Automatic guided vehicle, floating type walking mechanism and pressure relief module of floating type walking mechanism

Abstract

The utility model discloses an automatic guided vehicle, a floating type walking mechanism and a pressure relief module of the floating type walking mechanism. The pressure relief module comprises a fixed seat, a sliding block movably arranged in the fixed seat and a control piece installed on the fixed seat. The sliding block is provided with an end face, and an avoiding opening is formed between the sliding block and the fixing base. The control piece is provided with a control part located outside the fixing base and a limiting part located in the fixing base. When the pressure relief module is installed on a suspension base through the fixing base, the control piece abuts against the end face through the limiting part so that the pressure relief module can be located at a pressure applying position, and the pressure relief module can move to a pressure relief position through the control part so that the limiting part can enter the receding opening and leave the end face. Therefore, the pressure relief module can be quickly adjusted in a labor-saving manner, so that the pressure applied to the ground by the elastic piece and / or the driving wheel can be effectively released.

Description

Technical Field

[0001] The utility model relates to a transport device, in particular to an unmanned transport vehicle, a floating running mechanism and a pressure release module of the floating running mechanism. Background Art

[0002] In order to keep the driving wheels of the existing transport vehicles moving smoothly, the running mechanism of the existing transport vehicles often needs to be equipped with springs that can provide pressure to the driving wheels. However, when the existing transport vehicles are faced with the demand for manpower propulsion, the springs will instead cause inconvenience in operation.

[0003] Therefore, the applicant believes that the above defects can be improved, and has devoted himself to research and applied scientific principles to finally propose a utility model that is reasonably designed and effectively improves the above defects. Utility Model Content

[0004] The embodiment of the utility model provides an unmanned guided vehicle, a floating traveling mechanism and a pressure relief module of the floating traveling mechanism, which can effectively improve the defects that may occur in the existing traveling mechanism.

[0005] 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, and the suspension base is formed with a side through-hole; a pressure relief module, which is installed on the outer side of the suspension base and the position corresponds to the side through-hole, and the pressure relief module comprises: a fixed seat, which is fixed to the suspension base; a sliding block, which can be movably arranged in the fixed seat, and the sliding block has a first end face facing the side through-hole and a second end face away from the side through-hole; wherein at least one avoidance opening is formed between the second end face and the fixed seat; and a control member, which is installed in the fixed seat, and the control member has a control part located outside the fixed seat and at least one limiting part located inside the fixed seat; the control member presses against the second end face with at least one limiting part to make the pressure relief module position At a pressure position; a tension module, comprising a sliding seat that can be movably pressed against a suspension base and an elastic member installed on the pressure relief module and the sliding seat; wherein, one end of the elastic member passes through the side through hole and presses against the first end surface; 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 stacked; 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 the pressure relief module can be moved from a pressure position to a pressure relief position relative to the fixed seat through the control portion, so that at least one limiting portion enters at least one avoidance opening and leaves the second end surface, and the sliding block is pushed by the elastic member and moves in a direction away from the side through hole.

[0006] Optionally, in each floating running mechanism, the control member includes a rotating ring rotatably mounted on a fixed seat, and the control portion is fixed to the outer edge of the rotating ring, and at least one limiting portion is fixed to the inner edge of the rotating ring.

[0007] Optionally, in each floating running mechanism, a fixed seat is formed with: at least one arc-shaped guide groove; wherein, at least one limiting portion is located on the inner side of the rotating ring and passes through at least one arc-shaped guide groove and is fixed to the rotating ring; and a positioning hole, located on the extension path of at least one arc-shaped guide groove, and the position of the control portion corresponds to the positioning hole.

[0008] Optionally, in each floating running mechanism, the pressure relief module further includes a buffer pad located between the second end surface and the inner edge of the fixed seat; when the pressure relief module is located at the pressure relief position, the sliding block is pushed by the elastic member and the second end surface abuts against the buffer pad.

[0009] Optionally, 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 in 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 in a second direction opposite to the first direction relative to the first swing arm to drive the sliding seat to move toward the fixed seat and force the elastic member to deform.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] The utility model embodiment also discloses a floating running mechanism, which includes: a suspension base, formed with a side through-hole; a pressure relief module, installed on the outer side of the suspension base and positioned corresponding to the side through-hole, the pressure relief module including; a fixed seat, fixed to the suspension base; a sliding block, movably arranged in the fixed seat, and the sliding block has a first end face facing the side through-hole and a second end face away from the side through-hole; wherein at least one avoidance opening is formed between the second end face and the fixed seat; and an operating member, installed on the fixed seat, and the operating member has a operating portion located outside the fixed seat and at least one limiting portion located inside the fixed seat; the operating member presses against the second end face with at least one limiting portion so that the pressure relief module is located in a pressure-applying position; a tension module, including a A sliding seat and an elastic member installed on the pressure relief module and the sliding seat; wherein one end of the elastic member passes through the side through hole and abuts against the first end surface; 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 stacked; 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 the pressure relief module can be moved from a pressure-applying position to a pressure-releasing position relative to the fixed seat through the control portion, so that at least one limiting portion enters at least one avoidance opening and leaves the second end surface, and the sliding block is pushed by the elastic member and moves in a direction away from the side through hole.

[0014] The utility model embodiment further discloses a pressure relief module of a floating running mechanism, which is used to be installed on a suspension base, and the pressure relief module includes: a fixed seat, fixed to the suspension base; a sliding block, movably arranged in the fixed seat, and the sliding block has a first end face and a second end face respectively located at opposite ends thereof; wherein the first end face is used for a perforation on a side facing the suspension base, and at least one avoidance opening is formed between the second end face and the fixed seat; and an operating member, installed on the fixed seat, and the operating member has a operating part located outside the fixed seat and at least one limiting part located inside the fixed seat; wherein, when the pressure relief module is installed on the suspension base, the operating member presses against the second end face with at least one limiting part so that the pressure relief module is located in a pressure-applying position, and the pressure relief module can be moved from the pressure-applying position to a pressure relief position relative to the fixed seat through the operating part, so that at least one limiting part enters at least one avoidance opening and leaves the second end face.

[0015] In summary, the unmanned guided vehicle, floating running mechanism and pressure relief module of the floating running mechanism disclosed in the embodiments of the utility model are matched with the structure of the pressure relief module and the tension module so that the pressure relief module can be quickly and labor-savingly adjusted to the pressure relief position, so as to effectively release the pressure applied by the elastic member and / or the driving wheel to the ground, thereby facilitating manual propulsion or maintenance of the unmanned guided vehicle (or floating running mechanism).

[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 exploded schematic diagram of a pressure relief module according to an embodiment of the utility model.

[0021] Figure 5 for Figure 3 A partial three-dimensional cross-sectional schematic diagram of .

[0022] Figure 6 for Figure 5 Operation diagram of the pressure relief module.

[0023] Figure 7 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.

[0024] Figure 8 for Figure 7 Schematic diagram of the pressure relief module in the pressure relief position.

[0025] Fig. 9 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.

[0026] Fig.10 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

[0027] The following is an explanation of the implementation methods of the "unmanned guided vehicle, floating running mechanism and pressure relief module of the floating running 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.

[0028] 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.

[0029] See also Figures 1 to 10 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. 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 thereto. 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] In this embodiment, if Figures 2 to 4 As shown, the floating running mechanism 100 includes a suspension base 1 fixed to the chassis 200, a pressure relief module 7 installed on the suspension base 1, a tension module 2 installed on the suspension base 1 and the pressure relief module 7, 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 and capable of driving the driving wheel 5, but the utility model is not limited thereto. For example, in other embodiments not shown in the utility model, the pressure relief module 7 can be used alone (such as: sold) or used in combination with other components according to actual needs.

[0034] 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 cross beam 12 connected to one end of the two vertical beams 11, and a pivot seat 13 installed on the inner edge of the cross beam 12. Among them, the other ends of the two vertical beams 11 are fixed to the plate body 201 of the chassis 200 and are located on the opposite sides of the wheel hole 203, and the suspension base 1 is formed with a side through hole 111 (such as: Figure 5 shown).

[0035] like Figures 3 to 6As shown, the pressure relief module 7 is installed on the outside of the suspension base 1 and its position corresponds to the side through hole 111; that is, the pressure relief module 7 is installed on the outer edge of the upright beam 11 which is away from the pivot seat 13 and formed with the side through hole 111. In this embodiment, the pressure relief module 7 includes a fixed seat 71 fixed to the suspension base 1, a sliding block 72 movably disposed in the fixed seat 71, a control member 73 installed on the fixed seat 71, and a buffer pad 74 disposed in the fixed seat 71, but the utility model is not limited thereto. For example, in other embodiments not shown in the utility model, the buffer pad 74 can be omitted or replaced by other components according to actual needs.

[0036] In this embodiment, the fixing seat 71 is in a circular groove structure and includes a tube body 711 and an end wall 712 located at one end of the tube body 711, and the fixing seat 71 is fixed to the upright beam 11 corresponding to the suspension base 1 with the other end of the tube body 711, so that the internal space of the fixing seat 71 is connected to the side through hole 111.

[0037] In more detail, the fixing seat 71 (e.g., the tube body 711) is formed with at least one arc-shaped guide groove 7111 and a positioning hole 7112, and at least one of the arc-shaped guide groove 7111 and the positioning hole 7112 is adjacent to the end wall 712, and the positioning hole 7112 is located on the extension path of at least one of the arc-shaped guide grooves 7111. Furthermore, the inner surface of the tube body 711 is also formed with two guide ribs 7113 parallel to the length direction thereof.

[0038] The sliding block 72 has a first end surface 7221 facing and adjacent to the side through hole 111 and a second end surface 7231 away from the side through hole 111, and the buffer pad 74 is located between the second end surface 7231 and the inner edge of the fixing seat 71. For example, the buffer pad 74 has elastic deformation characteristics and is fixed to the inner edge of the end wall 712 of the fixing seat 71.

[0039] In more detail, the sliding block 72 in this embodiment includes a column 721, a first plate 722 fixed to one end of the column 721, and a second plate 723 installed at the other end of the column 721. The first plate 722 has a first end surface 7221, and two guide grooves 7222 are formed on the side edge of the first plate 722. The first plate 722 is generally circular in shape and generally corresponds to (or is equivalent to) the cross section of the tube 711.

[0040] Furthermore, the second plate 723 has a second end surface 7231, and the second plate 723 is elongated and smaller than the cross section of the tube 711, and the column 721 is located within a projection space formed by the orthographic projection of the second plate 723 toward the first plate 722. In other words, at least one avoidance opening 7232 is formed between the second end surface 7231 and the fixing seat 71 (e.g., the inner surface of the tube 711).

[0041] The control member 73 comprises a rotating ring 731 rotatably mounted on the fixed seat 71, a control portion 732 fixed to the outer edge of the rotating ring 731 and located outside the fixed seat 71, and at least one limiting portion 733 (such as a rolling wheel) fixed to the inner edge of the rotating ring 731 and located inside the fixed seat 71. Specifically, the rotating ring 731 covers at least one of the arc-shaped guide grooves 7111 and the positioning hole 7112 of the fixed seat 71, and the position of the control portion 732 corresponds to the positioning hole 7112, and at least one limiting portion 733 is located on the inner side of the rotating ring 731, passes through the at least one arc-shaped guide groove 7111, and is fixed to the rotating ring 731.

[0042] In this embodiment, the pressure release module 7 can be operated by the operating member 73 to be at a pressure-applying position (eg, Figure 5 and Figure 7 as shown) and a pressure relief position (such as: Figure 6 and Figure 8 When the pressure relief module 7 is located at the pressure applying position, the control portion 732 is inserted into the positioning hole 7112, and at least one of the limiting portions 733 abuts against the second end surface 7231, so that the sliding block 72 is abutted by at least one of the limiting portions 733, and the first end surface 7221 keeps covering the side through hole 111.

[0043] It should be noted that if Figures 5 to 8 As shown, at least one arc-shaped guide groove 7111, at least one position-limiting portion 733 and at least one escape opening 7232 are at least one set of components that match each other in the above description, and the number of the at least one set of components is described as two sets in this embodiment, but the utility model is not limited thereto. That is to say, in other embodiments not shown in the utility model, the number of the at least one set of components can also be set to one according to actual needs.

[0044] Furthermore, since the pressure relief module 7 is configured in conjunction with the tension module 2 in this embodiment, the corresponding linkage relationship between the pressure relief module 7 and the tension module 2 when the pressure relief module 7 is adjusted to the pressure relief position will be described in due course after the components of the tension module 2 are introduced below.

[0045] In this embodiment, the tension module 2 includes a sliding seat 21 that can movably abut against the suspension base 1 and an elastic member 22 installed between the pressure release module 7 and the sliding seat 21. The elastic member 22 is described as a spring in this embodiment, but the present invention is not limited thereto.

[0046] 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 the at least one roller 212. In this embodiment, the number of at least one roller 212 is multiple (e.g., two), and a portion of each roller 212 protrudes from the housing 211 and can roll against the beam 12.

[0047] Furthermore, two ends of the elastic member 22 are respectively disposed on the sliding block 72 and the fixing seat 71. In this embodiment, one end of the elastic member 22 passes through the side through hole 111 and abuts against the first end surface 7221 of the sliding block 72, while the other end of the elastic member 22 is located inside the housing 211.

[0048] According to the above, if Figures 5 to 8 As shown, the pressure relief module 7 can be moved from the pressure application position to the pressure relief position relative to the fixed seat 71 through the operating part 732 (for example: the operating part 732 draws out the positioning hole 7112 and rotates the rotating ring 731), so that at least one of the limiting parts 733 (rotates along at least one of the arc-shaped guide grooves 7111) enters at least one of the avoidance openings 7232 and leaves the second end surface 7231, and the sliding block 72 is pushed by the elastic member 22 and moves in the direction away from the side perforation 111 (for example: the sliding block 72 is pushed by the elastic member 22 to move in a straight line along the tube body 711 through the cooperation of the two guide grooves 7222 and the two guide ribs 7113, and then the second end surface 7231 is abutted against the buffer pad 74).

[0049] Therefore, if Figure 1 and Figure 8As shown, the floating running mechanism 100 in this embodiment is structured by combining the pressure relief module 7 with the tension module 2 so that the pressure relief module 7 can be quickly and effortlessly adjusted to the pressure relief position to effectively release the pressure exerted by the elastic member 22 and / or the driving wheel 5 on the ground G, thereby facilitating manual propulsion or maintenance of the unmanned guided vehicle 1000 (or the floating running mechanism 100).

[0050] From another perspective, Figure 2 , Figure 3 and Figure 7 As shown, 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] In addition, in order to facilitate understanding of the walking state of the floating running mechanism 100 in this embodiment, the following content will be described based on the state when the pressure release module 7 is located at the pressure application position. Fig. 9 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 22 deforms to drive the second swing arm 4 to move relative to the first swing arm 3 along a first direction D1 (e.g.: Fig. 9 The sliding seat 21 swings in the clockwise direction, and the sliding seat 21 moves toward the first pivot end 31.

[0055] Furthermore, when the driving wheel 5 of any of the floating running mechanisms 100 rolls to a protrusion G2 of 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.: Fig. 9 A second direction D2 (as shown) Fig.10 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 fixed seat 71 and force the elastic member 22 to deform.

[0056] Therefore, if Figure 1 , Fig. 9 and Fig.10 As shown, the driving wheel 5 can maintain the state of contacting the concave part G1 or the convex part G2 of the ground G, so that the floating running mechanism 100 has sufficient driving force and can effectively avoid slipping. Furthermore, through the configuration of the tension module 2, the elastic member 22 can always maintain a positive action, so that the elastic member 22 will not bend the load, thereby effectively improving the service life of the elastic member 22.

[0057] 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.

[0058] Specifically, 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.

[0059] [Technical effects of the utility model embodiment]

[0060] In summary, the unmanned guided vehicle, floating running mechanism and pressure relief module of the floating running mechanism disclosed in the embodiments of the utility model, through the structural combination of the pressure relief module and the tension module, enable the pressure relief module to be quickly and labor-savingly adjusted to the pressure relief position, so as to effectively release the pressure applied by the elastic member and / or the driving wheel to the ground, thereby facilitating manual pushing or maintenance of the unmanned guided vehicle (or the floating running mechanism).

[0061] Furthermore, the unmanned guided vehicle and floating running mechanism disclosed in the embodiment of the utility model, through the structural coordination of multiple components, can make the driving wheel keep contacting the depression or the protrusion of the ground, so that the floating running mechanism of the unmanned guided vehicle has sufficient driving force and can effectively avoid slipping. Furthermore, through the configuration of the tension module, the elastic member can always keep the positive action, so that the elastic member will not bend the load, thereby effectively improving the service life of the elastic member.

[0062] 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 is fixed to the chassis, and the suspension base is formed with a through hole on one side; a pressure relief module, installed on the outside of the suspension base and located corresponding to the side through hole, the pressure relief module comprising; A fixing seat, fixed to the suspension base; a sliding block, movably disposed in the fixing seat, and having a first end surface facing the side through hole and a second end surface away from the side through hole; wherein at least one escape opening is formed between the second end surface and the fixing seat; and a control member, mounted on the fixing seat, and comprising a control portion located outside the fixing seat and at least one limiting portion located inside the fixing seat; the control member abuts against the second end surface with at least one limiting portion, so that the pressure relief module is located at a pressure-applying position; A tension module, comprising a sliding seat movably pressed against the suspension base and an elastic member installed between the pressure relief module and the sliding seat; wherein one end of the elastic member passes through the side through hole and presses against the first end surface; 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; Wherein, the pressure release module can be moved from the pressure position to a pressure release position relative to the fixing seat through the control part, so that at least one of the limiting parts enters at least one of the avoidance openings and leaves the second end surface, and the sliding block is pushed by the elastic member and moves in a direction away from the side through hole.

2. The unmanned guided vehicle according to claim 1, characterized in that: In each of the floating running mechanisms, the control member includes a rotating ring rotatably mounted on the fixed seat, and the control portion is fixed to the outer edge of the rotating ring, and at least one of the limiting portions is fixed to the inner edge of the rotating ring.

3. The unmanned guided vehicle according to claim 2, characterized in that: In each of the floating running mechanisms, the fixing seat includes: at least one arc-shaped guide groove; wherein at least one of the limiting portions is located on the inner side of the rotating ring and passes through at least one of the arc-shaped guide grooves to be fixed to the rotating ring; and A positioning hole is located on the extension path of at least one of the arc-shaped guide grooves, and the position of the control part corresponds to the positioning hole.

4. The unmanned guided vehicle according to claim 1, characterized in that: In each of the floating running mechanisms, the pressure relief module further includes a buffer pad, which is located between the second end surface and the inner edge of the fixed seat; when the pressure relief module is located at the pressure relief position, the sliding block is pushed by the elastic member and the second end surface is pressed against the buffer pad.

5. The unmanned guided vehicle according to claim 1, characterized in that: When the driving wheel of any one of the floating running mechanisms rolls to a depression on the ground, the elastic member deforms to drive the second swing arm to swing in 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 one of the floating running mechanisms rolls to a protrusion on the ground, the second swing arm swings in a second direction opposite to the first direction relative to the first swing arm to drive the sliding seat to move toward the fixed seat and force the elastic member to deform.

6. The unmanned guided vehicle according to claim 5, 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.

7. The unmanned guided vehicle according to claim 6, 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.

8. The unmanned guided vehicle according to claim 7, 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.

9. A floating running mechanism, characterized in that: The floating running mechanism comprises: a suspension base formed with a through hole on one side; a pressure relief module, installed on the outside of the suspension base and located corresponding to the side through hole, the pressure relief module comprising; A fixing seat, fixed to the suspension base; a sliding block, movably disposed in the fixing seat, and having a first end surface facing the side through hole and a second end surface away from the side through hole; wherein at least one escape opening is formed between the second end surface and the fixing seat; and a control member installed on the fixing seat, and the control member has a control portion located outside the fixing seat and at least one limiting portion located inside the fixing seat; the control member abuts against the second end surface with at least one limiting portion to place the pressure relief module at a pressure-applying position; A tension module, comprising a sliding seat movably pressed against the suspension base and an elastic member installed between the pressure relief module and the sliding seat; wherein one end of the elastic member passes through the side through hole and presses against the first end surface; 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; Wherein, the pressure release module can be moved from the pressure position to a pressure release position relative to the fixing seat through the control part, so that at least one of the limiting parts enters at least one of the avoidance openings and leaves the second end surface, and the sliding block is pushed by the elastic member and moves in a direction away from the side through hole.

10. A pressure relief module of a floating running mechanism, characterized in that: The pressure relief module of the floating running mechanism is used to be installed on a suspension base, and the pressure relief module includes: A fixing seat, fixed to the suspension base; a sliding block, movably disposed in the fixing seat, and having a first end face and a second end face respectively located at opposite ends thereof; wherein the first end face is used for a perforation on one side facing the suspension base, and at least one avoidance opening is formed between the second end face and the fixing seat; and A control member, mounted on the fixing seat, and comprising a control portion located outside the fixing seat and at least one limiting portion located inside the fixing seat; Wherein, when the pressure relief module is installed on the suspension base, the control member presses against the second end surface with at least one of the limiting portions so that the pressure relief module is located at a pressure-applying position, and the pressure relief module can be moved from the pressure-applying position to a pressure relief position relative to the fixed base through the control portion so that at least one of the limiting portions enters at least one of the avoidance openings and leaves the second end surface.

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