Automatic guided vehicle and floating type walking mechanism

Abstract

The utility model discloses an automatic guided vehicle and a floating type walking mechanism. The floating type walking mechanism comprises a suspension base, a tension module, two swing arms and a driving wheel. The tension module comprises a fixed seat fixed to the suspension base, a sliding seat movably abutting against the suspension base, and an elastic piece installed on the fixed seat and the sliding seat. One ends of the two swing arms are pivoted to the suspension base and the sliding seat respectively, and the driving wheels are installed at the other ends of the two swing arms. When the driving wheel rolls to a concave position, the elastic piece deforms to drive the two swing arms to swing towards the approaching direction. When the driving wheel rolls to a protrusion, the two swing arms swing in the direction away from each other, and the elastic piece is forced to deform. Therefore, the driving wheel can be kept abutting against the concave position or the convex position of the ground, enough driving force is achieved, and slipping is avoided.

Description

Technical Field

[0001] The utility model relates to a transport device, in particular to an unmanned transport vehicle and a floating traveling mechanism. Background Art

[0002] When the running mechanism of the existing transport vehicle is facing an uneven ground, the driving wheels of the running mechanism cannot really contact the ground, so it is easy to slip. Therefore, the applicant believes that the above defects can be improved, and has devoted himself to research and applied scientific principles, and finally proposed a utility model with a reasonable design and effective improvement of the above defects. Utility Model Content

[0003] The embodiment of the utility model provides an unmanned guided vehicle and a floating traveling mechanism, which can effectively improve the defects that may occur in the existing traveling mechanism.

[0004] The utility model discloses an unmanned guided vehicle, which comprises: a chassis; and two floating running mechanisms, which are respectively installed on opposite sides of the chassis, and each floating running mechanism comprises: a suspension base, which is fixed to the chassis; a tension module, which comprises a fixed seat fixed to the suspension base, a sliding seat movably abutting against the suspension base, and an elastic member installed on the fixed seat and the sliding seat; a first swing arm, which has a first pivot end and a first configuration portion, and the first pivot end is pivotally connected to the suspension base; a second swing arm, which has a second pivot end and a second configuration portion, and the second pivot end is pivotally connected to the sliding seat; wherein the first configuration portion The first and second configuration parts are stacked; and a driving wheel is rotatably mounted on the first and second configuration parts, and the driving wheel is used to roll on a ground; wherein, when the driving wheel of any floating running mechanism rolls to a depression on the ground, the elastic member deforms to drive the second swing arm to swing along a first direction relative to the first swing arm, and the sliding seat moves toward the first pivot end; wherein, when the driving wheel of any floating running mechanism rolls to a protrusion on the ground, the second swing arm swings along a second direction opposite to the first direction relative to the first swing arm, so as to drive the sliding seat to move toward the fixed seat and force the elastic member to deform.

[0005] Optionally, in each floating running mechanism, the sliding seat includes: a shell, with two ends of the elastic member respectively arranged on the shell and the fixed seat; and at least one roller, which is arranged on the shell, and the sliding seat is against the suspension base with the at least one roller.

[0006] Optionally, in each floating running mechanism, the fixed seat includes: a seat body facing the shell and having a recessed receiving groove; and a rod body extending from the bottom of the receiving groove and passing through the notch of the receiving groove; wherein the elastic member is sleeved on the rod body, and one end of the elastic member is located in the receiving groove.

[0007] Optionally, in each floating running mechanism, the first pivot end is pivoted to the suspension base along a first axis, the second pivot end is pivoted to the sliding seat along a second axis, and the first axis and the second axis are parallel to the central axis of the driving wheel.

[0008] Optionally, the central axis and the first axis together define a first plane, the central axis and the second axis together define a second plane, and the first plane and the second plane include a running angle between 50 degrees and 100 degrees.

[0009] Optionally, when the driving wheel of any floating running mechanism rolls to a flat part of the ground, the operating angle is between 65 degrees and 80 degrees; when the driving wheel of any floating running mechanism rolls to a recessed part of the ground, the operating angle is between 50 degrees and 65 degrees; when the driving wheel of any floating running mechanism rolls to a raised part of the ground, the operating angle is between 80 degrees and 100 degrees.

[0010] Optionally, in each floating running mechanism, the first configuration part and the second configuration part together constitute a configuration space; wherein each floating running mechanism further includes a driving motor connected to the driving wheel, which is at least partially located within the configuration space.

[0011] The utility model also discloses a floating running mechanism, which includes:

[0012] A suspension base; a tension module, comprising a fixed seat fixed to the suspension base, a sliding seat movably abutting against the suspension base, and an elastic member installed on the fixed seat and the sliding seat; a first swing arm, having a first pivot end and a first configuration portion, and the first pivot end is pivoted to the suspension base; a second swing arm, having a second pivot end and a second configuration portion, and the second pivot end is pivoted to the sliding seat; wherein the first configuration portion and the second configuration portion are in a stacked configuration; and a driving wheel, rotatably installed on the first configuration portion and the second configuration portion, and the driving wheel is used to roll on a ground; wherein when the driving wheel rolls to a concave portion of the ground, the elastic member deforms to drive the second swing arm to swing along a first direction relative to the first swing arm, and the sliding seat moves toward the first pivot end; wherein when the driving wheel rolls to a protrusion on the ground, the second swing arm swings along a second direction opposite to the first direction relative to the first swing arm, so as to drive the sliding seat to move toward the fixed seat and force the elastic member to deform.

[0013] Optionally, the first pivot end is pivoted to the suspension base along a first axis, the second pivot end is pivoted to the sliding seat along a second axis, and the first axis and the second axis are parallel to the central axis of the driving wheel; wherein the central axis and the first axis jointly define a first plane, the central axis and the second axis jointly define a second plane, and the first plane and the second plane sandwich a running angle between 50 degrees and 100 degrees.

[0014] Optionally, the first configuration portion and the second configuration portion together constitute a configuration space; wherein the floating running mechanism further includes a driving motor connected to the driving wheel, which is at least partially located within the configuration space.

[0015] In summary, the unmanned guided vehicle and floating travel mechanism disclosed in the embodiment of the utility model can keep the driving wheel in contact with the concave or convex part of the ground through the structural coordination of multiple components, so that the driving wheel has sufficient driving force and can effectively avoid slipping. Furthermore, the configuration of the tension module can keep the elastic member in a positive direction forever, so that the elastic member will not have a bending load, thereby effectively improving the service life of the elastic member.

[0016] In order to further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, such description and drawings are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a three-dimensional schematic diagram of an unmanned guided vehicle according to an embodiment of the utility model.

[0018] Figure 2 It is a three-dimensional schematic diagram of the floating running mechanism of an embodiment of the utility model.

[0019] Figure 3 for Figure 2 A three-dimensional diagram from another perspective.

[0020] Figure 4 It is a three-dimensional schematic diagram of a tension module according to an embodiment of the utility model.

[0021] Figure 5 It is a schematic diagram of an unmanned guided vehicle according to an embodiment of the utility model traveling on a flat surface with a floating traveling mechanism.

[0022] Figure 6 It is a schematic diagram of an unmanned guided vehicle according to an embodiment of the utility model traveling in a recessed area using a floating traveling mechanism.

[0023] Figure 7 It is a schematic diagram of an unmanned guided vehicle according to an embodiment of the utility model traveling on a protrusion with a floating running mechanism. DETAILED DESCRIPTION

[0024] The following is an explanation of the implementation methods of the "unmanned guided vehicle and floating traveling mechanism" disclosed in the present utility model through specific embodiments. Those skilled in the art can understand the advantages and effects of the present utility model from the contents disclosed in this specification. The present utility model can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present utility model. In addition, the drawings of the present utility model are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following implementation methods will further explain the relevant technical contents of the present utility model in detail, but the disclosed contents are not intended to limit the scope of protection of the present utility model.

[0025] It should be understood that although the terms "first", "second", "third" and the like may be used herein to describe various components or features, these components or features should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one feature from another feature. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation.

[0026] See also Figures 1 to 7 As shown, it is an embodiment of the utility model. Figure 1 As shown, this embodiment discloses an unmanned guided vehicle 1000, which can be applied to an automated operating system (e.g., it can quickly and stably perform switching operations and lifting operations). The unmanned guided vehicle 1000 in this embodiment includes a chassis 200, two floating running mechanisms 100 respectively installed on opposite sides of the chassis 200, and a cargo holding module 300 and a mast module 400 installed on the chassis 200, but the utility model is not limited to this. For example, in other embodiments not shown in the utility model, the cargo holding module 300 and / or the mast module 400 can be omitted or replaced with other components according to actual needs.

[0027] In addition, although the unmanned guided vehicle 1000 in this embodiment is described as two floating running mechanisms 100 matched with the chassis 200, the cargo holding module 300, and the mast module 400, the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the floating running mechanism 100 can also be used alone (e.g., sold) or used in combination with other components according to actual needs.

[0028] In this embodiment, the chassis 200 includes a plate body 201 and a plurality of auxiliary wheels 202 installed on the bottom side of the plate body 201. The plate body 201 is formed with two wheel holes 203, each of the floating running mechanisms 100 is installed on the plate body 201 and the position corresponds to one of the wheel holes 203, and each of the floating running mechanisms 100 can be optionally located between two of the auxiliary wheels 202 and partially pass through the wheel holes 203 of the plate body 201, so that the two floating running mechanisms 100 and the plurality of auxiliary wheels 202 can be disposed on a ground G together.

[0029] It should be noted that the two floating running mechanisms 100 in this embodiment have substantially the same structure and are arranged in a mirror-symmetrical manner. For ease of understanding, the following mainly introduces the structure and connection relationship of one of the floating running mechanisms 100, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the structures of the two floating running mechanisms 100 may also be slightly different or may not be arranged in a mirror-symmetrical manner.

[0030] In this embodiment Figures 2 to 5 In the embodiment, the floating running mechanism 100 includes a suspension base 1 fixed to the chassis 200, a tension module 2 installed on the suspension base 1, a first swing arm 3 pivoted to the suspension base 1, a second swing arm 4 pivoted to the tension module 2, a driving wheel 5 rotatably arranged on the first swing arm 3 and the second swing arm 4, and a driving motor 6 connected to and capable of driving the driving wheel 5.

[0031] The suspension base 1 in this embodiment is in an inverted U shape and is fixed to the plate body 201, and the position of the suspension base 1 is across the corresponding wheel hole 203. In more detail, the suspension base 1 in this embodiment includes two vertical beams 11 spaced apart from each other, a horizontal beam 12 connected to one end of the two vertical beams 11, and a pivot seat 13 installed on the inner edge of the horizontal beam 12, and the other ends of the two vertical beams 11 are fixed to the plate body 201 of the chassis 200 and are located on opposite sides of the wheel hole 203.

[0032] The tension module 2 includes a sliding seat 21 that can movably lean against the suspension base 1, a fixed seat 22 fixed to the suspension base 1, and an elastic member 23 installed on the fixed seat 22 and the sliding seat 21. The elastic member 23 is described as a spring in this embodiment, but the present invention is not limited thereto.

[0033] In more detail, the sliding seat 21 includes a housing 211 and at least one roller 212 disposed on the housing 211, and the sliding seat 21 abuts against the suspension base 1 (e.g., the inner edge of the beam 12) with at least one roller 212. In this embodiment, the number of the rollers 212 can be multiple (e.g., two), and a portion of each roller 212 protrudes from the housing 211 and can roll against the beam 12.

[0034] Furthermore, the fixing seat 22 comprises a seat body 221 facing the housing 211 and a rod body 222 connected to the seat body 221. The seat body 221 is fixed to the inner edge of one of the upright beams 11 (away from the pivot seat 13) and is concavely provided with a receiving groove 223 (e.g.: Figure 5 As shown), the seat body 221 is adjacent to the cross beam 12 but away from the pivot seat 13, and the rod body 222 extends from the bottom of the receiving groove 223 and passes through the notch of the receiving groove 223.

[0035] In addition, two ends of the elastic member 23 are respectively disposed on the housing 211 and the fixing seat 22. In this embodiment, the elastic member 23 is sleeved on the rod 222, and one end of the elastic member 23 is located in the receiving groove 223, while the other end of the elastic member 23 is located in the housing 211.

[0036] The first swing arm 3 and the second swing arm 4 have substantially the same appearance (e.g., substantially the same length) in this embodiment, but the present invention is not limited thereto. The first swing arm 3 has a first pivot end 31 and a first configuration portion 32 (respectively located at opposite ends), and the second swing arm 4 has a second pivot end 41 and a second configuration portion 42 (respectively located at opposite ends), and the first configuration portion 32 and the second configuration portion 42 are stacked.

[0037] Further, the first configuration portion 32 and (one side of) the second configuration portion 42 together form a configuration space S, and at least a portion of the drive motor 6 is located within the configuration space S to drive the drive wheel 5 to rotate. The drive wheel 5 is rotatably mounted on (the other side of) the first configuration portion 32 and the second configuration portion 42, and the drive wheel 5 is used to roll on the ground G. In addition, the first configuration portion 32 and the second configuration portion 42 can be pivotally connected to each other along the central axis C3 of the drive wheel 5.

[0038] Furthermore, the first swing arm 3 is pivotally connected to the suspension base 1 at the first pivot end 31, and the second swing arm 4 is pivotally connected to the sliding seat 21 at the second pivot end 41. In this embodiment, the first pivot end 31 is pivotally connected to the suspension base 1 (such as the pivot seat 13) along a first axis C1, and the second pivot end 41 is pivotally connected to the sliding seat 21 (such as the housing 211) along a second axis C2, and the first axis C1 and the second axis C2 can be optionally parallel to the central axis C3 of the driving wheel 5.

[0039] Furthermore, the central axis C3 and the first axis C1 jointly define a first plane P1, and the central axis C3 and the second axis C2 jointly define a second plane P2, and in order to enable the floating running mechanism 100 to have a smoother operation effect, the first plane P1 and the second plane P2 can optionally be sandwiched by an operation angle σ between 50 degrees and 100 degrees, but the present invention is not limited to this.

[0040] According to the above, if Figures 5 to 7 As shown, when the driving wheel 5 of any of the floating running mechanisms 100 rolls to a depression G1 of the ground G, the elastic member 23 deforms to drive the second swing arm 4 to move relative to the first swing arm 3 along a first direction D1 (e.g.: Figure 6 The sliding seat 21 swings in the clockwise direction, and the sliding seat 21 moves toward the first pivot end 31.

[0041] Furthermore, if Figures 5 to 7 As shown, when the driving wheel 5 of any of the floating running mechanisms 100 rolls to a protrusion G2 on the ground G, the second swing arm 4 moves relative to the first swing arm 3 in a direction opposite to the first direction D1 (e.g.: Figure 6 A second direction D2 (as shown) Figure 7 The sliding seat 21 is swung in the counterclockwise direction in the middle of the swing to drive the sliding seat 21 to move toward the fixing seat 22 and force the elastic member 23 to deform.

[0042] Thus, the driving wheel 5 can keep contacting the concave part G1 or the convex part G2 of the ground G, so that the driving wheel 5 has sufficient driving force and can effectively avoid slipping. Furthermore, through the configuration of the tension module 2, the elastic member 23 can always keep the positive action, so that the elastic member 23 will not have a bending load, thereby effectively improving the service life of the elastic member 23.

[0043] In addition, in order to enable the floating running mechanism 100 to have a relatively smooth operation effect and have an optional equipment stability, the operating angle σ can be selected to meet at least part of the following conditions, but the present invention is not limited thereto.

[0044] Specifically, if Figures 5 to 7 As shown, when the driving wheel 5 of any one of the floating running mechanisms 100 rolls to a flat part G3 of the ground G, the operating angle σ is between 65 degrees and 80 degrees; when the driving wheel 5 of any one of the floating running mechanisms 100 rolls to the recessed part G1 of the ground G, the operating angle σ is between 50 degrees and 65 degrees; when the driving wheel 5 of any one of the floating running mechanisms 100 rolls to the raised part G2 of the ground G, the operating angle σ is between 80 degrees and 100 degrees.

[0045] [Technical effects of the utility model embodiment]

[0046] In summary, the unmanned guided vehicle and floating travel mechanism disclosed in the embodiment of the utility model can keep the driving wheel in contact with the depression or protrusion of the ground through the structural coordination of multiple components, so that the driving wheel has sufficient driving force and can effectively avoid slipping. Furthermore, the configuration of the tension module can make the elastic member always maintain a positive action, so that the elastic member will not have a bending load, thereby effectively improving the service life of the elastic member.

[0047] The contents disclosed above are only optional feasible embodiments of the present utility model, and do not limit the patent scope of the present utility model. Therefore, all equivalent technical changes made using the contents of the present utility model specification and drawings are included in the patent scope of the present utility model.

Claims

1. An unmanned guided vehicle, characterized in that: The unmanned guided vehicle comprises: a chassis; and Two floating running mechanisms are respectively installed on opposite sides of the chassis, and each of the floating running mechanisms includes: A suspension base, fixed to the chassis; A tension module, comprising a fixed seat fixed to the suspension base, a sliding seat movably abutting against the suspension base, and an elastic member installed on the fixed seat and the sliding seat; A first swing arm having a first pivot end and a first configuration portion, wherein the first pivot end is pivotally connected to the suspension base; a second swing arm having a second pivot end and a second configuration portion, wherein the second pivot end is pivotally connected to the sliding seat; wherein the first configuration portion and the second configuration portion are in a stacked configuration; and a driving wheel rotatably mounted on the first configuration portion and the second configuration portion, and the driving wheel is used to roll on a ground; When the driving wheel of any of the floating running mechanisms rolls to a depression on the ground, the elastic member deforms to drive the second swing arm to swing along a first direction relative to the first swing arm, and the sliding seat moves toward the first pivot end; When the driving wheel of any one of the floating running mechanisms rolls to a protrusion on the ground, the second swing arm swings relative to the first swing arm in a second direction opposite to the first direction to drive the sliding seat to move toward the fixed seat and force the elastic member to deform.

2. The unmanned guided vehicle according to claim 1, characterized in that: In each of the floating running mechanisms, the sliding seat comprises: a housing, with two ends of the elastic member respectively disposed on the housing and the fixing seat; and At least one roller is arranged on the housing, and the sliding seat abuts against the suspension base with the at least one roller.

3. The unmanned guided vehicle according to claim 2, characterized in that: In each of the floating running mechanisms, the fixed seat comprises: A seat body, facing the shell and having a recessed receiving groove; and A rod body extends from the bottom of the receiving groove and passes through the notch of the receiving groove; wherein the elastic member is sleeved on the rod body, and one end of the elastic member is located in the receiving groove.

4. The unmanned guided vehicle according to claim 1, characterized in that: In each of the floating running mechanisms, the first pivot end is pivoted to the suspension base along a first axis, the second pivot end is pivoted to the sliding seat along a second axis, and the first axis and the second axis are parallel to the central axis of the driving wheel.

5. The unmanned guided vehicle according to claim 4, characterized in that: The central axis and the first axis together define a first plane, the central axis and the second axis together define a second plane, and the first plane and the second plane include a running angle between 50 degrees and 100 degrees.

6. The unmanned guided vehicle according to claim 5, characterized in that: When the driving wheel of any one of the floating running mechanisms rolls to a flat part of the ground, the operating angle is between 65 degrees and 80 degrees; when the driving wheel of any one of the floating running mechanisms rolls to the recessed part of the ground, the operating angle is between 50 degrees and 65 degrees; when the driving wheel of any one of the floating running mechanisms rolls to the raised part of the ground, the operating angle is between 80 degrees and 100 degrees.

7. The unmanned guided vehicle according to claim 1, characterized in that: In each of the floating running mechanisms, the first configuration portion and the second configuration portion together constitute a configuration space; wherein each of the floating running mechanisms further includes a driving motor connected to the driving wheel, which is at least partially located within the configuration space.

8. A floating running mechanism, characterized in that: The floating running mechanism comprises: a suspension base; A tension module, comprising a fixed seat fixed to the suspension base, a sliding seat movably abutting against the suspension base, and an elastic member installed on the fixed seat and the sliding seat; A first swing arm having a first pivot end and a first configuration portion, wherein the first pivot end is pivotally connected to the suspension base; a second swing arm having a second pivot end and a second configuration portion, wherein the second pivot end is pivotally connected to the sliding seat; wherein the first configuration portion and the second configuration portion are in a stacked configuration; and a driving wheel rotatably mounted on the first configuration portion and the second configuration portion, and the driving wheel is used to roll on a ground; When the driving wheel rolls to a depression on the ground, the elastic member deforms to drive the second swing arm to swing along a first direction relative to the first swing arm, and the sliding seat moves toward the first pivot end; When the driving wheel rolls to a protrusion on the ground, the second swing arm swings relative to the first swing arm in a second direction opposite to the first direction to drive the sliding seat to move toward the fixed seat and force the elastic member to deform.

9. The floating running mechanism according to claim 8, characterized in that: The first pivot end is pivoted to the suspension base along a first axis, the second pivot end is pivoted to the sliding seat along a second axis, and the first axis and the second axis are parallel to the central axis of the driving wheel; wherein the central axis and the first axis jointly define a first plane, the central axis and the second axis jointly define a second plane, and the first plane and the second plane sandwich a running angle between 50 degrees and 100 degrees.

10. The floating running mechanism according to claim 8, characterized in that: The first configuration part and the second configuration part together form a configuration space; wherein the floating running mechanism further includes a driving motor connected to the driving wheel, which is at least partially located within the configuration space.

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