CN114590747A - Single-differential type negative-back type automatic navigation vehicle - Google Patents
Single-differential type negative-back type automatic navigation vehicle Download PDFInfo
- Publication number
- CN114590747A CN114590747A CN202210214623.3A CN202210214623A CN114590747A CN 114590747 A CN114590747 A CN 114590747A CN 202210214623 A CN202210214623 A CN 202210214623A CN 114590747 A CN114590747 A CN 114590747A
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- vehicle body
- vehicle
- single differential
- driving
- automatic navigation
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- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000035939 shock Effects 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a single differential type negative-back type automatic navigation vehicle, which relates to the technical field of automatic navigation vehicles and mainly structurally comprises a vehicle body, wherein a bearing platform is arranged at the top of the vehicle body; two sides of the center of the bottom of the vehicle body are respectively provided with a driving wheel, and each driving wheel is in transmission connection with a driving structure; the universal wheels are arranged on the periphery of the bottom of the vehicle body and used for supporting the vehicle body. The single differential backpack type automatic navigation vehicle provides driving force through the two driving wheels on the two sides of the vehicle body, and the two driving wheels are respectively driven by the motor, so that differential driving can be formed, and the vehicle body can flexibly steer and has higher carrying capacity by being matched with the support of the four universal wheels around the vehicle body to the vehicle body. The height of the bearing platform is adjustable, the bearing platform can be adjusted according to the height of the goods, actions such as bearing and putting down of the goods can be achieved, an automatic navigation function is matched, and therefore automatic transportation of the goods is achieved.
Description
Technical Field
The invention relates to the technical field of automatic navigation vehicles, in particular to a single-differential type back-negative type automatic navigation vehicle.
Background
(Automated Guided Vehicle, AGV), also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.
The load capacity of the existing AGV trolley is small, and the steering is not flexible enough, so that a novel automatic navigation vehicle is urgently needed to improve the carrying capacity of the AGV trolley and improve the steering flexibility.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a single differential type back-negative type automatic navigation vehicle to improve the carrying capacity and the steering flexibility of the automatic navigation vehicle.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a single differential backpack type automatic navigation vehicle which comprises a vehicle body, wherein a bearing platform is arranged at the top of the vehicle body; two sides of the center of the bottom of the vehicle body are respectively provided with a driving wheel, and each driving wheel is in transmission connection with a driving structure; the universal wheels are arranged on the periphery of the bottom of the vehicle body and used for supporting the vehicle body.
Optionally, the driving structure includes a driving motor and a speed reducer; an output shaft of the driving motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the driving wheel.
Optionally, two sides of the center of the bottom of the vehicle body are respectively provided with a damping mechanism, and the driving wheel is arranged on the damping mechanisms.
Optionally, the damping mechanism comprises a guide post, a guide sleeve, a damping spring and a damping bridge; the middle part of the damping bridge is provided with a shaft hole, and a wheel shaft of the driving wheel can rotatably penetrate through the shaft hole; the two ends of the shock absorption bridge are respectively rotatably connected with the bottom of one guide post, the guide sleeve is arranged on the vehicle body, and the other end of the guide post slidably penetrates through the guide sleeve; the damping spring is sleeved on the guide post and is positioned between the damping bridge and the guide sleeve.
Optionally, a plurality of guide sleeves are arranged on the top of the vehicle body, a guide rod is arranged in each guide sleeve, and the bottom of the bearing platform is connected with the top of the guide rod.
Optionally, the top of the vehicle body is provided with a plurality of anti-collision blocks.
Optionally, a vertical lifting mechanism is arranged in the middle of the vehicle body, and the free end of the lifting mechanism is connected with the bottom of the bearing platform.
Optionally, the front end and the rear end of the vehicle body are respectively provided with a navigation radar.
Optionally, the front end and the rear end of the vehicle body are respectively provided with an anti-collision bar.
Optionally, a plurality of warning lights are arranged around the vehicle body.
Compared with the prior art, the invention has the following technical effects:
the single differential backpack type automatic navigation vehicle provides driving force through the two driving wheels on the two sides of the vehicle body, and the two driving wheels are respectively driven by the motor, so that differential driving can be formed, and the vehicle body can flexibly steer and has higher carrying capacity by being matched with the support of the four universal wheels around the vehicle body to the vehicle body. The height of the bearing platform is adjustable, the bearing platform can be adjusted according to the height of the goods, actions such as bearing and putting down of the goods can be achieved, an automatic navigation function is matched, and therefore automatic transportation of the goods is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of a single differential backpack type automatic navigation vehicle of the present invention;
FIG. 2 is a schematic structural view of the single differential type back-type automatic navigation vehicle with the coaming removed;
FIG. 3 is a schematic side view of a single differential type back-type automatic guided vehicle according to the present invention;
FIG. 4 is a schematic bottom view of the single differential type back-type automatic guided vehicle of the present invention;
FIG. 5 is a schematic structural diagram of a damping mechanism in the single differential type back-bottom type automatic navigation vehicle according to the present invention.
Description of reference numerals: 1. a navigation radar; 2. a front bumper; 3. a switch; 4. a drive wheel; 5. a rear bumper; 6. a warning light; 7. a load-bearing platform; 8. a damping mechanism; 9. an anti-collision block; 10. a guide sleeve; 11. a universal wheel; 12. a lifting mechanism;
81. a guide post; 82. a guide sleeve; 83. a damping spring; 84. a drive motor; 85. shock attenuation bridge.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the present embodiment provides a single differential backpack type automatic navigation vehicle, which includes a vehicle body, wherein a carrying platform 7 is disposed on the top of the vehicle body; two sides of the center of the bottom of the vehicle body are respectively provided with a driving wheel 4, and each driving wheel 4 is in transmission connection with a driving structure; the universal wheels 11 are arranged on the periphery of the bottom of the vehicle body respectively, and the universal wheels 11 are used for supporting the vehicle body.
The two driving wheels 4 are respectively driven by a driving structure, when the two driving wheels 4 synchronously rotate, the vehicle body runs along a straight line, the two driving wheels 4 do not synchronously move, namely, during differential motion, turning or pivot steering can be realized. The four universal wheels 11 around the vehicle body are mainly used for supporting the vehicle body, so that the vehicle body keeps balance, the bearing capacity of the vehicle body is greatly improved, and the turning, straight running and steering actions of the vehicle body are completed by matching with the two driving wheels 4.
In this embodiment, the driving structure includes a driving motor 84 and a speed reducer; an output shaft of the driving motor 84 is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the driving wheel 4.
And two sides of the center of the bottom of the vehicle body are respectively provided with a damping mechanism 8, and the driving wheel 4 is arranged on the damping mechanisms 8.
The damping mechanism 8 comprises a guide post 81, a guide sleeve 82, a damping spring 83 and a damping bridge 85; the middle part of the damping bridge 85 is provided with a shaft hole, and a wheel shaft of the driving wheel 4 can rotatably penetrate through the shaft hole; two ends of the shock absorption bridge 85 are respectively rotatably connected with the bottom of one guide post 81, the guide sleeve 82 is arranged on the vehicle body, and the other end of the guide post 81 penetrates through the guide sleeve 82 in a sliding manner; the damping spring 83 is sleeved on the guide post 81 and located between the damping bridge 85 and the guide sleeve 82.
More specifically, both ends of the shock-absorbing bridge 85 are respectively provided with a bearing shaft connected with the bottom of the guide post 81, so that when the driving wheel 4 runs on a rugged ground, the shock-absorbing bridge 85 is rocked back and forth by the compression of the shock-absorbing spring 83 to reduce the rocking of the vehicle body and make the cargo transportation process more stable. The automobile body bottom is provided with adjusting bolt with the corresponding position of uide bushing 82, adjusting bolt passes through threaded connection with the automobile body bottom, the less end of uide bushing 82 link up the automobile body up, the great end of uide bushing 82 is located the automobile body bottom, and adjusting bolt's bottom contacts with the top surface of the great end of uide bushing 82, damping spring 83 top contacts with the bottom surface of the great end of uide bushing 82, can adjust damping spring 83's the maximum elongation through twisting adjusting bolt, with adjustment damping spring 83's elasticity, make damper 8 can adapt to different bearing capacities.
The top of the vehicle body is provided with a plurality of guide sleeves 10, each guide sleeve 10 is internally provided with a guide rod, and the bottom of the bearing platform 7 is connected with the top of the guide rod. The top of the vehicle body is provided with a plurality of anti-collision blocks 9. The middle part of the vehicle body is provided with a vertical lifting mechanism 12, and the free end of the lifting mechanism 12 is connected with the bottom of the bearing platform 7. The lifting mechanism 12 can be an oil cylinder, an air cylinder or a linear motor, and can also be a mode of driving a screw rod and a nut by a servo motor. The height of the bearing platform 7 is adjusted through the lifting mechanism 12, the bearing platform 7 is kept balanced by the surrounding guide rods and the guide sleeve 10, and the anti-collision block 9 is used for avoiding collision between the bearing platform 7 and a vehicle body when falling.
The front end and the rear end of the vehicle body are respectively provided with a navigation radar 1, and the road conditions of the front and the rear of the vehicle body are detected through the navigation radar 1, so that the safe driving of the vehicle body is ensured.
The automobile body front end is provided with preceding bumper 2, the automobile body rear end is provided with back bumper 5 for the protection automobile body.
Be provided with a plurality of warning lights 6 around the automobile body, at the automobile body removal in-process, warning light 6 twinkles, has reminded people around to dodge.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A single differential backpack type automatic navigation vehicle is characterized by comprising a vehicle body, wherein a bearing platform is arranged at the top of the vehicle body; two sides of the center of the bottom of the vehicle body are respectively provided with a driving wheel, and each driving wheel is in transmission connection with a driving structure; the universal wheels are arranged on the periphery of the bottom of the vehicle body and used for supporting the vehicle body.
2. The single differential backpack-type autopilot vehicle of claim 1 wherein the drive structure includes a drive motor and a speed reducer; an output shaft of the driving motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the driving wheel.
3. The self-propelled single differential backpack vehicle as set forth in claim 1 wherein a shock absorbing mechanism is disposed on each of both sides of the bottom center of the vehicle body, and the drive wheel is disposed on the shock absorbing mechanism.
4. The single differential backpack-type autopilot vehicle of claim 3 wherein the shock absorbing mechanism includes a guide post, a guide sleeve, a shock absorbing spring, and a shock absorbing bridge; the middle part of the damping bridge is provided with a shaft hole, and a wheel shaft of the driving wheel can rotatably penetrate through the shaft hole; the two ends of the shock absorption bridge are respectively rotatably connected with the bottom of one guide post, the guide sleeve is arranged on the vehicle body, and the other end of the guide post slidably penetrates through the guide sleeve; the damping spring is sleeved on the guide post and is positioned between the damping bridge and the guide sleeve.
5. The single differential backpack type autopilot according to claim 1 wherein the top of the vehicle body is provided with a plurality of guide sleeves, each guide sleeve having a guide bar disposed therein, the bottom of the load-bearing platform being connected to the top of the guide bar.
6. The single differential backpack type autopilot of claim 5 wherein the top of the vehicle body is provided with a plurality of crash blocks.
7. The single differential backpack type autopilot according to claim 5 wherein the vehicle body is provided with a vertical lifting mechanism in the middle, the free end of the lifting mechanism being connected to the bottom of the load-bearing platform.
8. The single differential backpack type automatic navigation vehicle according to claim 1, wherein a navigation radar is provided to each of the front and rear ends of the vehicle body.
9. The single differential backpack type automatic navigation vehicle according to claim 1, wherein a bumper is provided to each of the front and rear ends of the vehicle body.
10. The single differential backpack type autopilot vehicle of claim 1 wherein a plurality of warning lights are provided around the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214623.3A CN114590747A (en) | 2022-03-07 | 2022-03-07 | Single-differential type negative-back type automatic navigation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214623.3A CN114590747A (en) | 2022-03-07 | 2022-03-07 | Single-differential type negative-back type automatic navigation vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN114590747A true CN114590747A (en) | 2022-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210214623.3A Pending CN114590747A (en) | 2022-03-07 | 2022-03-07 | Single-differential type negative-back type automatic navigation vehicle |
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| CN (1) | CN114590747A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN207089491U (en) * | 2017-08-09 | 2018-03-13 | 东莞市瑞鹏机器人自动化有限公司 | A kind of omni-directional wheel roller bears type AGV |
| CN208855767U (en) * | 2018-08-16 | 2019-05-14 | 广东上川智能装备股份有限公司 | One kind bearing type AGV |
| CN110203853A (en) * | 2019-06-18 | 2019-09-06 | 苏州安井自动化设备有限公司 | Omnidirectional submarine AGV |
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
| CN210776319U (en) * | 2019-11-21 | 2020-06-16 | 湖北三丰小松自动化仓储设备有限公司 | Tray lifting type laser navigation storage logistics AGV |
-
2022
- 2022-03-07 CN CN202210214623.3A patent/CN114590747A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN207089491U (en) * | 2017-08-09 | 2018-03-13 | 东莞市瑞鹏机器人自动化有限公司 | A kind of omni-directional wheel roller bears type AGV |
| CN208855767U (en) * | 2018-08-16 | 2019-05-14 | 广东上川智能装备股份有限公司 | One kind bearing type AGV |
| CN110203853A (en) * | 2019-06-18 | 2019-09-06 | 苏州安井自动化设备有限公司 | Omnidirectional submarine AGV |
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
| CN210776319U (en) * | 2019-11-21 | 2020-06-16 | 湖北三丰小松自动化仓储设备有限公司 | Tray lifting type laser navigation storage logistics AGV |
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