole formed in the limit baffle 17 and screwed into the threaded hole formed at the upper end of the guide shaft 16, so that the installation is convenient. A spring clamping groove 171 is formed on the lower side of the limit baffle 17 for clamping the upper end of the spring adjustment arm 18, so as to ensure the installation stability of the spring adjustment arm 18.

[0034] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the above embodiments do not limit the utility model in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the utility model.

Claims

1. A floating drive wheel structure, characterized in that: include: A driving module, a floating frame for mounting the driving module, and a first connecting bracket and a second connecting bracket for mounting the floating frame; The first connecting bracket and the second connecting bracket are both fixed to a preset position of the chassis of the transport robot; One end of the floating frame is hingedly connected to the first connecting bracket; The second connecting bracket is provided with a guide shaft along the vertical direction; The other end of the floating frame is formed with a waist-shaped hole, and is sleeved on the outer periphery of the guide shaft through the waist-shaped hole; A limit stopper is provided at one end of the guide shaft away from the second connecting bracket; The outer periphery of the guide shaft is sleeved with a spring adjustment arm for flexibly adjusting the floating frame; The upper end of the spring adjustment arm contacts the lower side of the limit baffle and the lower end contacts the upper side of the floating frame; The driving module is fixed to the floating frame and is located between the first connecting bracket and the second connecting bracket.

2. A floating drive wheel structure according to claim 1, characterized in that: The driving module includes: a driving wheel, a driving motor, a reducer, a driver for controlling the driving motor, and a mounting frame; The driving motor is connected to the reducer and fixed to the mounting frame as a whole with the reducer; The driving wheel is sleeved on the outer periphery of the reducer and connected to the output end of the reducer; The driver is plugged into a socket provided on the drive motor through a plug-in provided on the driver, thereby being electrically connected to the drive motor; The mounting bracket is fixed to the lower side of the floating frame.

3. A floating drive wheel structure according to claim 2, characterized in that: The lower side of the floating frame is formed with a first mounting portion and a second mounting portion for limiting the mounting of the mounting frame; The mounting frame is located at two sides of the drive motor and is respectively formed with a first mounting surface and a second mounting surface; The first mounting surface is fixed to the lower side of the first mounting portion by means of screws and threaded holes; The second mounting surface is fixed to the lower side of the second mounting portion by means of a screw and a threaded hole.

4. A floating drive wheel structure according to claim 3, characterized in that: The floating frame is formed with a heat dissipation groove for improving the heat dissipation of the drive motor.

5. The floating drive wheel structure according to claim 2, characterized in that: The driver is provided with two of the plug-ins; The driving motor is formed with two sockets for matching the two plug-ins; The two sockets are respectively located on the upper side and the lower side of the mounting frame; The two plug-ins are respectively fitted against the upper side and the lower side of the mounting frame and inserted into the corresponding sockets.

6. A floating drive wheel structure according to claim 5, characterized in that: The upper side and the lower side of the mounting frame are respectively formed with guide grooves for guiding the plug-in to be inserted into the corresponding socket.

7. The floating drive wheel structure according to claim 1, characterized in that: The lower end of the guide shaft is formed with a hinge end; The guide shaft is rotatably connected to the second connecting bracket through the hinge end.

8. The floating drive wheel structure according to claim 1, characterized in that: The limit baffle is detachably mounted on the upper end of the guide shaft by means of fixing screws.

9. The floating drive wheel structure according to claim 1, characterized in that: A spring clamping groove for clamping the upper end of the spring adjusting arm is formed on the lower side of the limit baffle.

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