Chassis structure and trolley

Abstract

The utility model discloses a chassis structure and a trolley, comprising a middle accommodating cavity which is positioned in the middle of the chassis structure and is used for accommodating a power output mechanism; the two walking wheels are coupled with the output end of the power output mechanism, the two walking wheels are arranged on the two sides of the middle containing cavity in the first direction respectively, and the first direction is consistent with the extending direction of wheel shafts of the walking wheels; the supporting wheels are arranged at the corners of the bottom surface of the chassis structure; the two side containing cavities are formed in the two sides of the middle containing cavity in the second direction, the second direction is perpendicular to the first direction, and the two side containing cavities are used for containing two walking wheels of another chassis structure above correspondingly; the corner containing cavities are formed in the two sides, in the first direction, of the side containing cavities and used for correspondingly containing the supporting wheels of the other chassis structure above the corner containing cavities.

Description

Technical Field

[0001] The utility model relates to the field of material transfer vehicles, in particular to a chassis structure and a trolley. Background Art

[0002] AGVs, also known as automated guided vehicles (AGVs), are widely used for material handling, eliminating manual labor. Some vehicles are also currently used for stage inspections. According to relevant national regulations, during stage inspections, the noise level measured from the audience should not exceed 50 decibels. Therefore, it is best to use larger-diameter wheels, which can move the same distance with fewer revolutions, thereby reducing motor speed and noise levels. However, larger wheels take up more space, making them inconvenient to transport and store. Utility Model Content

[0003] In response to at least some of the problems and needs raised above, this solution proposes a chassis structure and a trolley, which can achieve the above technical objectives and bring about many other technical effects by adopting the following technical features.

[0004] The utility model provides a chassis structure, comprising:

[0005] A central accommodating cavity, located in the middle of the chassis structure, for accommodating a power output mechanism;

[0006] Two running wheels are coupled to the output end of the power output mechanism, and the two running wheels are respectively arranged on both sides of the central accommodating cavity in a first direction, and the first direction is consistent with the extension direction of the wheel axle of the running wheel;

[0007] Support wheels, provided at corners of the bottom surface of the chassis structure;

[0008] Two side accommodating chambers are provided on both sides of the middle accommodating chamber in a second direction, and the second direction is perpendicular to the first direction, and the two side accommodating chambers are respectively used to accommodate two running wheels of another chassis structure above;

[0009] The corner accommodating chamber is provided on both sides of the side accommodating chamber in the first direction, and is used for correspondingly accommodating the supporting wheels of the other chassis structure above.

[0010] In some embodiments, positioning plates extending in a horizontal direction are provided at the four corners of the chassis structure, the support wheels are provided on the lower surface of the positioning plates, and the corner accommodating cavities are located above the positioning plates.

[0011] In some embodiments, the support wheel is a universal wheel.

[0012] In some embodiments,

[0013] The chassis structure is a frame structure;

[0014] It also includes a control module and a distance measurement module, wherein the control module is in communication with the power output mechanism and is used to control the start and stop of the power output mechanism;

[0015] The distance measuring module is arranged on the side wall of the outer frame of the frame structure and is in communication connection with the control module, and is used to monitor the distance between the chassis structure and peripheral obstacles.

[0016] In some embodiments, it also includes anti-collision buffer edge strips, which are arranged on the periphery of the chassis structure.

[0017] In some embodiments, a pressure detection module is further included, which is disposed on the outer surface of the anti-collision buffer edge strip and is communicatively connected to the control module.

[0018] In some embodiments, an isolation reinforcement plate is provided in the middle accommodating cavity to separate the power output mechanism from the two running wheels.

[0019] In some embodiments, the frame structure includes an inner frame and an outer frame arranged around the inner frame, the inner frame is made of stainless steel, and the outer frame is made of aluminum alloy.

[0020] In some embodiments, the control module is an STM32 series microcontroller.

[0021] The present application also provides a trolley comprising the aforementioned chassis structure.

[0022] In the present application, side accommodating cavities are provided on both sides of the second direction of the central accommodating cavity. Therefore, when stacking, the chassis structure of the trolley can be rotated horizontally 90 degrees in advance, and then stacked vertically downward from the top and placed in the chassis structure of another trolley. At this time, the running wheels of the upper trolley are placed in the side accommodating cavity of the lower trolley. The running wheels of the upper trolley are not in direct contact with the running wheels of the lower trolley, and the upper running wheels are confined in the cavity of the lower trolley and do not contact any part of the surface of the lower trolley, so that they cannot roll along the surface, and will not move sideways or even tip over. In addition, the support wheels of the upper trolley are accommodated in the corner accommodating cavity and cannot roll. In addition, the support wheels can also play the role of supporting the trolley, ensuring that the trolley does not tilt or tip over during normal tracking movement.

[0023] By adopting the solution of the present application, after the two trolleys are stacked, the vertical spacing between the travel wheel shafts of the two trolleys is reduced, thereby reducing the height of the vehicle group formed by the two stacked trolleys and occupying less space in the vertical direction.

[0024] Based on the above-mentioned chassis structure characteristics, this application can use running wheels with larger diameters, which can move the same distance with the same number of revolutions, thereby reducing the speed of the motor. When used in the stage detection process, the noise on the stage can be measured in the audience seats to below 50 decibels.

[0025] The following will describe the best embodiment of the present invention in more detail with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings of the embodiments of the present invention. The drawings are only used to illustrate some embodiments of the present invention, and are not intended to limit all embodiments of the present invention to these drawings.

[0027] Figure 1 A three-dimensional structural diagram of a chassis structure provided in one embodiment of the present application;

[0028] Figure 2 A top view of the chassis structure provided in one embodiment of the present application;

[0029] Figure 3 A bottom view of the chassis structure provided in one embodiment of the present application;

[0030] Figure 4 A schematic diagram of stacking multiple chassis structures provided in one embodiment of the present application;

[0031] In the figure,

[0032] 100, middle accommodating chamber; 110, power output mechanism; 111, motor; 112, reducer; 120, isolation reinforcement plate;

[0033] 200, side accommodating chamber;

[0034] 300, traveling wheel;

[0035] 400, support wheel;

[0036] 500, corner receiving cavity;

[0037] 600, positioning plate;

[0038] 700, ranging module;

[0039] 800. Anti-collision buffer strips. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the specification and claims of the present utility model patent application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "a" or "an" do not necessarily indicate a quantity limitation. Words such as "include" or "comprising" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0042] refer to Figure 1-Figure 3 , a chassis structure, comprising:

[0043] The middle accommodating chamber 100 is located in the middle of the chassis structure and is used to accommodate the power output mechanism 110;

[0044] Two running wheels 300 are coupled to the output end of the power output mechanism 110, and the two running wheels 300 are respectively provided on both sides of the central accommodating cavity 100 in a first direction, wherein the first direction is consistent with the extension direction of the wheel axles of the running wheels 300;

[0045] Support wheels 400, provided at the corners of the bottom surface of the chassis structure;

[0046] Two side accommodating chambers 200 are provided on both sides of the middle accommodating chamber 100 in a second direction, and the second direction is perpendicular to the first direction, and the two side accommodating chambers 200 are respectively used to accommodate two running wheels 300 of another chassis structure above;

[0047] The corner accommodating chambers 500 are provided on both sides of the side accommodating chamber 200 in the first direction, and are used to correspondingly accommodate the supporting wheels 400 of the other chassis structure above.

[0048] Specifically, the power output mechanism 110 mentioned above includes a motor 111 and a reducer 112 . The reducer 112 is connected between the motor 111 and the running wheel 300 , and plays the role of matching the rotation speed and transmitting torque between the motor 111 and the running wheel 300 .

[0049] In addition to accommodating the power output mechanism 110, the central accommodating chamber 100 can also be equipped with components such as a control module and a servo drive; the side accommodating chambers 200 can be equipped with components such as a wireless module and a power module. Removable transport boxes can also be embedded in each accommodating chamber.

[0050] When a batch of AGVs needs to be transported together, two can be stacked on top of each other. To do this, first remove the transport boxes from each trolley. If adjacent trolleys are stacked directly on top of each other, with their wheels 300 positioned vertically, the wheels 300 of the upper trolley will come into direct contact with those of the lower trolley due to the large diameter of the wheels 300 on the chassis structure. This can easily cause the stacked trolleys to roll relative to each other during transport, potentially leading to tipping and unsafe transportation. Furthermore, the stacked trolleys are relatively tall, occupying vertical space.

[0051] In the present application, side accommodating cavities 200 are respectively provided on both sides of the second direction of the central accommodating cavity 100. Therefore, when stacking, the chassis structure of the trolley can be rotated horizontally 90° in advance, and then stacked vertically downward from the top and placed in the chassis structure of another trolley. At this time, the running wheels 300 of the upper trolley are placed in the side accommodating cavity 200 of the lower trolley. The running wheels 300 of the upper trolley are not in direct contact with the running wheels 300 of the lower trolley, and the upper running wheels 300 are confined in the cavity of the lower trolley and do not contact any part of the surface of the lower trolley, so that they cannot roll along the surface, and will not move sideways or even tip over. In addition, the support wheels 400 of the upper trolley are accommodated in the corner accommodating cavity 500 and cannot roll. In addition, the support wheels 400 can also play the role of supporting the trolley, ensuring that the trolley does not tilt or tip over during normal tracking movement.

[0052] By adopting the solution of the present application, after the two trolleys are stacked, the vertical spacing between the rotating shafts of the running wheels 300 of the two trolleys is reduced, thereby reducing the height of the vehicle group formed by the stacking of the two trolleys and occupying less space in the vertical direction.

[0053] Based on the above-mentioned chassis structural characteristics, the present application can select a walking wheel 300 with a larger diameter, which can move the same distance with the same number of revolutions, thereby reducing the speed of the motor 111. When used in the stage detection process, the noise on the stage can be measured in the audience seats to below 50 decibels.

[0054] refer to Figure 2 and Figure 3 In some embodiments, the four corners of the chassis structure are provided with positioning plates 600 extending in the horizontal plane, the support wheels 400 are provided on the lower surface of the positioning plates 600, and the corner accommodating cavities 500 are located above the positioning plates 600.

[0055] Specifically, in this embodiment, in order to ensure stable support, four support wheels 400 are provided, which are respectively located at the four corners of the chassis structure; to match this, in order to ensure that the chassis structure of the trolley can still be placed in the chassis structure below without mutual interference after being horizontally rotated 90°, this embodiment arranges each corner accommodating cavity 500 just above the support wheel 400, so that after the chassis structure of the trolley is horizontally rotated 90°, each support wheel 400 can be respectively embedded in a corner accommodating cavity 500, and at the same time, the position of the upper trolley will not be skewed.

[0056] refer to Figure 1 In some embodiments, the support wheel 400 is a universal wheel. The support wheel 400 is a universal wheel, which can be freely turned according to the path change during the movement of the AGV tracking vehicle.

[0057] refer to Figure 1 , in some embodiments,

[0058] The chassis structure is a frame structure;

[0059] It also includes a control module and a distance measurement module 700, wherein the control module is in communication with the power output mechanism 110 and is used to control the start and stop of the power output mechanism 110;

[0060] The distance measuring module 700 is disposed on the outer frame side wall of the frame structure and is in communication connection with the control module for monitoring the distance between the chassis structure and peripheral obstacles.

[0061] Specifically, the ranging module 700 is provided on the side wall of the outer frame of the frame structure and can be used to detect the distance to the obstacle. When the distance reaches a preset value, the control module controls the power output mechanism 110 to stop to ensure that the vehicle does not collide with the obstacle. The ranging module 700 can specifically adopt a laser ranging module 700, such as an RS485 laser ranging sensor, which has high distance detection accuracy and timely feedback transmission. Of course, in addition to the listed sensor models, other models can also be used, and this application does not limit this.

[0062] refer to Figure 1 In some embodiments, the chassis structure further includes an anti-collision buffer strip 800 disposed on the periphery of the chassis structure. The anti-collision buffer strip 800 can act as a buffer in the event of accidental contact with an external object, preventing a large impact force from being transmitted to the interior of the chassis structure and causing damage to internal components.

[0063] In some embodiments, a pressure detection module is also included, which is provided on the outer surface of the anti-collision buffer strip 800 and is communicatively connected to the control module. When the chassis structure equipped with the anti-collision buffer strip 800 collides with the operator (or the operator collides with the chassis structure), the pressure detection module and the flexible anti-collision buffer strip 800 will be compressed and transmit a signal to the control module. The control module controls the power output mechanism 110 to stop running, thereby avoiding the car from continuing to move after the collision and causing a greater safety accident. The pressure detection module can, for example, use an XGZP6847 pressure sensor with high detection accuracy. Of course, in addition to the listed sensor models, other types can also be used, and this application does not limit this.

[0064] refer to Figure 1 In some embodiments, an isolation reinforcement plate 120 is provided in the central accommodating cavity 100 to separate the power take-off mechanism 110 from the two running wheels 300. Specifically, the isolation reinforcement plate 120 is disposed between the power take-off mechanism 110 and the two running wheels 300 to prevent dirt and other substances from splattering onto the running wheels 300 and potentially causing malfunctions. The isolation reinforcement plate 120 also serves to strengthen the structural strength of the frame structure, thereby enhancing the supporting strength and load-bearing capacity of the chassis structure.

[0065] refer to Figure 1 In some embodiments, the frame structure includes an inner frame and an outer frame arranged around the inner frame, the inner frame is made of stainless steel, and the outer frame is made of aluminum alloy.

[0066] Specifically, the middle inner frame of the frame structure is made of stainless steel, which enables the chassis to transport larger weights without being crushed or deformed; the outer frame, which does not serve as a load-bearing point, is made of lightweight industrial aluminum alloy profiles, which greatly reduces the weight of the transport chassis itself, facilitates transportation and handling, and also improves the appearance of the chassis.

[0067] In some embodiments, the control module is an STM32 series single-chip microcomputer. Due to the large number of pins required for the application of this application to the small car and to facilitate functional expansion, the STM32 series single-chip microcomputer is selected as the main control chip in the design. Of course, in addition to the listed single-chip microcomputer models, other types can also be used, and this application does not limit this. The power module can be powered by a lithium battery.

[0068] The present application also provides a trolley comprising the aforementioned chassis structure.

[0069] When the car is running, the input modules such as the handles and buttons on the console can send input information to the main control unit (such as the STM32 series microcontroller) through the data acquisition and communication circuit. After receiving the data, the main control unit parses it into corresponding speed, angle, power on and off instructions, and then transmits the instructions to the control module on the car through the wireless module;

[0070] The control module drives the servo motor 111 through the servo driver. The two servo motors 111 drive the two running wheels 300 respectively. By using the principle of differential control, different speed control instructions are transmitted to the motor 111 control circuit, and the chassis can realize functions such as left turn, right turn, and rotation on the spot. According to the different operating environments, steering can be divided into three types. Taking right turn as an example, when there is space on the right side of the chassis but no space on the left side, the right wheel is kept stationary and the left wheel is driven forward; when there is space on the left side of the chassis but no space on the right side, the left wheel is kept stationary and the right wheel is driven backward; when the left and right sides of the chassis are relatively narrow, the right wheel can be driven backward and the left wheel can be driven forward to realize a right turn by rotating on the spot. This design can effectively prevent the chassis from getting stuck in aisles, corners, and when encountering obstacles, affecting normal operation.

[0071] The main control unit is usually located in the console or control handle, and can communicate with the vehicle via a wireless module such as Bluetooth. In some scenarios, such as stage environments, which are very large and spacious, general Wi-Fi communication equipment cannot meet the requirements of reliable data transmission over long distances (greater than 100 meters). Therefore, an industrial wireless AP and client can be used to build a local area network: the wireless AP is placed in the center of the stage, and the wireless client is installed on the transport chassis. Set the socket connection of the wireless client as the client and configure the target address as the server, that is, the IP address of the control terminal, so that wireless communication between the upper and lower computers can be achieved. By configuring this system, the remote control distance can reach up to 150 meters, meeting the requirements of reliable data transmission over long distances.

[0072] The working conditions in a stage inspection environment are complex and ever-changing, and the transport chassis needs to be compatible with the user. Therefore, the transport chassis should not be too fast, placing high demands on braking performance. Therefore, a servo motor 111 with a holding brake function is selected. In an emergency, the chassis can be immediately braked using the control handle.

[0073] The exemplary implementation of the present invention is described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present invention, various variations and modifications can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present invention can be combined in various ways without exceeding the scope of protection of the present invention, which is determined by the appended claims.

Claims

1. A chassis structure, characterized in that: include: a middle accommodating cavity, located in the middle of the chassis structure, for accommodating a power output mechanism; Two running wheels are coupled to the output end of the power output mechanism, and the two running wheels are respectively arranged on both sides of the central accommodating cavity in a first direction, and the first direction is consistent with the extension direction of the wheel axle of the running wheel; Support wheels, provided at corners of the bottom surface of the chassis structure; Two side accommodating chambers are provided on both sides of the middle accommodating chamber in a second direction, and the second direction is perpendicular to the first direction, and the two side accommodating chambers are respectively used to accommodate two running wheels of another chassis structure above; The corner accommodating chamber is provided on both sides of the side accommodating chamber in the first direction, and is used for correspondingly accommodating the supporting wheels of the other chassis structure above.

2. A chassis structure according to claim 1, characterized in that: Positioning plates extending in the horizontal direction are provided at the four corners of the chassis structure, the supporting wheels are provided on the lower surface of the positioning plates, and the corner accommodating cavities are located above the positioning plates.

3. A chassis structure according to claim 1, characterized in that: The supporting wheel is a universal wheel.

4. A chassis structure according to claim 1, characterized in that: The chassis structure is a frame structure; it also includes: a control module and a distance measurement module, The control module is in communication with the power output mechanism and is used to control the start and stop of the power output mechanism; The distance measuring module is arranged on the side wall of the outer frame of the frame structure and is in communication connection with the control module, and is used to monitor the distance between the chassis structure and peripheral obstacles.

5. The chassis structure according to claim 1, characterized in that: It also includes anti-collision buffer edge strips, which are arranged on the periphery of the chassis structure.

6. A chassis structure according to claim 4, characterized in that: It also includes a pressure detection module, which is arranged on the outer surface of the anti-collision buffer edge strip and is communicatively connected with the control module.

7. The chassis structure according to claim 1, characterized in that: An isolation reinforcement plate is provided in the middle accommodating cavity for isolating the power output mechanism from the two running wheels.

8. The chassis structure according to claim 4, characterized in that: The frame structure includes an inner frame and an outer frame arranged around the inner frame. The inner frame is made of stainless steel, and the outer frame is made of aluminum alloy.

9. The chassis structure according to claim 4, characterized in that: The control module is an STM32 series single chip microcomputer.

10. A small car, characterized in that: The invention comprises the chassis structure described in any one of claims 1 to 9.

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