CN206679117U - A kind of automatical pilot transportation vehicle - Google Patents
A kind of automatical pilot transportation vehicle Download PDFInfo
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- CN206679117U CN206679117U CN201720428854.9U CN201720428854U CN206679117U CN 206679117 U CN206679117 U CN 206679117U CN 201720428854 U CN201720428854 U CN 201720428854U CN 206679117 U CN206679117 U CN 206679117U
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Abstract
Embodiment of the present utility model discloses a kind of automatical pilot transportation vehicle, is related to wheeled robot technical field, and to make, structure is simpler, the lower invention of cost.The automatical pilot transportation vehicle, including：Car body, driving wheel, preceding auxiliary wheel and rear auxiliary wheel；The driving wheel, preceding auxiliary wheel and rear auxiliary wheel are connected with the rigidity of vehicle body respectively；The preceding auxiliary wheel is located at the front of the driving wheel, and the rear auxiliary wheel is located at the rear of the driving wheel；The driving wheel is on ground level with the preceding auxiliary wheel simultaneously when, the rear auxiliary wheel is hanging；The driving wheel is on ground level with the rear auxiliary wheel simultaneously when, the preceding auxiliary wheel is hanging.The utility model is suitable for requiring higher automatical pilot transportation vehicle volume and size.
Description
Technical field
It the utility model is related to wheeled robot technical field, more particularly to a kind of automatical pilot transportation vehicle.
Background technology
Automatical pilot transportation vehicle (AGV, Automated Guided Vehicle), refer to magnetically or optically wait certainly equipped with electricity
Dynamic guiding device, it can be travelled along defined guide path, have the transport vehicle of safeguard protection and various transfer functions,
AGV belongs to wheeled mobile robot (WMR, Wheeled Mobile Robot) category.
In the prior art, the AGV of some compacts more and more occurs and applied in each occasion, this AGV structures
Compact, appearance and size is small, in light weight, and new challenge is proposed to internal layout structure.The chassis support wheel cloth in large-scale AGV
Office is through the design frequently with driving wheel resilient suspension.Resilient suspension be by flexible member such as spring come couple driving wheel and
AGV car bodies, the deadweight compression spring of car body, control the decrement of spring can be required pressure transmission to driving wheel.And this
Kind structure is on compact AGV and inadvisable.Because compact AGV car body weights are light, flexible member really up to the mark cannot be guaranteed quilt
AGV compressions in light weight in place, so as to cause driving wheel hanging, and select soft flexible member to cause the smaller driving of elastic force
Power deficiency causes to skid.And whole elastic suspension structure complexity cost height.
The content of the invention
In view of this, the utility model embodiment provides a kind of automatical pilot transportation vehicle, has both been avoided that driving wheel was suspended,
Cause that structure is simpler and cost is relatively low again.
In a first aspect, the utility model embodiment provides a kind of automatical pilot transportation vehicle, including：It is car body, driving wheel, preceding auxiliary
Help wheel and rear auxiliary wheel；
The driving wheel, preceding auxiliary wheel and rear auxiliary wheel are connected with the rigidity of vehicle body respectively；
The preceding auxiliary wheel is located at the front of the driving wheel, and the rear auxiliary wheel is located at the rear of the driving wheel；
The driving wheel is on ground level with the preceding auxiliary wheel simultaneously when, the rear auxiliary wheel is hanging；The driving
Wheel is on ground level with the rear auxiliary wheel simultaneously when, the preceding auxiliary wheel is hanging.
With reference in a first aspect, in the first embodiment of first aspect, the car body includes chassis, the driving wheel
It is rigidly attached to respectively on the chassis with the preceding auxiliary wheel and rear auxiliary wheel；The driving wheel and the preceding auxiliary wheel and after
The lower rim of auxiliary wheel is located at the lower section on the chassis.
With reference to the first embodiment of first aspect, in second of embodiment of first aspect, the driving wheel
It is rigidly connected with the output shaft of driver element, is rigidly connected between the driver element and the chassis.
With reference to second of embodiment of first aspect, in the third embodiment of first aspect, the driving wheel
Including the first driving wheel and the second driving wheel；First driving wheel and the second driving wheel is parallel to each other and arranged for interval；It is described
The output shaft of driver element is fixedly connected with first driving wheel and second driving wheel.
With reference to the third embodiment of first aspect, in the 4th kind of embodiment of first aspect, the driving is single
Member includes the first driver element and the second driver element；The output shaft of first driver element is fixed with first driving wheel
Connection；The output shaft of second driver element is fixedly connected with second driving wheel.
With reference to the third embodiment of first aspect, in the 5th kind of embodiment of first aspect, aided in before described
Auxiliary wheel before auxiliary wheel and second before wheel includes first, auxiliary wheel after auxiliary wheel and second after the rear auxiliary wheel includes first；
Auxiliary wheel is arranged in the front and rear sides of first driving wheel after auxiliary wheel and first before described first；Auxiliary wheel before described second
With second after auxiliary wheel be arranged in the front and rear sides of second driving wheel.
With reference to the 5th kind of embodiment of first aspect, in the 6th kind of embodiment of first aspect, before described first
The lower rim of auxiliary wheel before auxiliary wheel and second, same plane is in the lower rim of the driving wheel；Aided in after described first
The lower rim of auxiliary wheel, same plane is in the lower rim of the driving wheel after wheel and second.
With reference to the 5th kind of embodiment of first aspect, in the 7th kind of embodiment of first aspect, on the chassis
On be rigidly connected and have preceding auxiliary wheel support and rear auxiliary wheel support；It is auxiliary before being provided with described first on the preceding auxiliary wheel support
Help wheel and second before auxiliary wheel；Auxiliary wheel after auxiliary wheel and second after being provided with described first on auxiliary wheel support in the rear.
With reference to the 7th kind of embodiment of first aspect, in the 8th kind of embodiment of first aspect, aided in before described
Wheel support includes the first fore-stock and the second fore-stock；Auxiliary wheel before being provided with described first on first fore-stock, it is described
Auxiliary wheel before described second is provided with second fore-stock；Auxiliary wheel support props up after including the first after-poppet and second after described
Frame；Auxiliary wheel after being provided with described first on first after-poppet, it is auxiliary after being provided with described second on second after-poppet
Help wheel.
With reference to first aspect, first aspect the first to the 8th kind of any embodiment, the 9th of first aspect the
In kind embodiment, the preceding auxiliary wheel and/or rear auxiliary wheel are universal wheel.
A kind of automatical pilot transportation vehicle that the utility model embodiment provides, driving wheel, preceding auxiliary wheel and rear auxiliary wheel point
It is not connected with rigidity of vehicle body, preceding auxiliary wheel is located at the front of the driving wheel, and rear auxiliary wheel is located at the rear of the driving wheel；Drive
Driving wheel is on ground level with preceding auxiliary wheel simultaneously when, rear auxiliary wheel is hanging；Driving wheel is in ground level simultaneously with rear auxiliary wheel
When upper, preceding auxiliary wheel is hanging, so, even if the car body is lighter, is also avoided that driving wheel is suspended, ensure the driving wheel with
Ground is contacted in order to provide driving force for the traveling of car body, furthermore, directly using being rigidly connected between driving wheel and car body, no
Need to install the elastic construction such as spring additional between driving wheel and car body, structure is simpler, cost it is relatively low, it is necessary to installing space
It is smaller, preferably it can be used on the automated guided vehicle of small volume.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of the utility model automatical pilot transportation vehicle embodiment；
Fig. 2 is the dimensional structure diagram of embodiment illustrated in fig. 1；
Fig. 3 is the structure top view for being connected with driver element in embodiment illustrated in fig. 1 on chassis；
Fig. 4 is the front view of another embodiment of the utility model automatical pilot transportation vehicle；
Fig. 5 is the partial enlarged drawing at A in Fig. 4；
Fig. 6 be the utility model automatical pilot transportation vehicle chassis towards direction of advance back sweep when structural representation
Figure.
Embodiment
The utility model embodiment is described in detail below in conjunction with the accompanying drawings.
It will be appreciated that described embodiment is only the utility model part of the embodiment, rather than whole implementation
Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained under the premise of creative work is not made
The all other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 is the front view of the utility model automatical pilot transportation vehicle embodiment；Fig. 2 transports for the utility model homing guidance
The dimensional structure diagram of defeated car embodiment；Fig. 3 is to be connected with the utility model automatical pilot transportation vehicle embodiment on chassis
The structure top view of driver element.
Referring to shown in Fig. 1 to Fig. 3, the automatical pilot transportation vehicle of the present embodiment can include：It is car body 1, driving wheel 2, preceding auxiliary
Help wheel 3 and rear auxiliary wheel 4, the driving wheel 2.Preceding auxiliary wheel 3 and rear auxiliary wheel 4 are rigidly connected with the car body 1 respectively；It is described
Preceding auxiliary wheel 3 is located at the front of the driving wheel 2, and the rear auxiliary wheel 4 is located at the rear of the driving wheel 2；
The driving wheel 2 is on ground level with the preceding auxiliary wheel 3 simultaneously when, the rear auxiliary wheel 4 is hanging；The drive
Driving wheel 2 is on ground level with the rear auxiliary wheel 4 simultaneously when, the preceding 3 hanging of auxiliary wheel
In the present embodiment, the front of the driving wheel 2, refer to the front of the traffic direction of the driving wheel 2, the driving
The rear of wheel 2, refer to the rear of the traffic direction of the driving wheel 2.
In the present embodiment, driving wheel, preceding auxiliary wheel and rear auxiliary wheel are connected with rigidity of vehicle body respectively, and preceding auxiliary wheel is located at institute
The front of driving wheel is stated, rear auxiliary wheel is located at the rear of the driving wheel；Driving wheel is on ground level simultaneously with preceding auxiliary wheel
When, rear auxiliary wheel is hanging；Driving wheel is on ground level with rear auxiliary wheel simultaneously when, preceding auxiliary wheel is hanging, so, even if described
Car body is lighter, is also avoided that driving wheel is suspended, and ensures that the driving wheel is contacted with ground in order to be provided for the traveling of car body
Driving force, furthermore, directly use and be rigidly connected between driving wheel and car body, it is not necessary to install spring additional between driving wheel and car body
Simpler Deng elastic construction, structure, cost is relatively low.
Referring to Fig. 1 and Fig. 3, in the aforementioned embodiment, the car body 1 may include chassis 11, the driving wheel 2 with it is described before
Auxiliary wheel 3 and rear auxiliary wheel 4 are rigidly attached on the chassis 11 respectively；The driving wheel 2 and the preceding auxiliary wheel 3 and rear auxiliary
Help the lower rim of wheel 4 to be located at the lower section on the chassis 11, frictional force is produced between ground in order to be contacted with ground.As
One optional embodiment, the distance between the lower rim of the driving wheel 2 and the chassis 11, more than the preceding auxiliary wheel 3 and
The distance between the lower rim of auxiliary wheel 4 and the chassis 11 afterwards, with ensure the automatical pilot transportation vehicle be placed on ground or
When on track, the driving wheel 2 is not suspended.
Fig. 4 is the front view of another embodiment of the utility model automatical pilot transportation vehicle；Fig. 5 is that the part in Fig. 4 at A is put
Big figure.Referring to Fig. 4 and Fig. 5, when the chassis 11 is parallel to the ground, the lower rim of the driving wheel 2 is touched with ground, institute
The lower rim of preceding auxiliary wheel 3 and rear auxiliary wheel 4 is stated apart from the predetermined altitude h of ground one, i.e., described auxiliary wheel 3 and rear auxiliary wheel 4
Lower rim is not touched with ground.When the chassis 11 is relative to ground run-off the straight, the preceding auxiliary wheel 3 or rear auxiliary wheel
4 lower rim can also contact with ground, provide stable support for the chassis 11 together with the driving wheel 2.
In the present embodiment, the output shaft of the driving wheel 2 and driver element 7 is rigidly connected, the driver element 7 with it is described
It is rigidly connected between chassis 11.
The driver element 7 includes motor, and motor rotates, and drives the driving wheel 2 to rotate, driving wheel 2 with
After the contact of ground, the car body 1 is driven to be moved forward or rearward.
In the present embodiment, the output shaft of driving wheel 2 and driver element 7 is rigidly connected, the driver element 7 and car body 1 it
Between be rigidly connected, that is to say, that driving wheel 2 by between driver element 7 and car body 1 directly using being rigidly connected, it is not necessary to
Install the flexible members such as spring between driving wheel 2 and car body 1 additional, structure is simpler compact, and cost is relatively low.
The quantity of the driving wheel 2 can be one or more.Referring to Fig. 2 and Fig. 3, in the present embodiment, the driving
The quantity of wheel 2 is two, specifically includes the first driving wheel 21 and the second driving wheel 22；First driving wheel 21 and second drives
Wheel 22 is parallel to each other and arranged for interval；The output shaft of the driver element 7 drives with first driving wheel 21 and described second
Driving wheel 22 is fixedly connected.
The quantity of the driver element 7 can be one, can drive each driving wheel by a driver element 7.Referring to
Fig. 3, corresponding with the quantity of the driving wheel in the present embodiment, the quantity of the driver element 7 is also two, each driving
Each self-driven driving wheel of unit.Specifically, the driver element 7 includes the first driver element 71 and the second driver element
72；The output shaft of first driver element 71 is fixedly connected with first driving wheel 21；Second driver element 72
Output shaft is fixedly connected with second driving wheel 22.
The quantity of the preceding auxiliary wheel 3 or rear auxiliary wheel 4 can be one, or multiple.Referring to Fig. 3, in the present embodiment,
The quantity of the preceding auxiliary wheel 3 is two.Specifically, the preceding auxiliary wheel 3 includes：It is auxiliary before auxiliary wheel 31 and second before first
Help wheel 32, it is described after auxiliary wheel 4 include first after auxiliary wheel 42 after auxiliary wheel 41 and second；Auxiliary wheel 31 and before described first
Auxiliary wheel 41 is arranged in the front and rear sides of first driving wheel 21 after one；Auxiliary wheel after auxiliary wheel 32 and second before described second
42 are arranged in the front and rear sides of second driving wheel 22.The arrangement of four auxiliary wheels so that the car body operation
It is more steady.
Auxiliary wheel 32 forms one group of auxiliary wheel before auxiliary wheel 31 and second before described first, the He of auxiliary wheel 41 after described first
Auxiliary wheel 42 forms another group of auxiliary wheel after second.
As an alternative embodiment, before described first before auxiliary wheel 31 and second auxiliary wheel 32 lower rim, with the drive
The lower rim of driving wheel 2 is in same plane, after described first after auxiliary wheel 41 and second auxiliary wheel 42 lower rim, with the drive
The lower rim of driving wheel 2 is in same plane.So, when being tilted on the chassis 11 towards the front of direction of advance, it is easy to described
Auxiliary wheel 32 provides gentle support for the chassis 11 simultaneously before auxiliary wheel 31 and second before first.On the chassis 11 before
When entering the back sweep in direction, auxiliary wheel 42 while provided after being easy to described first after auxiliary wheel 41 and second for the chassis 11
Gentle support, referring to shown in Fig. 6.
In the present embodiment, when AGV is horizontal positioned, i.e., when described chassis 11 is parallel to the ground, driving wheel 2 is relative to front and rear two
The position of group auxiliary wheel is low, it is ensured that driving wheel 2 lands, there is provided enough driving forces, front and rear two groups of auxiliary wheels
See-saw effect can be produced according to the acceleration in traveling and deceleration situations and ensure that at least one set of auxiliary wheel lands, can be whole
AGV chassis provides stable support.
For the ease of the dismounting of preceding auxiliary wheel 3 and rear auxiliary wheel 4.Installation is changed, as an optional embodiment, in institute
State to be rigidly connected on chassis 11 and have preceding auxiliary wheel support 5 and rear auxiliary wheel support 6, be provided with the preceding auxiliary wheel support 5
Auxiliary wheel 32 before auxiliary wheel 31 and second before described first；Aided in after described first is provided with auxiliary wheel support 6 in the rear
Auxiliary wheel 42 after wheel 41 and second.
Referring to Fig. 3, in the present embodiment, the preceding auxiliary wheel support 5 includes the first fore-stock 51 and the second fore-stock 52；Institute
State auxiliary wheel 31 before being provided with first on the first fore-stock 51, auxiliary wheel 32 before being provided with second on second fore-stock 52；
Auxiliary wheel support 6 includes the first after-poppet 61 and the second after-poppet 62 after described；Pacify on first after-poppet 61
Equipped with auxiliary wheel 41 after described first, auxiliary wheel 42 after being provided with described second on second after-poppet 62.
In the present embodiment, the preceding auxiliary wheel and/or rear auxiliary wheel can be universal wheel.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence " including one ... ", it is not excluded that
Other identical element in the process including the key element, method, article or equipment also be present.
Each embodiment in this specification is described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.
It is described above, only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art is in the technical scope that the utility model discloses, the change that can readily occur in
Change or replace, should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model should be with right
It is required that protection domain be defined.
Claims (10)
- A kind of 1. automatical pilot transportation vehicle, it is characterised in that including：Car body, driving wheel, preceding auxiliary wheel and rear auxiliary wheel；The driving wheel, preceding auxiliary wheel and rear auxiliary wheel are connected with the rigidity of vehicle body respectively；The preceding auxiliary wheel is located at the front of the driving wheel, and the rear auxiliary wheel is located at the rear of the driving wheel；The driving wheel is on ground level with the preceding auxiliary wheel simultaneously when, the rear auxiliary wheel is hanging；The driving wheel with Auxiliary wheel is on ground level after described simultaneously when, the preceding auxiliary wheel is hanging.
- 2. automatical pilot transportation vehicle according to claim 1, it is characterised in that the car body includes chassis, the driving Wheel is rigidly attached on the chassis respectively with the preceding auxiliary wheel and rear auxiliary wheel；The lower rim of the driving wheel and the preceding auxiliary wheel and rear auxiliary wheel is located at the lower section on the chassis.
- 3. automatical pilot transportation vehicle according to claim 2, it is characterised in that the output of the driving wheel and driver element Axle is rigidly connected, and is rigidly connected between the driver element and the chassis.
- 4. automatical pilot transportation vehicle according to claim 3, it is characterised in that the driving wheel include the first driving wheel and Second driving wheel；First driving wheel and the second driving wheel is parallel to each other and arranged for interval；The output shaft of the driver element is fixedly connected with first driving wheel and second driving wheel.
- 5. automatical pilot transportation vehicle according to claim 4, it is characterised in that it is single that the driver element includes the first driving Member and the second driver element；The output shaft of first driver element is fixedly connected with first driving wheel；The output shaft of second driver element is fixedly connected with second driving wheel.
- 6. automatical pilot transportation vehicle according to claim 4, it is characterised in that the preceding auxiliary wheel aids in before including first Auxiliary wheel before wheel and second, auxiliary wheel after auxiliary wheel and second after the rear auxiliary wheel includes first；Auxiliary wheel is arranged in the front and rear sides of first driving wheel after auxiliary wheel and first before described first；Auxiliary wheel is arranged in the front and rear sides of second driving wheel after auxiliary wheel and second before described second.
- 7. automatical pilot transportation vehicle according to claim 6, it is characterised in that auxiliary before auxiliary wheel and second before described first The lower rim of wheel is helped, same plane is in the lower rim of the driving wheel；After described first after auxiliary wheel and second auxiliary wheel lower rim, be in same plane with the lower rim of the driving wheel.
- 8. automatical pilot transportation vehicle according to claim 6, it is characterised in that be rigidly connected on the chassis auxiliary before having Help wheel support and rear auxiliary wheel support；Auxiliary wheel before auxiliary wheel and second before being provided with described first on the preceding auxiliary wheel support；Auxiliary wheel after auxiliary wheel and second after being provided with described first on auxiliary wheel support in the rear.
- 9. automatical pilot transportation vehicle according to claim 8, it is characterised in that before the preceding auxiliary wheel support includes first Support and the second fore-stock；Auxiliary wheel before being provided with described first on first fore-stock, install on second fore-stock Auxiliary wheel before having described second；Auxiliary wheel support includes the first after-poppet and the second after-poppet after described；Described first is provided with first after-poppet Auxiliary wheel afterwards, auxiliary wheel after being provided with described second on second after-poppet.
- 10. according to the automatical pilot transportation vehicle described in any one of claim 1 to 9, it is characterised in that the preceding auxiliary wheel and/ Or rear auxiliary wheel is universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720428854.9U CN206679117U (en) | 2017-04-21 | 2017-04-21 | A kind of automatical pilot transportation vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720428854.9U CN206679117U (en) | 2017-04-21 | 2017-04-21 | A kind of automatical pilot transportation vehicle |
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| Publication Number | Publication Date |
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| CN206679117U true CN206679117U (en) | 2017-11-28 |
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ID=60403104
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720428854.9U Active CN206679117U (en) | 2017-04-21 | 2017-04-21 | A kind of automatical pilot transportation vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112407098A (en) * | 2019-08-23 | 2021-02-26 | 锥能机器人（上海）有限公司 | Automated guided vehicle and chassis assembly thereof |
-
2017
- 2017-04-21 CN CN201720428854.9U patent/CN206679117U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112407098A (en) * | 2019-08-23 | 2021-02-26 | 锥能机器人（上海）有限公司 | Automated guided vehicle and chassis assembly thereof |
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Address after: 310051 5th floor, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 5th floor, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
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