CN109969287A - Unmanned transport vehicle - Google Patents
Unmanned transport vehicle Download PDFInfo
- Publication number
- CN109969287A CN109969287A CN201711456138.2A CN201711456138A CN109969287A CN 109969287 A CN109969287 A CN 109969287A CN 201711456138 A CN201711456138 A CN 201711456138A CN 109969287 A CN109969287 A CN 109969287A
- Authority
- CN
- China
- Prior art keywords
- transport vehicle
- unmanned transport
- wheel
- car body
- vehicle according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
- B62D61/08—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels with single front wheel
Abstract
The invention discloses a kind of unmanned transport vehicle, the unmanned transport vehicle includes: car body, the wheel group being set to below the car body, and the wheel group includes three wheels, one of them described wheel is deflecting roller；Electrically powered steering apparatus using same between the car body and the deflecting roller is set；For driving the wheel drive motors of the wheel；And electrical storage device, positioning device, communication device on the car body, sensing device and control system are set, the electrical storage device, positioning device, communication device and sensing device are connect with the control system by electric signal.Unmanned transport bassinet structure is simple, it can be achieved that flexibly turning in the present invention.
Description
Technical field
The present invention relates to unmanned transport fields, and particularly, the present invention relates to a kind of unmanned transport vehicles of Three-wheel type.
Background technique
Often use the means of transport of fork truck etc in some large-scale workshops or warehouse at present, and traditional fork
Vehicle needs artificial control, or manually or electrically, once manpower is inadequate, will largely effect on the efficiency of transport, there are also nobody
Motor dolly is mostly the transport vehicle of four-wheel or four-wheel or more, and such transport vehicle general structure is complicated, while certain narrow
Region be difficult to realize flexibly turn to.
Therefore, the prior art requires further improvement.
Summary of the invention
For above-mentioned problems of the prior art, the purpose of the present invention is to provide a kind of high flexibles, convenient turn
To unmanned transport vehicle.
The technical scheme adopted by the invention is that a kind of unmanned transport vehicle, the unmanned transport vehicle includes: car body, setting
Wheel group below the car body, the wheel group include three wheels, one of them described wheel is deflecting roller；It is arranged described
Electrically powered steering apparatus using same between car body and the deflecting roller；For driving the wheel drive motors of the wheel；And setting exists
Electrical storage device, positioning device, communication device on the car body, sensing device and control system, the electrical storage device, positioning
Device, communication device and sensing device are connect with the control system by electric signal.
Preferably, the wheel drive motors are for driving the deflecting roller.
Preferably, the electrically powered steering apparatus using same includes rotation axis and the steering driving motor for driving the rotation axis.
Preferably, the unmanned transport vehicle further includes the cargo hold being arranged on the car body.
Preferably, the cargo hold includes several compartments being independently arranged, and each compartment is provided with and can open automatically
The automatically-controlled door opened.
Preferably, be provided with cipher inputting keyboard on the automatically-controlled door, by input corresponding password can open it is corresponding every
Between automatically-controlled door.
Preferably, it is provided with photographic device and image identification system on the automatically-controlled door, can be opened by way of barcode scanning
The automatically-controlled door of corresponding compartment.
Preferably, support construction is provided on the unmanned transport vehicle, the wheel group passes through bearing and the support construction
It is connected, the cargo hold is fixedly connected in the support construction.
Preferably, the positioning device includes GPS positioning system or BEI-DOU position system.
Preferably, the communication device includes at least a set of radio receiver-transmitter with antenna, and the radio is received
Transmitting apparatus is for the transmitting-receiving of command information and status information and the real-time transmission of image video signal.
Preferably, the sensing device includes attitude orientation detection device and environment sensing detection device.
Preferably, the electrical storage device includes charging interface and the corresponding electronic equipment for charging.
Unmanned transport vehicle provided by the invention has the effect that
Unmanned transport vehicle provided by the invention, can only setting one with driving motor deflecting roller and two do not drive
Dynamic driven wheel, to reduce structural complexity and reduce cost.Wherein, the rotation of two driven wheels can be mutually indepedent.
The present invention adjusts the angle between deflecting roller and other wheels by electrically powered steering apparatus using same, and unmanned vehicle may be implemented
Pivot turn or pivot turn, to realize the high flexibility of unmanned vehicle.
Detailed description of the invention
Fig. 1 is the front view of unmanned transport vehicle provided by the present invention, and sight is in the horizontal direction；
Fig. 2 is the side view of unmanned transport vehicle provided by the present invention, and sight is in the horizontal direction；
Fig. 3 is the top view of unmanned transport vehicle provided by the present invention, and sight is along the vertical direction.
Wherein:
1, ontology；2, wheel group
2.1,2.2, wheel 2.3, deflecting roller
3, wheel drive motors 4, spoke
5, electrically powered steering apparatus using same
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Unmanned transport vehicle 10 shown in please referring to Fig.1 to Fig.3 includes: car body 1, is set to the wheel group 2 of 1 lower section of car body, wheel
Group 2 includes three wheels (2.1,2.2,2.3), and one of wheel is deflecting roller 2.3；Setting car body 1 and deflecting roller 2.3 it
Between electrically powered steering apparatus using same 5；For driving the wheel drive motors 3 of wheel；And setting electrical storage device on the car body, positioning
Device, communication device, sensing device and control system.
Unmanned transport vehicle 10 of the invention signified is defined as being served only for delivery cargo, is not provided with seat, fortune that cannot be manned
Defeated vehicle.
The wheel group 2 of unmanned transport vehicle 10 include three wheels, one of them for can auto-steering deflecting roller 2.3, turn to
Wheel 2.3 realizes that the opposite angle with car body 1 of the rotational plane of wheel adjusts, to change under the action of electrically powered steering apparatus using same 5
The direction of advance of unmanned transport vehicle 10.Preferably, other two wheel is two coaxial wheels.
In a specific embodiment, electrically powered steering apparatus using same 5 is including rotation axis (not shown) and for driving rotation axis
Steering driving motor (not shown).
The driving wheel of unmanned transport vehicle 10 can be deflecting roller 2.3, be also possible to other two wheel (2.1,2.2), Fig. 2
In also show the spoke of wheel 2.1.
In one preferred embodiment, driving wheel is deflecting roller, i.e., wheel drive motors are used to drive deflecting roller, this
Sample setting, the deflecting roller that one has wheel drive motors can be only arranged in unmanned transport vehicle of the invention and two do not drive
Driven wheel, structure is simple and can reduce cost.
Unmanned transport vehicle 10 provided by the invention, can only be arranged a deflecting roller 2.3 and two driven wheels (2.1,
2.2), to reduce structural complexity and reduce cost.Wherein, the rotation of two driven wheels can be mutually indepedent.
Preferably, the surface of deflecting roller 2.3 is arranged in electrically powered steering apparatus using same 5, and setting can be reduced in this way turns in rotation
Frictional force between wheel and ground when taking turns 2.3.
Preferably, unmanned transport vehicle 10 further includes the cargo hold (not shown) being arranged on car body 1.
Specifically, cargo hold includes several compartments being independently arranged, each compartment is provided with oneself that can be automatically turned on
Dynamic door.
In a specific embodiment, it is provided with cipher inputting keyboard on automatically-controlled door, it can by inputting corresponding password
Open the automatically-controlled door of corresponding compartment.
In another specific embodiment, it is provided with photographic device and image identification system on automatically-controlled door, passes through barcode scanning
Mode can open the automatically-controlled door of corresponding compartment.
With the cargo hold of several separate compartments on unmanned transport vehicle, the different object of safe storage and transport can be convenient
Product, while based on the different password of correspondence, the unlocking key of bar code or two dimensional code as compartment automatically-controlled door, it ensure that article is transported
Accuracy that is defeated and extracting.
In a preferred embodiment, support construction is provided on unmanned transport vehicle, wheel group is tied by bearing and support
Structure is connected, and cargo hold is fixedly connected in the support construction.In another preferred embodiment, support construction is goods
Cabin.
Electrical storage device, positioning device, communication device and sensing device are connect with control system by electric signal.
Preferably, positioning device includes GPS positioning system or BEI-DOU position system, by positioning device can in real time,
Learn the specific location of unmanned transport vehicle, accurately convenient for dispatching or controlling unmanned transport vehicle.
Preferably, sensing device includes attitude orientation detection device and environment sensing detection device, can by sensing device
With it is real-time, accurately learn geographical environment locating for unmanned transport vehicle, convenient for controlling the travel speed of unmanned transport vehicle and turning
To adjusting, the service performance of unmanned transport vehicle is improved.
Preferably, communication device includes at least a set of radio receiver-transmitter with antenna, and radio receiver-transmitter is used
In the transmitting-receiving of command information and status information and the real-time transmission of image video signal.Communication device such as positioning for that will fill
Set, the information of sensing device etc. passes to control system with the electric signal that control system can identify, so as to control system conduct
It is corresponding to respond.
Preferably, electrical storage device includes charging interface and the corresponding electronic equipment for charging.When electrical storage device is in
When poor electricity condition, electrical storage device sends the electric signal that poor power information can be identified as control system to control by communication device
System processed, control system control unmanned transport vehicle and go to charge automatically.
The present invention adjusts the angle between deflecting roller and other wheels by electrically powered steering apparatus using same, and unmanned vehicle may be implemented
Pivot turn or pivot turn, to realize the high flexibility of unmanned vehicle.
A deflecting roller and two driven wheels can be only arranged in unmanned transport vehicle provided by the invention, multiple to reduce structure
Polygamy simultaneously reduces cost.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.With
The upper specific embodiment, has been further described the purpose of the present invention, technical scheme and beneficial effects, institute
It should be understood that the foregoing is merely a specific embodiment of the invention, it is not intended to restrict the invention, it is all in the present invention
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done, should be included in protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of unmanned transport vehicle, which is characterized in that the unmanned transport vehicle includes:
Car body,
The wheel group being set to below the car body, the wheel group include three wheels, one of them described wheel is deflecting roller；
Electrically powered steering apparatus using same between the car body and the deflecting roller is set；
For driving the wheel drive motors of the wheel；
And electrical storage device, positioning device, communication device on the car body, sensing device and control system, institute are set
It states electrical storage device, positioning device, communication device and sensing device and is connect with the control system by electric signal.
2. unmanned transport vehicle according to claim 1, it is characterised in that: the wheel drive motors are for driving described turn
To wheel.
3. unmanned transport vehicle according to claim 1, it is characterised in that: the unmanned transport vehicle further includes being arranged described
Cargo hold on car body.
4. unmanned transport vehicle according to claim 3, it is characterised in that: the cargo hold include several be independently arranged every
Between, each compartment is provided with the automatically-controlled door that can be automatically turned on.
5. unmanned transport vehicle according to claim 4, it is characterised in that: be provided with password input key on the automatically-controlled door
Disk can open the automatically-controlled door of corresponding compartment by inputting corresponding password.
6. unmanned transport vehicle according to claim 4, it is characterised in that: be provided with photographic device and figure on the automatically-controlled door
As identifying system, the automatically-controlled door of corresponding compartment can be opened by way of barcode scanning.
7. unmanned transport vehicle according to claim 3, it is characterised in that: be provided with support knot on the unmanned transport vehicle
Structure, the wheel group are connected by bearing with the support construction, and the cargo hold is fixedly connected in the support construction.
8. unmanned transport vehicle according to claim 1, it is characterised in that: the positioning device include GPS positioning system or
BEI-DOU position system.
9. unmanned transport vehicle according to claim 1, it is characterised in that: the communication device includes at least a set of with day
The radio receiver-transmitter of line, the radio receiver-transmitter is for command information and transmitting-receiving and the image/video of status information
The real-time transmission of signal.
10. unmanned transport vehicle according to claim 1, it is characterised in that: the sensing device includes attitude orientation detection
Device and environment sensing detection device；The electrical storage device includes charging interface and the corresponding electronic equipment for charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456138.2A CN109969287A (en) | 2017-12-28 | 2017-12-28 | Unmanned transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456138.2A CN109969287A (en) | 2017-12-28 | 2017-12-28 | Unmanned transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109969287A true CN109969287A (en) | 2019-07-05 |
Family
ID=67074294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711456138.2A Pending CN109969287A (en) | 2017-12-28 | 2017-12-28 | Unmanned transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109969287A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923594A (en) * | 2006-09-29 | 2007-03-07 | 西安理工大学 | Automatic guidance tractor |
| CN102140869A (en) * | 2011-04-27 | 2011-08-03 | 江苏群雄智能科技有限公司 | Smart gate lock |
| CN202243644U (en) * | 2011-08-20 | 2012-05-30 | 山东理工大学 | Inverted electric three-wheeled automobile |
| CN106672068A (en) * | 2017-02-16 | 2017-05-17 | 于浩 | Triangular robot chassis |
| CN206246008U (en) * | 2016-11-29 | 2017-06-13 | 北京建筑大学 | A kind of safety door with identification verification function |
| CN107031750A (en) * | 2016-11-28 | 2017-08-11 | 上海理工大学 | A kind of AGV carriers for warehousing system |
| CN107516143A (en) * | 2017-07-24 | 2017-12-26 | 上海理工大学 | A kind of preferred AGV handling systems in path based on dijkstra's algorithm |
-
2017
- 2017-12-28 CN CN201711456138.2A patent/CN109969287A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923594A (en) * | 2006-09-29 | 2007-03-07 | 西安理工大学 | Automatic guidance tractor |
| CN102140869A (en) * | 2011-04-27 | 2011-08-03 | 江苏群雄智能科技有限公司 | Smart gate lock |
| CN202243644U (en) * | 2011-08-20 | 2012-05-30 | 山东理工大学 | Inverted electric three-wheeled automobile |
| CN107031750A (en) * | 2016-11-28 | 2017-08-11 | 上海理工大学 | A kind of AGV carriers for warehousing system |
| CN206246008U (en) * | 2016-11-29 | 2017-06-13 | 北京建筑大学 | A kind of safety door with identification verification function |
| CN106672068A (en) * | 2017-02-16 | 2017-05-17 | 于浩 | Triangular robot chassis |
| CN107516143A (en) * | 2017-07-24 | 2017-12-26 | 上海理工大学 | A kind of preferred AGV handling systems in path based on dijkstra's algorithm |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190705 |