Driving module and guide transport vehicle

Abstract

The embodiment of the utility model provides a driving module and a guide transport vehicle. The driving module comprises a walking mechanism and a floating mechanism. The walking mechanism comprises two driving wheel modules oppositely arranged in the first direction, and the two driving wheel modules are used for achieving differential driving. The floating mechanism comprises a supporting piece used for being connected with the bottom of the guide transport vehicle body and two hinge structures arranged at the bottom of the supporting piece and oppositely arranged in the second direction. The first direction is perpendicular to the second direction; wherein each hinge structure comprises a hinge support, a connecting shaft, a shaft sleeve and a hole seat; the two hinge supports of the two hinge structures are connected to the tops of the two ends of the two driving wheel modules in a bridging mode correspondingly. The connecting shaft is fixedly arranged at the top of the hinge support; the shaft sleeve sleeves the connecting shaft and is rotationally connected with the connecting shaft; the top of the hole seat is fixedly connected with the supporting piece, and the hole seat is sleeved outside the shaft sleeve and fixedly connected with the shaft sleeve. The driving module provided by the embodiment of the utility model is simple in manufacturing and mounting process and high in connection strength.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of guided transport vehicles, in particular to a driving module and a guided transport vehicle. BACKGROUND

[0002] The automatic guided transport vehicle is an industrial vehicle that loads goods by automatic or manual way, travels automatically according to a set route, drags a loading platform to a designated location, and then unloads goods by automatic or manual way.

[0003] At present, the driving module of the automatic guided transport vehicle is connected with the main body of the automatic guided transport vehicle through a hinged structure, the hinged structure is composed of a component arranged on a driving wheel module in the driving module and a component arranged on the main body of the automatic guided transport vehicle and a connecting shaft connecting the two components, the connecting points of the two components are arranged in an inside-out staggered manner, the rotation centers of the two components are coaxially arranged, and the two components are connected through the connecting shaft. This connection mode has low connection strength and complex manufacturing and installation process. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the present application is to provide a driving module and a guided transport vehicle to solve the problem of low connection strength and complex manufacturing and installation process of the hinged structure connecting the driving wheel module and the main body of the guided transport vehicle in the prior art. The specific technical scheme is as follows:

[0005] The first aspect of the present application provides a driving module applied to a guided transport vehicle, comprising: a walking mechanism and a floating mechanism; the walking mechanism comprises two driving wheel modules arranged opposite to each other along a first direction, and the two driving wheel modules are used to realize differential driving; the floating mechanism comprises: a support for connecting with the bottom of the main body of the guided transport vehicle and two hinged structures arranged opposite to each other along a second direction at the bottom of the support; the first direction and the second direction are perpendicular to each other; wherein each hinged structure comprises: a hinge support, a connecting shaft, a shaft sleeve and a hole seat; the two hinge supports of the two hinged structures are respectively connected across the top of the two driving wheel modules at both ends; the connecting shaft is fixedly arranged on the top of the hinge support; the shaft sleeve is arranged outside the connecting shaft and is rotationally connected with the connecting shaft; the top of the hole seat is fixedly connected with the support, and the hole seat is arranged outside the shaft sleeve and is fixedly connected with the shaft sleeve.

[0006] In some embodiments, the hinge support comprises: a bottom plate and a mounting boss arranged on the top of the bottom plate; the bottom plate is connected across the top of the two driving wheel modules; the mounting boss is parallel to the length direction of the connecting shaft; and the connecting shaft is fixedly connected to the top of the mounting boss.

[0007] In some embodiments, the mounting boss is provided with a positioning flange at a first end in the axial direction, which is used for axially positioning the connecting shaft.

[0008] In some embodiments, the top of the bottom plate is further provided with two mounting grooves, which are respectively located on both sides of the mounting boss, and the mounting grooves are used for mounting shock pads; the upper surface of the shock pad and the bottom of the hole seat have a preset interval distance.

[0009] In some embodiments, the shaft sleeve comprises a non-closed rotary fitting part and a connecting flange arranged at one end of the rotary fitting part; the rotary fitting part of the shaft sleeve has an outer superior camber surface and an inner superior camber surface; the outer superior camber surface of the rotary fitting part is attached to the inner surface of the hole seat; the inner superior camber surface of the rotary fitting part is attached to and rotates with the outer surface of the connecting shaft; and the connecting flange of the shaft sleeve is fixedly connected to the outer side surface of the hole seat.

[0010] In some embodiments, each hinge structure further comprises a limiting member; the connecting shaft is provided with a first connecting hole at one end close to the connecting flange of the shaft sleeve, and the limiting member is fixedly connected to the connecting shaft through the first connecting hole; and the connecting flange of the shaft sleeve is clamped between the limiting member and the hole seat.

[0011] In some embodiments, the shaft sleeve is a copper sleeve; the inner superior camber surface of the rotary fitting part of the copper sleeve is a smooth camber surface; and the outer surface of the connecting shaft is a smooth camber surface, so as to rotate with the inner superior camber surface of the rotary fitting part of the copper sleeve.

[0012] In some embodiments, each drive wheel module comprises a drive motor, a reducer assembly and a rubber-coated wheel.

[0013] The reducer assembly comprises a reducer side plate and a reducer output shaft.

[0014] The drive motor is fixedly connected to the reducer side plate, the output shaft of the drive motor is connected to the reducer output shaft through the reducer side plate, and the rubber-coated wheel is sleeved on the reducer output shaft.

[0015] In some embodiments, the two ends of the reducer side plate of each drive wheel module are provided with mounting steps; the drive module further comprises two support plates opposite in the second direction, and the two support plates are respectively connected to the two ends of the reducer side plate; and the hinge support is arranged at the top of the reducer side plate and the support plate.

[0016] In some embodiments, the cross section of the connecting shaft has a straight section and a superior arc section above the straight section; the inner edge line of the cross section of the shaft sleeve is a first superior arc that fits the shape of the superior arc section; and the hole seat is a rectangular block with a through hole, the edge line of the cross section of the through hole being a second superior arc that fits the outer surface of the shaft sleeve.

[0017] Embodiments of the second aspect of the application provide a guided transport vehicle comprising the driving module described above.

[0018] In the embodiments of the application, the two driving wheel modules of the walking mechanism can move at different speeds, enabling the guided transport vehicle to move in a straight line or an arc. The driving wheel modules are rotatably connected to the bottom of the main body of the guided transport vehicle through the floating mechanism. When the walking surface of the guided transport vehicle is uneven, the driving wheel modules can be tilted at a certain angle relative to the main body of the guided transport vehicle to adapt to the uneven bottom surface, thereby ensuring the smooth running of the main body of the guided transport vehicle. The shaft sleeve is sleeved outside the connecting shaft, and the shaft sleeve can rotate relative to the connecting shaft. A rotation surface is formed between the shaft sleeve and the connecting shaft. Compared with the traditional hinge connection structure, the force acting line is not on the same straight line when the force is transmitted between the two structural members in the traditional hinge structure arranged in an interlaced manner, thereby generating additional torque on the two structural members and the hinge shaft connecting the two structural members, resulting in a higher requirement for the strength of the two structural members. On the other hand, since no other hinge shaft needs to pass through the shaft sleeve and the connecting shaft, no hole needs to be punched in the shaft sleeve and the connecting shaft, thereby reducing the requirement for the wall thickness of the shaft hole, reducing the design height of the assembly, reducing the overturning effect of the traction force on the slewing bearing, and simplifying the manufacturing and installation process. Since the shaft sleeve and the connecting shaft are rotatably connected through the rotation surface, the connection strength is higher.

[0019] Of course, implementing any product of the application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0021] Figure 1a The driving module provided in the embodiments of the application is shown in the schematic diagram.

[0022] Figure 1b The driving module provided in the embodiments of the application is shown in the schematic diagram. Figure 1a The exploded schematic diagram of the driving module is shown.

[0023] Figure 2 The driving module provided in the embodiments of the application is shown in the schematic diagram. Figure 1aExplanatory view of the hinge structure in the drive module shown;

[0024] Figure 3 Explanatory view of the hinge structure in the drive module shown; Figure 1a Explanatory view of the hinge structure in the drive module shown;

[0025] Figure 4 Explanatory view of the hinge structure in the drive module shown; Figure 2 Explanatory view of the hinge structure in the drive module shown;

[0026] Figure 5 Explanatory view of the hinge structure in the drive module shown; Figure 2 Explanatory view of the hinge structure in the drive module shown;

[0027] Figure 6 Explanatory view of the hinge structure in the drive module shown; Figure 2 Explanatory view of the hinge structure in the drive module shown;

[0028] Figure 7 Explanatory view of the hinge structure in the drive module shown; Figure 2 Explanatory view of the hinge structure in the drive module shown;

[0029] Figure 8a Explanatory view of the hinge structure in the drive module shown; Figure 1a Explanatory view of the hinge structure in the drive module shown;

[0030] Figure 8b Explanatory view of the hinge structure in the drive module shown; Figure 8a Explanatory view of the hinge structure in the drive module shown;

[0031] Figure 9a Explanatory view of the hinge structure in the drive module shown;

[0032] Figure 9b Explanatory view of the hinge structure in the drive module shown;

[0033] Figure 9c Explanatory view of the hinge structure in the drive module shown;

[0034] Figure 10a Explanatory view of the hinge structure in the drive module shown;

[0035] Figure 10b Explanatory view of the hinge structure in the drive module shown.

[0036] Reference signs:

[0037] Walking mechanism 100; driving wheel module 110; driving motor 111; motor output shaft 1110; reducer side plate 112; mounting step 1121; reducer output shaft 113; rubber-coated wheel 114; support plate 115;

[0038] Floating mechanism 200;

[0039] Support 210;

[0040] Hinge structure 220; hinge support 221; bottom plate 2211; mounting groove 22110; mounting boss 2212; third connecting hole 22120; positioning flange 2213; connecting shaft 222; first connecting hole 2220; outer surface of connecting shaft 2223; first end surface 2224; bottom surface of connecting shaft 2225; shaft sleeve 223; rotating fit part 2231; outer camber surface of rotating fit part 22310; inner camber surface of rotating fit part 22311; connecting flange 2232; second connecting hole 22320; hole seat 224; through hole 2241; outer side surface of hole seat 2242; inner surface of hole seat 2243; top surface of hole seat 2244; shock pad 225; limiting piece 226;

[0041] Guide transport vehicle body 300; driven wheel 310;

[0042] First direction X; second direction Y; third direction Z. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0044] The automated guided vehicle (AGV) is equipped with an automatic guiding device such as an electromagnetic or optical device, can travel along a specified guiding path, has safety protection and various transfer functions. In order to solve the problem of low connection strength and complex manufacturing and installation process of the hinge structure connecting the driving wheel module and the guide transport vehicle body part in the prior art, as shown in Figure 1a 、 Figure 1b 、 Figure 2 and Figure 3 , Figure 1a the driving module schematic diagram provided by the embodiments of the present application is shown; Figure 1b the exploded schematic diagram of the driving module shown in Figure 1a ; Figure 2 the exploded view of the hinge structure in the driving module shown in Figure 1a ;Figure 3 As Figure 1a FIG. 6 is a sectional view of a floating mechanism in the driving module shown in FIG. 5; the first aspect of the present application provides a driving module applied to a guided transport vehicle, the driving module comprising: a walking mechanism 100 and a floating mechanism 200; the walking mechanism 100 comprising two driving wheel modules 110 oppositely arranged along a first direction X, the two driving wheel modules 110 being used to realize differential driving; the floating mechanism 200 comprising: a support 210 used to be connected with a bottom of a main body of the guided transport vehicle and two hinged structures 220 oppositely arranged along a second direction Y at the bottom of the support 210; the first direction X and the second direction Y being perpendicular to each other; wherein each hinged structure 220 comprises: a hinge support 221, a connecting shaft 222, a shaft sleeve 223 and a hole seat 224; the two hinge supports 221 of the two hinged structures are respectively bridged at the top of both ends of the two driving wheel modules 110; the connecting shaft 222 is fixedly arranged at the top of the hinge support 221; the shaft sleeve 223 is sleeved outside the connecting shaft 222 and is rotationally connected with the connecting shaft 222; the hole seat 224 is fixedly connected with the support 210 at the top thereof and is sleeved outside the shaft sleeve 223 and is fixedly connected with the shaft sleeve 223.

[0045] In the embodiment of the present application, the two driving wheel modules 110 of the walking mechanism 100 can move differentially, so as to realize the linear motion or the arc motion of the guided transport vehicle. The driving wheel modules 110 are rotationally connected with the bottom of the main body of the guided transport vehicle through the floating mechanism 200, so that the walking mechanism 100 can swing within a certain range about the connecting shaft 222; when the walking surface of the guided transport vehicle is uneven, the driving wheel modules 110 can be relatively inclined by a certain angle with respect to the main body of the guided transport vehicle to adapt to the uneven ground, so that the two wheels can effectively contact the ground of different surfaces and provide traction, thereby ensuring the smooth running of the main body of the guided transport vehicle. The shaft sleeve 223 is sleeved outside the connecting shaft 222, the shaft sleeve 223 can rotate relative to the connecting shaft 222, and a rotation surface is formed between the shaft sleeve 223 and the connecting shaft 222. Compared with the conventional hinged connection structure, the force acting line is not on the same straight line when the force is transmitted between the two structural members in the conventional hinged structure arranged in an interlaced manner, thereby generating additional torque on the two structural members and the hinge shaft connecting the two structural members, resulting in a higher requirement for the strength of the two structural members. On the other hand, since no other hinge shaft needs to pass through the shaft sleeve 223 and the connecting shaft 222, no hole needs to be formed on the shaft sleeve 223 and the connecting shaft 222, thereby reducing the requirement for the wall thickness of the shaft hole, reducing the design height of the assembly, reducing the overturning effect of the traction force on the slewing bearing, and simplifying the manufacturing and installation process. Since the shaft sleeve 223 and the connecting shaft 222 are rotationally connected through the rotation surface, the connection strength is higher.

[0046] The driving module provided in the embodiments of the present application can solve the problem that, after force is transmitted between two structural members of a traditional inner-outer staggered arrangement hinged structure, the action line of the force is not on the same straight line, which will generate additional torque on the structural member and the connecting shaft 222, and the strength requirement of the structural member is high, and improve the force transmission effect of the hinged structure 220. The coplanar hinged structure 220 provided in the embodiments of the present application can transmit force along the same axis between the two structural members (that is, the connecting shaft 222 and the shaft sleeve 223) when transmitting the normal pressure, and no additional torque is generated. The force bearing condition of the hinged structure 220 is better, and the design size of the hinged structure 220 can be reduced under the same condition. On the other hand, the requirement of the connecting shaft 222 on the wall thickness of the shaft hole is also reduced, the design height of the hinged structure 220 is also reduced, that is, the distance of the hinged structure 220 along the third direction Z is reduced, and the overturning effect of the traction force on the support member 210 is reduced.

[0047] Specifically, the connection form between the hole seat 224 and the support member 210 is not limited, and can be welding, integral machining and forming, etc. In the structure, the connection of the hole seat 224 and the support member 210 is preferably achieved by screw and pin combination, which reduces the machining difficulty of rotation. More specifically, the support member 210 can be a rotary bearing.

[0048] In some embodiments of the present application, as shown in Figure 2 The hinged support 221 includes a bottom plate 2211 and a mounting boss 2212 arranged on the top of the bottom plate 2211. The bottom plate 2211 is connected across the top of the two drive wheel modules 110. The mounting boss 2212 is parallel to the length direction of the connecting shaft 222. The connecting shaft 222 is fixedly connected to the top of the mounting boss 2212.

[0049] In the embodiments of the present application, the bottom plate 2211 is connected across the top of the two drive wheel modules 110, which plays a role in connecting the two drive wheel modules 110, and also plays a role in supporting the mounting boss 2212 and the connecting shaft 222. The upper surface of the mounting boss 2212 is higher than the bottom plate 2211, and the connecting shaft 222 is fixedly connected to the top of the mounting boss 2212, so that the bottom of the shaft sleeve 223 and the hole seat 224 sleeved outside the connecting shaft 222 and the bottom plate 2211 have a spacing. The spacing reserves a rotating space for the shaft sleeve 223 and the hole seat 224, and prevents the bottom of the shaft sleeve 223 and the hole seat 224 from interfering with the bottom plate 2211 during rotation.

[0050] Specifically, the mounting boss 2212 can be a polygonal prism, such as a cuboid.

[0051] More specifically, as shown in Figure 2 and Figure 4 , Figure 4 is Figure 2A schematic diagram of the base plate in the hinge structure shown; the mounting boss 2212 is provided with a third connecting hole 22120, and the connecting shaft 222 and the mounting boss 2212 can be connected by snap-fit ​​or threaded connection, and the bottom surface 2225 of the connecting shaft is in contact with the top surface of the mounting boss 2212.

[0052] In some embodiments of this application, such as Figure 2 and Figure 4 , Figure 5 As shown, Figure 5 for Figure 2 The schematic diagram of the connecting shaft in the hinge structure shown; the first end of the mounting boss 2212 along the axial direction is provided with a positioning flange 2213, which is used to axially position the connecting shaft 222.

[0053] In this embodiment, the positioning flange 2213 can pre-position the connecting shaft 222 axially. When installing the connecting shaft 222, the first end face 2224 of the connecting shaft 222 is first abutted against the side of the positioning flange 2213, so that the threaded hole at the bottom of the connecting shaft 222 corresponds to the threaded hole on the mounting boss 2212, which can improve the installation accuracy and thus improve the installation efficiency of the connecting shaft 222.

[0054] In some embodiments of this application, such as Figure 2 and Figure 4 As shown, the top of the base plate 2211 is also provided with two mounting grooves 22110. The two mounting grooves 22110 are located on both sides of the mounting boss 2212. The mounting grooves 22110 are used to install the shock-absorbing pad 225. There is a preset interval distance between the upper surface of the shock-absorbing pad 225 and the bottom of the hole seat 224.

[0055] In this embodiment, the shock-absorbing pad 225 is fixed in the mounting groove 22110 near the connecting shaft 222. A preset distance is maintained between the upper surface of the shock-absorbing pad 225 and the bottom of the seat 224, allowing the bottoms of the seat 224 and the bushing 223 room to rotate. On uneven ground, during the rotation of the seat 224 and the bushing 223, their bottoms will approach and touch the shock-absorbing pad 225. The shock-absorbing pad 225 can limit and buffer the movement of the seat 224 and the bushing 223, thereby limiting the swing of the hinge structure 220.

[0056] In some embodiments of this application, such as Figure 2 , Figure 6 and Figure 7 As shown, Figure 6 for Figure 2 A schematic diagram of the bushing in the hinged structure shown; Figure 7 for Figure 2A schematic view of the hole seat in the shown hinged structure; the shaft sleeve 223 comprises a non-closed rotary fitting part 2231 and a connecting flange 2232 arranged at one end of the rotary fitting part 2231; the rotary fitting part 2231 of the shaft sleeve 223 has an outer superior camber and an inner superior camber, the outer superior camber 22310 of the rotary fitting part is attached to the inner surface 2243 of the hole seat, and the inner superior camber 22311 of the rotary fitting part is attached to and rotates with the outer surface 2223 of the connecting shaft; the connecting flange 2232 of the shaft sleeve 223 is fixedly connected to the outer side surface 2242 of the hole seat.

[0057] In the embodiments of the present application, the connecting flange 2232 of the shaft sleeve 223 is fixedly connected to the outer side surface of the hole seat 224, so that the shaft sleeve 223 is fixedly connected to the hole seat 224, and thus the movement of the shaft sleeve 223 is consistent with that of the hole seat 224. The outer superior camber of the rotary fitting part 2231 of the shaft sleeve 223 is attached to the inner surface of the hole seat 224, which improves the connection and fitting strength of the shaft sleeve 223 and the hole seat 224, and the force between the shaft sleeve 223 and the hole seat 224 is more balanced. The inner superior camber of the rotary fitting part 2231 is attached to the outer surface of the connecting shaft 222, and the attached surface of the rotary fitting part 2231 and the connecting shaft 222 is the rotary fitting surface between the rotary fitting part 2231 and the connecting shaft 222.

[0058] Specifically, as shown in Figure 1a and Figure 7 , the top surface 2244 of the hole seat 224 is a plane and is fixedly connected to the support 210.

[0059] In some embodiments of the present application, as shown in Figure 1a and Figure 2 , each hinged structure 220 further comprises a limiting piece 226; the connecting shaft 222 is provided with a first connecting hole 2220 at one end close to the connecting flange 2232 of the shaft sleeve 223, and the limiting piece 226 is fixedly connected to the connecting shaft 222 through the first connecting hole 2220; the connecting flange 2232 of the shaft sleeve 223 is clamped between the limiting piece 226 and the hole seat 224.

[0060] In the embodiments of the present application, the limiting piece 226 is fixedly connected to one end of the connecting shaft 222, and the connecting flange 2232 of the shaft sleeve 223 is clamped between the limiting piece 226 and the hole seat 224, so that the limiting piece 226 can limit the axial position of the shaft sleeve 223 and prevent the shaft sleeve 223 from falling off the connecting shaft 222, thereby improving the stability of the hinged structure and the reliability of the driving module.

[0061] Specifically, the connecting flange 2232 of the shaft sleeve 223 and the end of the hole seat 224 can be fixedly connected by a pin or a bolt, for example, as shown in Figure 6 and Figure 7As shown, the connecting flange 2232 is provided with a second connecting hole 22320, and the bushing 223 is connected to the end of the seat 224 through the second connecting hole 22320.

[0062] More specifically, the limiting member 226 can be a limiting plate or a limiting post. The limiting plate can be rectangular or circular. This application does not limit the shape of the limiting member 226.

[0063] In some embodiments of this application, the bushing 223 is a copper bushing; the inner curved surface of the rotating fitting part 2231 of the copper bushing is a smooth curved surface; the outer surface of the connecting shaft 222 is a smooth curved surface, so as to rotate and fit with the inner curved surface of the rotating fitting part 2231 of the copper bushing.

[0064] In this embodiment, the bushing 223 is a copper bushing; the inner curved surface of the rotating fitting part 2231 of the copper bushing fits with the smooth curved surface of the connecting shaft 222, which improves the smoothness of relative rotation between the copper bushing and the connecting shaft 222.

[0065] The copper sleeve in this embodiment is a new type of self-lubricating copper sleeve. It adopts a non-enclosed form. The connecting flange 2232 of the bushing 223 is connected to the hole seat 224 to ensure that the bushing 223 and the hole seat 224 are relatively stable. At the same time, the connecting flange 2232 of the bushing 223 can also bear the axial load generated by the hinge structure 220 in actual operation and play a lubricating role in the structure.

[0066] In some embodiments of this application, such as Figure 1a and Figure 8a , Figure 8b As shown, Figure 8a for Figure 1a The diagram shows the drive wheel module in the drive module. Figure 8b for Figure 8a The diagram shows an exploded view of the drive wheel module in the drive module shown. Each drive wheel module 110 includes: a drive motor 111, a reducer assembly, and a rubber-coated wheel 114. The reducer assembly includes a reducer side plate 112 and a reducer output shaft 113. The drive motor 111 is fixedly connected to the reducer side plate 112. The drive motor 111 has a motor output shaft 1110, which passes through the reducer side plate 112 and is connected to the reducer output shaft 113 for transmission. The rubber-coated wheel 114 is sleeved on the reducer output shaft 113.

[0067] In this embodiment, the drive motor 111 provides power to the reducer output shaft 113, and the reducer output shaft 113 can change the speed output by the drive motor 111. The rubber-coated wheel 114 is directly sleeved on the output shaft of the reducer output shaft 113, which is simple in transmission and has high transmission efficiency.

[0068] When the two encapsulated wheels rotate in the same direction, the guide transport vehicle moves in a straight line, and when the two encapsulated wheels rotate in opposite directions, the traction direction of the driving module can be changed, so that the guide transport vehicle moves in an arc.

[0069] In some embodiments of the present application, each driving wheel module 110 has a mounting step 1121 at both ends of the reducer side plate 112; the driving module further comprises two support plates 115 opposite in the second direction Y, and the two support plates 115 are respectively connected to both ends of the two reducer side plates 112; the hinge support 221 is arranged at the top of the reducer side plate 112 and the support plate 115.

[0070] In the embodiments of the present application, the support plate 115 is located between the two reducer side plates 112, and the two support plates 115 are respectively located on both sides of the two reducer side plates 112, and the support plate 115 serves to connect the reducer side plates 112. The hinge support 221 is arranged at the top of the reducer side plate 112 and the support plate 115, and the support plate 115 also serves to support the hinge support 221. The two ends of the reducer side plate 112 have mounting steps 1121, and the end of the support plate 115 is located at the mounting step 1121.

[0071] Specifically, the support plate 115 and the reducer side plate 112 are connected by bolts, which is beneficial to improve the rigidity of the driving assembly.

[0072] In some embodiments of the present application, as shown in Figure 5 , Figure 6 and Figure 7 The cross section of the connecting shaft 222 has a flat section and an optimal arc section above the flat section, so that the cross section height of the connecting shaft 222 is greater than the radius of the connecting shaft 222; the inner edge line of the cross section of the shaft sleeve 223 is a first optimal arc that fits the shape of the optimal arc section, so that the cross section height of the shaft sleeve 223 is greater than the radius of the shaft sleeve 223; the hole seat 224 is a rectangular block with a through hole 2241, and the edge line of the cross section of the through hole 2241 is a second optimal arc that fits the outer surface of the shaft sleeve 223, so that the cross section height of the through hole 2241 is greater than the cross section radius of the through hole 2241.

[0073] In the embodiment of the present application, the cross section of the connecting shaft 222 is not a complete circle, the cross section of the connecting shaft 222 has a flat section and an arc section above the flat section, that is, the bottom surface of the connecting shaft 222 is a plane, facilitating installation with the mounting boss 2212 of the hinge support 221; the arc section of the connecting shaft 222 corresponds to the first arc section of the shaft sleeve 223, and the two are fitted, thereby achieving circumferential constraint of the connecting shaft 222, preventing the shaft sleeve 223 from falling off the connecting shaft 222 in the radial direction, and satisfying the constraint of the shaft, improving the stability of the hinge structure 220, thereby improving the reliability of the driving module. The hole seat 224 is a rectangular block with a through hole 2241, and the outer surface is flat, facilitating connection with the support 210.

[0074] In the embodiment of the present application, the connecting shaft 222 and the shaft sleeve 223 of the hinge structure 220 adopt a non-integer circle form, a protruding shaft (that is, the connecting shaft 222) structure is made on one component (that is, the hinge support 221), and a concave shaft hole form is made on the other component (that is, the shaft sleeve 223), the shafts of the two components are directly nested in the holes, the wall thickness requirement of the shaft hole is saved, and the demand for the height space size of the hinge structure 220 can be reduced.

[0075] The embodiment of the second aspect of the present application provides a guided transport vehicle comprising the above driving module.

[0076] In the embodiment of the present application, as shown in Figure 1a , Figure 1b , Figure 2 and Figure 9a , Figure 9b and Figure 9c , Figure 10a , Figure 10b , Figure 9a is a schematic diagram of the relative rotation of the connecting shaft and the hinge support to the hole seat and the shaft sleeve in the counterclockwise direction in the floating mechanism in the embodiment of the present application; Figure 9b is a schematic diagram of the relative rotation of the connecting shaft and the hinge support to the hole seat and the shaft sleeve in the clockwise direction in the floating mechanism in the embodiment of the present application; Figure 9c is a schematic diagram of the relative rotation of the connecting shaft and the hinge support to the hole seat and the shaft sleeve in the clockwise direction in the floating mechanism in the embodiment of the present application; Figure 10a is a schematic diagram of the relative rotation of the connecting shaft and the hinge support to the hole seat and the shaft sleeve in the clockwise direction in the floating mechanism in the embodiment of the present application; Figure 10bIt is a connection diagram of a guided vehicle with two driving modules in the embodiments of the present application. The two driving wheel modules 110 of the walking mechanism 100 in the guided vehicle can perform differential motion, so that the guided vehicle performs linear motion or arc motion. The driving wheel module 110 is rotationally connected to the bottom of the guided vehicle body through the floating mechanism 200. When the walking surface of the guided vehicle is uneven, the driving wheel module 110 can be inclined at a certain angle relative to the guided vehicle body 300 to adapt to the uneven ground, so as to ensure the smooth running of the guided vehicle body 300. The shaft sleeve 223 is sleeved outside the connecting shaft 222, the shaft sleeve 223 can rotate relative to the connecting shaft 222, and a rotation surface is formed between the shaft sleeve 223 and the connecting shaft 222. Therefore, other hinge shafts do not need to pass through the shaft sleeve 223 and the connecting shaft 222, and the shaft sleeve 223 and the connecting shaft 222 do not need to be perforated. Therefore, the manufacturing and installation process is simple. Since the shaft sleeve 223 and the connecting shaft 222 are rotationally connected through the rotation surface, the connection strength is higher, thereby improving the running stability of the guided vehicle.

[0077] Specifically, as shown in Figure 10a The guided vehicle can be driven by one driving module according to the vehicle load and layout. The driving module is arranged at the center of one side of the guided vehicle body 300, and two driven wheels 310 are arranged in parallel and spaced apart on the other side, so as to realize the arc motion of the guided vehicle and form a differential drive guided vehicle. Two driving modules or four driving modules can also be selected for driving, and the guided vehicle can perform omnidirectional motion to form an omnidirectional drive guided vehicle, as shown in Figure 10b When the guided vehicle is driven by two driving modules, the two driving modules are arranged at opposite diagonal positions of the guided vehicle body 300, and the two driven wheels are located at the other opposite diagonal position.

[0078] The above only describes the preferred embodiments of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A drive module, characterized by The application is applied to a guide transport vehicle, comprising a walking mechanism (100) and a floating mechanism (200); The walking mechanism (100) comprises two driving wheel modules (110) oppositely arranged along a first direction (X), and the two driving wheel modules (110) are used for realizing differential driving; The floating mechanism (200) comprises a support (210) used for being connected with a bottom of a main body of the guide transport vehicle and two hinge structures oppositely arranged along a second direction (Y) arranged at the bottom of the support (210); the first direction (X) and the second direction (Y) are perpendicular to each other; Each hinge structure comprises a hinge support (221), a connecting shaft (222), a shaft sleeve (223) and a hole seat (224); The two hinge supports (221) of the two hinge structures are respectively connected across the top of the two driving wheel modules (110) at two ends; the connecting shaft (222) is fixedly arranged at the top of the hinge support (221); the shaft sleeve (223) is sleeved outside the connecting shaft (222) and is rotationally connected with the connecting shaft (222); the top of the hole seat (224) is fixedly connected with the support (210), and the hole seat (224) is sleeved outside the shaft sleeve (223) and is fixedly connected with the shaft sleeve (223).

2. The driving module according to claim 1, wherein The hinge support (221) comprises a bottom plate (2211) and a mounting boss (2212) arranged at the top of the bottom plate (2211); The bottom plate (2211) is connected across the top of the two driving wheel modules (110); The mounting boss (2212) is parallel to the length direction of the connecting shaft (222), and the connecting shaft (222) is fixedly connected to the top of the mounting boss (2212).

3. The driving module according to claim 2, wherein A positioning flange (2213) is arranged at the first end of the mounting boss (2212) in the axial direction, and the positioning flange (2213) is used for axially positioning the connecting shaft (222).

4. The driving module according to claim 2, wherein Two mounting grooves (22110) are further arranged at the top of the bottom plate (2211), and the two mounting grooves (22110) are respectively arranged at the two sides of the mounting boss (2212); the mounting grooves (22110) are used for mounting a damping pad (225); The upper surface of the damping pad (225) and the bottom of the hole seat (224) have a preset interval distance.

5. The driving module according to claim 1, wherein The shaft sleeve (223) comprises a non-closed type rotation matching part (2231) and a connecting flange (2232) arranged at one end of the rotation matching part (2231). The rotation fitting part (2231) of the shaft sleeve (223) has an outer superior camber and an inner superior camber, the outer superior camber of the rotation fitting part (2231) is fitted with the inner surface of the hole seat (224), and the inner superior camber of the rotation fitting part (2231) is fitted and rotationally fitted with the outer surface of the connecting shaft (222); The connecting flange (2232) of the shaft sleeve (223) is fixedly connected with the outer side surface of the hole seat (224).

6. The drive module according to claim 5, wherein, Each of the hinge structures further comprises a limiting member (226); The connecting shaft (222) is provided with a first connecting hole (2220) at one end close to the connecting flange (2232) of the shaft sleeve (223), and the limiting member (226) is fixedly connected with the connecting shaft (222) through the first connecting hole (2220); The connecting flange (2232) of the shaft sleeve (223) is clamped between the limiting member (226) and the hole seat (224).

7. The drive module according to claim 5, wherein, The shaft sleeve (223) is a copper sleeve, and the inner superior camber of the rotation fitting part (2231) of the copper sleeve is a smooth camber; The outer surface of the connecting shaft (222) is a smooth camber to rotationally fit with the inner superior camber of the rotation fitting part (2231) of the copper sleeve.

8. The drive module according to claim 1, wherein, Each of the drive wheel modules (110) comprises a drive motor (111), a speed reducer assembly and a rubber-coated wheel (114); The speed reducer assembly comprises a speed reducer side plate (112) and a speed reducer output shaft (113); The drive motor (111) is fixedly connected with the speed reducer side plate (112), the output shaft of the drive motor (111) is connected with the speed reducer output shaft (113) through the speed reducer side plate (112), and the rubber-coated wheel (114) is sleeved on the speed reducer output shaft (113).

9. The drive module according to claim 8, wherein, Each of the speed reducer side plates (112) of the drive wheel modules (110) is provided with a mounting step (1121) at two ends thereof; The drive module further comprises two support plates (115) opposite to each other along the second direction (Y), and the two support plates (115) are respectively connected with the two ends of the speed reducer side plates (112); The hinge support (221) is arranged at the top of the speed reducer side plate (112) and the support plate (115).

10. The drive module according to any one of claims 1-9, wherein, The cross section of the connecting shaft (222) has a flat section and a superior camber section above the flat section; The inner edge line of the cross section of the shaft sleeve (223) is a first superior camber fitted with the shape of the superior camber section; The hole seat (224) is a rectangular block provided with a through hole (2241), and the edge line of the cross section of the through hole (2241) is a second superior camber fitted with the outer surface of the shaft sleeve (223).

11. A guided transport vehicle, characterized by The drive module according to any one of claims 1-10.

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