Chassis of traveling device and traveling device

Abstract

The utility model discloses a chassis of a running device and the running device. The chassis of the driving device comprises a chassis body; the driving assembly at least comprises a speed reducing part which is provided with an input end and an output end which are arranged at an interval in the running direction of the running device; the driving part is connected to the input end and provides power for the speed reducing part; the driving wheel is connected to the output end, and the driving wheel rotates under the transmission of the speed reducing part; the input end and the output end are both movably connected to the chassis body. In this way, the obstacle crossing ability and the driving smoothness of the driving device and the chassis of the driving device can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of traveling devices, and in particular to a chassis of a traveling device and a traveling device. Background Art

[0002] Automated Guided Vehicle (AGV) and other driving devices have been widely used in automated production, logistics and people's daily life. AGV is an intelligent transport logistics vehicle. Its chassis is the actuator of AGV walking, and its performance directly affects the overall performance of AGV.

[0003] In the related technologies, AGV can only realize simple flat ground working conditions, and its obstacle crossing ability and driving smoothness are poor. Utility Model Content

[0004] In view of the above problems, the chassis of the traveling device and the traveling device provided in the present application can improve the obstacle crossing capability and driving smoothness of the traveling device and its chassis.

[0005] In order to solve the above problems, the present application provides a chassis of a traveling device. The chassis of the traveling device includes: a chassis body; a driving assembly, which at least includes: a deceleration member, which is provided with an input end and an output end arranged at intervals along the traveling direction of the traveling device; a driving member, which is connected to the input end and provides power for the deceleration member; a driving wheel, which is connected to the output end and rotates under the transmission of the deceleration member; wherein the input end and the output end are both movably connected to the chassis body. The reduction gear in the driving assembly is connected to the chassis body, and the driving member and driving wheel in the driving assembly are respectively connected to the input end and output end of the reduction gear. Therefore, the driving member and driving wheel can be carried by the reduction gear to connect the driving assembly to the chassis body as an integral mechanism, thereby improving the connection stability and stability of the driving assembly; and the reduction gear is movably connected to the chassis body, so that the reduction gear and the driving member and driving wheel carried thereon can be connected to the chassis body as a longitudinally arranged movable swing arm structure, which can improve the buffering capacity between the driving assembly and the chassis body, and the input end and output end of the reduction gear arranged at intervals along the driving direction are both movably connected to the chassis body, which can further increase the buffering capacity between the driving assembly and the chassis body, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the traveling device.

[0006] In some embodiments, the input end is rotatably connected to the chassis body; the output end is movably connected to the chassis body along a first direction, wherein the first direction is arranged perpendicular to the driving direction. Through the above structure, not only can the impact force of the chassis body be buffered when the driving wheel arranged at the output end vibrates up and down, but also the deceleration member can be installed on the chassis body through the input end; and when the driving wheel bounces when passing through a bumpy section, that is, when the distance between the driving wheel and the chassis body changes, the input end provides a rotation connection point and a rotation constraint point for the bounce, which can improve the connection stability between the drive assembly and the chassis body; and the deceleration member can increase the buffering capacity between the driving wheel and the chassis body, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the driving device. And setting the driving member at the input end that is rotatably connected to the chassis body can improve the connection stability between the driving member and the chassis body, because the moving path of the output end along the first direction is greater than the moving path of the input end along the first direction.

[0007] In some embodiments, the drive assembly further includes: a vibration reduction component, which is connected to the output end and the chassis body respectively. The vibration reduction component improves the buffering capacity between the output end where the driving wheel is set and the chassis body, and can directly buffer the impact force transmitted from the driving wheel to the chassis body, with a better buffering effect. The vibration reduction component can also realize the chassis body limiting the output end.

[0008] In some embodiments, the vibration reduction assembly includes: an elastic member, one end of which is rotatably connected to the chassis body, and the other end of which is rotatably connected to the output end. The elastic member can buffer the impact force between the output end and the chassis body, and can make the elastic member twist relative to the speed reduction member and the chassis body at different vibration reduction strokes, so as to match and adapt to different relative positional relationships between the speed reduction member and the chassis body, and prevent unexpected blockage.

[0009] In some embodiments, the chassis body is provided with a side portion extending along the direction of travel, the drive assembly is connected to the side portion, and the speed reducer is movably connected to the side portion, and the projection of the speed reducer on the chassis body is located inside the side portion. The drive assembly is connected to the side portion, which not only facilitates the arrangement of the drive wheel, but also can reduce the interference between the drive assembly and obstacles in the direction of travel, thereby improving the reliability of the drive assembly. Moreover, the projection of the speed reducer on the chassis body is located inside the side portion, that is, on the driving plane. The speed reducer is located inside the chassis body, which can shorten the connection distance between the speed reducer and the chassis body, improve the stability of the connection between the two, and reduce the floor space of the chassis, thereby improving its integration. Moreover, the speed reducer is located inside the chassis body, which can increase the limiting effect of the chassis body on the speed reducer.

[0010] In some embodiments, the projection of the driving member on the chassis body is located on the inner side of the side portion, and the projection of the driving wheel on the chassis body is located on the outer side of the side portion. The projection of the driving member on the chassis body is located on the inner side of the side portion, that is, on the driving plane, the driving member is located on the inner side of the side portion, which can reduce the interference between the driving member and other components or obstacles outside the chassis body, and improve the reliability of the driving member; the projection of the driving wheel on the chassis body is located on the outer side of the side portion, that is, on the driving plane, the driving wheel is located on the outer side of the side portion, which can reduce the interference of other chassis components on the driving wheel, so that the driving wheel can rotate flexibly and widen the rotation angle.

[0011] In some embodiments, the drive assembly further includes: a brake member, which is located on both sides or one side of the input end with the drive member, and the drive member and the brake member are respectively connected to the input shaft of the deceleration member. This embodiment can achieve braking, stopping and allowing travel of the drive assembly or the chassis body. The brake member is located on the outside of the input end, and the drive member is located on the inside of the input end, which can improve the integration of the chassis and facilitate improving the reliability of the drive member.

[0012] In some embodiments, the chassis further comprises: a plurality of driven wheels connected to the chassis body. The driven wheels can improve the running stability of the chassis body.

[0013] In some embodiments, the driving wheel is located between the two driven wheels along the driving direction. The driving wheel is used to provide power for the chassis to travel, and the driven wheel is used to provide steering and improve stable support. The driving wheel is arranged between the driven wheels to improve the stability of the chassis. The centrally placed driving wheel can reduce the moment of inertia of the chassis and the load on the chassis, and can achieve the action of rotating on the spot in a small space, and the steering is more sensitive.

[0014] In some embodiments, the chassis includes two drive assemblies, which are respectively arranged on two opposite sides of the chassis body along the driving direction, and the chassis includes four driven wheels, two driven wheels are arranged on one side, and the other two driven wheels are arranged on the other side. Through this structure, a six-wheel three-axle chassis can be realized, which can improve the stability of chassis driving.

[0015] In some embodiments, the driven wheel includes a universal wheel to achieve flexible steering of the chassis.

[0016] In order to solve the above problems, the present application provides a traveling device, which includes the above chassis, based on which the buffering capacity between the drive assembly and the chassis body can be increased, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the traveling device. The chassis structure of the traveling device provided in this embodiment is simple and the cost is low.

[0017] Different from the prior art: the chassis of the traveling device provided in the embodiment of the present application includes a chassis body and a driving assembly connected to the chassis body, wherein the reduction member in the driving assembly is connected to the chassis body, and the driving member and the driving wheel in the driving assembly are respectively connected to the input end and the output end of the reduction member. Therefore, the driving member and the driving wheel can be carried by the reduction member to connect the driving assembly to the chassis body as an integral mechanism, thereby improving the connection stability and stability of the driving assembly; and the reduction member is movably connected to the chassis body, so that the reduction member and the driving member and the driving wheel carried thereon can be connected to the chassis body as a longitudinally arranged movable swing arm structure, which can improve the buffering capacity between the driving assembly and the chassis body, and the input end and the output end of the reduction member arranged at intervals along the driving direction are both movably connected to the chassis body, which can further increase the buffering capacity between the driving assembly and the chassis body, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the traveling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. In addition, the same reference numerals are used throughout the drawings to represent the same components.

[0019] In the figure:

[0020] Figure 1 is a schematic structural diagram of a chassis of a traveling device according to one or more embodiments;

[0021] Figure 2 for Figure 1 A schematic diagram of the structure of the other side of the chassis of the embodiment;

[0022] Figure 3 is a schematic diagram of the structure of a drive assembly according to one or more embodiments.

[0023] The figure numbers in the specific implementation scheme are as follows: chassis body 10; side 11; end 12; drive assembly 20; reduction member 21, drive member 22; drive wheel 23; shock absorbing assembly 24; brake member 25; travel direction X; first direction Z; input end 211; output end 212; elastic member 241; first connecting member 242; second connecting member 243; driven wheel 40. DETAILED DESCRIPTION

[0024] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0026] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0029] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0030] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like 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, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0031] With the continuous development of science and technology, people gradually use mechanical equipment to free their hands. For example, AGV and other driving devices have been widely used in automated production, logistics and people's daily life. The chassis of AGV is the actuator of AGV walking, and its performance directly affects the overall performance of AGV.

[0032] In the related technology, the traditional AGV chassis architecture cannot achieve on-site turning or achieves on-site turning at a high cost. For example, the AGV chassis is a 4-wheel dual-axle structure. If you want to achieve on-site turning, you must have a steering system on both axes, which is complex in structure, high in cost, and complex in control. In addition, the traditional AGV can only achieve simple flat ground conditions, and its obstacle crossing ability and driving smoothness are poor. The traditional AGV has very high requirements for the site. For uneven roads and roads with speed bumps, the traditional AGV cannot meet the use requirements.

[0033] Based on the above considerations, the chassis of the traveling device provided in the present application includes a chassis body and a driving assembly connected to the chassis body, wherein the reduction member in the driving assembly is connected to the chassis body, and the driving member and the driving wheel in the driving assembly are respectively connected to the input end and the output end of the reduction member. Therefore, the driving member and the driving wheel can be carried by the reduction member to connect the driving assembly to the chassis body as an integral mechanism, thereby improving the connection stability and stability of the driving assembly; and the reduction member is movably connected to the chassis body, so that the reduction member and the driving member and the driving wheel carried thereon can be connected to the chassis body as a longitudinally arranged movable swing arm structure, which can improve the buffering capacity between the driving assembly and the chassis body, and the input end and the output end of the reduction member arranged at intervals along the driving direction are both movably connected to the chassis body, which can further increase the buffering capacity between the driving assembly and the chassis body, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the traveling device.

[0034] Among them, the chassis provided in this application can be used for AGV or other traveling devices, etc.

[0035] In some embodiments, Figures 1 to 3 As shown, the chassis of the traveling device includes: a chassis body 10 and a driving assembly 20, wherein the driving assembly 20 includes at least: a reduction member 21, a driving member 22 and a driving wheel 23; the reduction member 21 is provided with an input end 211 and an output end 212 which are arranged at intervals along the traveling direction X of the traveling device; the driving member 22 is connected to the input end 211, and the driving member 22 provides power for the reduction member 21; the driving wheel 23 is connected to the output end 212, and the driving wheel 23 rotates under the transmission of the reduction member 21; wherein the input end 211 and the output end 212 are both movably connected to the chassis body 10.

[0036] The deceleration member 21 includes a reducer, which as a speed change mechanism can achieve speed matching and torque transmission between the driving member 22 and the driving wheel 23. In some embodiments, the reducer includes a reduction housing and a transmission mechanism located in the reduction housing, such as a turbine, a worm, a gear, etc. The input shaft of the transmission mechanism is in transmission connection with the driving member 22, and the output shaft of the transmission mechanism is in transmission connection with the driving wheel 23. The reduction member 21 is provided with an input end 211 and an output end 212 arranged at intervals along the driving direction X of the driving device, which means that the reduction housing is provided with an input end 211 and an output end 212 arranged at intervals along the driving direction X, and the input shaft of the reducer is arranged at the input end 211, and the output shaft of the reducer is arranged at the output end 212.

[0037] The driving member 22 may include a motor, whose output shaft is connected to the input shaft of the reducer to output power to the reducer. In other embodiments, an electric cylinder, a pneumatic cylinder, etc. may be used instead of the motor.

[0038] The chassis body 10 serves as a structural frame of the chassis and can be used to carry the drive assembly 20 and the load, so as to move the load under the drive of the drive assembly 20 .

[0039] The deceleration member 21 in the driving assembly 20 is connected to the chassis body 10, and the driving member 22 and the driving wheel 23 are respectively connected to the input end 211 and the output end 212 of the deceleration member 21. Therefore, the driving member 22 and the driving wheel 23 can be carried by the deceleration member 21 to connect the driving assembly 20 to the chassis body 10 as an integral mechanism, thereby improving the connection stability and stability of the driving assembly 20; and the deceleration member 21 is movably connected to the chassis body 10, so that the deceleration member 21 and the driving member 22 and the driving wheel 23 carried thereon can be connected to the chassis body 10 as a longitudinal movable swing arm structure, that is, along the driving direction X, which can improve the buffering capacity between the driving assembly 20 and the chassis body 10, and the input end 211 and the output end 212 of the deceleration member 21 arranged at intervals along the driving direction X are both movably connected to the chassis body 10, which can further increase the buffering capacity between the driving assembly 20 and the chassis body 10, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the driving device. Furthermore, the chassis structure of the traveling device provided in this embodiment is simple and the cost is low.

[0040] In some embodiments, the input end 211 of the deceleration member 21 is rotatably connected to the chassis body 10; the output end 212 of the deceleration member 21 is movably connected to the chassis body 10 along a first direction Z, wherein the first direction Z is perpendicular to the driving direction X.

[0041] Through the above structure, not only can the impact force of the chassis body 10 be buffered when the driving wheel 23 arranged at the output end 212 vibrates up and down, but also the deceleration member 21 can be installed on the chassis body 10 through the input end 211; and when the driving wheel 23 bounces when passing through a bumpy section, that is, when the distance between the driving wheel 23 and the chassis body 10 changes, the input end 211 provides a rotation connection point and a rotation constraint point for the bounce, which can improve the connection stability between the drive assembly 20 and the chassis body 10; and the deceleration member 21 can increase the buffering capacity between the driving wheel 23 and the chassis body 10, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the driving device. And the driving member 22 is arranged at the input end that is rotatably connected to the chassis body 10, which can improve the connection stability between the driving member 22 and the chassis body 10, because the moving path of the output end 212 along the first direction Z is greater than the moving path of the input end along the first direction Z.

[0042] In some embodiments, the drive assembly 20 further includes: a vibration reduction assembly 24, which is connected to the output end 212 of the speed reducer 21 and the chassis body 10 respectively. The vibration reduction assembly 24 improves the buffering capacity between the output end 212 of the drive wheel 23 and the chassis body 10, and can directly buffer the impact force transmitted from the drive wheel 23 to the chassis body 10, with a better buffering effect. And the vibration reduction assembly 24 can realize the limitation of the chassis body 10 on the output end 212.

[0043] In some embodiments, the vibration reduction assembly 24 includes an elastic member 241 , one end of which is rotatably connected to the chassis body 10 , and the other end of which is rotatably connected to the output end 212 .

[0044] The elastic member 241 can buffer the impact force between the output end 212 and the chassis body 10, and can enable the elastic member 241 to twist relative to the deceleration member 21 and the chassis body 10 at different damping strokes, thereby matching and adapting to the different relative position relationships between the deceleration member 21 and the chassis body 10 to prevent unexpected blockage.

[0045] In some embodiments, the vibration reduction assembly 24 further includes a first connecting member 242 and a second connecting member 243, the two ends of the elastic member 241 are rotatably connected to the first connecting member 242 and the second connecting member 243 respectively, and the first connecting member 242 is fixedly connected to the chassis body 10, and the second connecting member 243 is fixedly connected to the output end 212. This structure is simple, low in cost, and highly reliable. In some embodiments, the chassis body 10 is provided with a side portion 11 extending along the driving direction X, the drive assembly 20 is connected to the side portion 11, and the speed reducer 21 is movably connected to the side portion 11, and the projection of the speed reducer 21 on the chassis body 10 is located inside the side portion 11.

[0046] The projection on the chassis body 10 refers to the projection on the plane where the chassis body 10 is located, or in other words, the projection on the driving plane.

[0047] The drive assembly 20 is connected to the side portion 11, which is not only convenient for the arrangement of the drive wheel 23, but also can reduce the interference between the drive assembly 20 and obstacles in the driving direction X, thereby improving the reliability of the drive assembly 20. Moreover, the projection of the deceleration member 21 on the chassis body 10 is located inside the side portion 11, that is, on the driving plane, the deceleration member 21 is located inside the chassis body 10, which can shorten the connection distance between the deceleration member 21 and the chassis body 10, improve the stability of the connection between the two, and reduce the floor space of the chassis, thereby improving its integration. Moreover, the deceleration member 21 is located inside the chassis body 10, which can increase the limiting effect of the chassis body 10 on the deceleration member 21.

[0048] In some embodiments, the speed reducer 21 is located below the chassis body 10 so that the drive assembly 20 does not interfere with the upper side of the chassis body 10 , thereby facilitating the chassis to bear the load.

[0049] In some embodiments, a projection of the driving member 22 on the chassis body 10 is located on the inner side of the side portion 11 , and a projection of the driving wheel 23 on the chassis body 10 is located on the outer side of the side portion 11 .

[0050] The projection of the driving member 22 on the chassis body 10 is located on the inner side of the side portion 11, that is, on the driving plane, the driving member 22 is located on the inner side of the side portion 11, which can reduce the interference between the driving member 22 and other components or obstacles outside the chassis body 10, and improve the reliability of the driving member 22; the projection of the driving wheel 23 on the chassis body 10 is located on the outer side of the side portion 11, that is, on the driving plane, the driving wheel 23 is located on the outer side of the side portion 11, which can reduce the interference of other chassis components on the driving wheel 23, so that the driving wheel 23 can rotate flexibly and widen the rotation angle.

[0051] In some embodiments, the projection of the vibration reduction assembly 24 on the chassis body 10 is located on the inner side of the side portion 11, that is, the vibration reduction assembly 24 and the driving wheel 23 are respectively located on the inner and outer sides of the side portion 11, and the speed reduction member 21 is located below the side portion 11, which can improve the integration of the entire chassis.

[0052] In some embodiments, the driving assembly 20 further includes a brake member 25 , which is located on both sides or one side of the input end 211 together with the driving member 22 , and the driving member 22 and the brake member 25 are respectively connected to the input shaft of the deceleration member 21 .

[0053] Among them, the brake component 25 includes: a power-off brake, which is used to control the braking and brake release of the drive assembly 20 by controlling the braking state and brake release state of the brake, so as to control the braking, stopping and allowing movement of the drive assembly 20 or the chassis body 10.

[0054] The brake member 25 is located on the outside of the input end 211 , and the driving member 22 is located on the inside of the input end 211 , which can improve the integration of the chassis and facilitate improving the reliability of the driving member 22 .

[0055] Of course, in other embodiments, the layout structure between components in the drive assembly, or the layout structure between components in the drive assembly and the chassis body can be adaptively adjusted based on actual needs to improve the performance of the chassis and the travel device.

[0056] In some embodiments, the chassis further includes a plurality of driven wheels 40 connected to the chassis body 10. The driven wheels 40 can improve the driving stability of the chassis body 10.

[0057] In some embodiments, the driven wheel 40 includes a universal wheel to achieve flexible steering of the chassis.

[0058] In some embodiments, the driven wheel 40 may also be connected to the chassis body 10 via other vibration-damping components to improve the buffering capacity between the driven wheel 40 and the chassis body 10 .

[0059] In some embodiments, the driven wheel 40 is disposed on the side 11 of the chassis body 10 .

[0060] In some embodiments, the driving wheel 23 is located between the two driven wheels 40 along the driving direction X. The driving wheel 23 is used to provide power for the chassis to travel, and the driven wheel 40 is used to provide steering and improve stable support. The driving wheel 23 is arranged between the driven wheels 40 to improve the stability of the chassis travel. The centrally placed driving wheel 23 can reduce the moment of inertia of the chassis and the load on the chassis, and can realize the action of rotating in place in a small space, and the steering is more sensitive.

[0061] In some embodiments, the chassis includes two drive assemblies 20, which are respectively arranged on two opposite side portions 11 of the chassis body 10 along the driving direction X. The chassis includes four driven wheels 40, two driven wheels 40 are arranged on one side portion 11, and the other two driven wheels 40 are arranged on the other side portion 11. Through this structure, a six-wheel three-axle chassis can be realized, which can improve the stability of chassis driving.

[0062] In some embodiments, the chassis also includes: an electrical assembly, which is connected to the chassis body 10 and electrically connected to the driving member 22, providing electrical signals, control signals, etc. to the driving member 22, etc., to achieve automatic driving of the chassis and precise driving control.

[0063] In some embodiments, the electrical assembly includes an electrical integration box, a fuse, a power distribution box, and a controller, and the fuse, the power distribution box, and the controller are integrated and installed in the electrical integration box.

[0064] In some embodiments, the chassis further includes: a power supply connected to the chassis body 10 and electrically connected to the electrical assembly 30 to provide electrical energy to the electrical assembly.

[0065] The power supply may include a battery, etc. The electrical assembly, the driving assembly 20, the driven wheel 40, and the battery are mounted on the chassis body 10 to complete the chassis of the travel device.

[0066] In some embodiments, the chassis includes: a chassis body 10 and two drive assemblies 20, four driven wheels 40, an electrical assembly, and a power supply. The two drive assemblies 20 are respectively arranged on two opposite side portions 11 of the chassis body 10 along the driving direction X, two driven wheels 40 are arranged on one side portion 11, and the other two driven wheels 40 are arranged on the other side portion 11; wherein the drive assembly 20 at least includes: a deceleration member 21, a driving member 22 and a driving wheel 23, a vibration reduction assembly 24, and a brake member 25; the deceleration member 21 is provided with intervals arranged along the driving direction X of the traveling device; The input end 211 and the output end 212 of the chassis body 10 are connected; the driving member 22 is connected to the input end 211, and the driving member 22 provides power for the reduction member 21; the driving wheel 23 is connected to the output end 212, and the driving wheel 23 rotates under the transmission of the reduction member 21; wherein the input end 211 and the output end 212 are both movably connected to the chassis body 10; the two ends of the elastic member 241 are rotatably connected to the first connecting member 242 and the second connecting member 243 respectively, and the first connecting member 242 is fixedly connected to the chassis body 10, and the second connecting member 243 is fixedly connected to the output end 212. The electrical assembly is connected to the chassis body 10 and is at least electrically connected to the driving member 22; the power supply is connected to the chassis body 10 and is at least electrically connected to the electrical assembly 30.

[0067] Among them, the input end 211 of the deceleration member 21 is rotatably connected to the chassis body 10; the output end 212 of the deceleration member 21 is movably connected to the chassis body 10 along the first direction Z, wherein the first direction Z is perpendicular to the driving direction X; the brake member 25 and the driving member 22 are respectively located on both sides of the input end 211, and the driving member 22 and the brake member 25 are respectively connected to the input shaft of the deceleration member 21.

[0068] The chassis body 10 is in the form of a frame, and is provided with two side portions 11 extending along the driving direction and end portions 12 respectively connecting two ends of the two side portions 11 ; the driving assembly 20 is arranged on the side portions 11 .

[0069] Among them, the driven wheel 40 can be fixed to the chassis body 10 from bottom to top by four bolts; the hinge point of the drive assembly 20 is hinged to the chassis body 10 by a group of bolts and nuts, and the upper fulcrum of the elastic member 241 can be hinged to the chassis body 10 by a group of bolts and nuts; the electrical assembly can be fixed to the frame from bottom to top by four bolts, and the electrical interface is positioned in the reserved groove on the chassis body 10 for easy external connection.

[0070] This embodiment only uses two driving members 22 and two braking members 25 as actuators, which can meet the normal use functions of the chassis such as steering, driving, braking, and parking. It has a simple structure, low failure risk, and low cost. The central drive wheel 23 can reduce the rotational inertia of the chassis and the load on the chassis, and can achieve the action of rotating on the spot in a small space, and the steering is more sensitive. The three axes of the chassis are all equipped with vibration reduction structures, and the AGV can meet the needs of some uneven roads, such as: passing through speed bumps, passing through speed bumps on one side, climbing slopes, etc.

[0071] The chassis integrates vibration-damping universal wheels, a swing-arm drive assembly capable of driving and parking, an electrical assembly, a battery, and external interfaces, and can meet the needs of low-cost, low-speed load-bearing transportation of loads of 500kg and above.

[0072] The present application further proposes a traveling device, including a chassis. The specific structure of the chassis can refer to the above embodiment. Based on this, the buffering capacity between the drive assembly 20 and the chassis body 10 can be increased, thereby improving the obstacle crossing ability and driving smoothness of the chassis and the traveling device. The chassis structure of the traveling device provided in this embodiment is simple and the cost is low.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A chassis of a traveling device, characterized in that: include: Chassis body; The drive assembly includes at least: A deceleration member having an input end and an output end spaced apart along the travel direction of the travel device; A driving member connected to the input end and providing power to the speed reducing member; A driving wheel is connected to the output end, and the driving wheel rotates under the transmission of the reduction member; wherein the input end and the output end are both movably connected to the chassis body.

2. The chassis according to claim 1, characterized in that: The input end is rotatably connected to the chassis body; The output end is movably connected to the chassis body along a first direction, wherein the first direction is arranged perpendicular to the driving direction.

3. The chassis according to claim 1, characterized in that: The drive assembly also includes: The vibration reduction assembly is connected to the output end and the chassis body respectively.

4. The chassis according to claim 3, characterized in that: The vibration reduction assembly comprises: An elastic member has one end rotatably connected to the chassis body and the other end rotatably connected to the output end.

5. The chassis according to claim 1, characterized in that: The chassis body is provided with a side portion extending along the driving direction, the driving assembly is connected to the side portion, and the deceleration member is movably connected to the side portion, and the projection of the deceleration member on the chassis body is located within the side portion.

6. The chassis according to claim 5, characterized in that The projection of the driving member on the chassis body is located on the inner side of the side portion, and the projection of the driving wheel on the chassis body is located on the outer side of the side portion.

7. The chassis according to claim 1, characterized in that: The drive assembly also includes: The brake component and the driving component are respectively located on both sides or one side of the input end, and the driving component and the brake component are respectively connected to the input shaft of the deceleration component.

8. The chassis according to any one of claims 1 to 7, characterized in that: The chassis also includes: A plurality of driven wheels are connected to the chassis body.

9. The chassis according to claim 8, characterized in that Along the traveling direction, the driving wheel is located between the two driven wheels.

10. The chassis according to claim 9, characterized in that The chassis includes two drive assemblies, which are respectively arranged on two opposite sides of the chassis body along the driving direction. The chassis includes four driven wheels, two of which are arranged on one side, and the other two are arranged on the other side.

11. The chassis according to claim 8, characterized in that The driven wheel comprises a universal wheel.

12. A traveling device, characterized in that: The traveling device comprises the chassis according to any one of claims 1 to 11.

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