CN201208991Y - Automatic navigation vehicle - Google Patents
Automatic navigation vehicle Download PDFInfo
- Publication number
- CN201208991Y CN201208991Y CNU2008200812127U CN200820081212U CN201208991Y CN 201208991 Y CN201208991 Y CN 201208991Y CN U2008200812127 U CNU2008200812127 U CN U2008200812127U CN 200820081212 U CN200820081212 U CN 200820081212U CN 201208991 Y CN201208991 Y CN 201208991Y
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- dolly
- wheel
- axle
- wheels
- bevel gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 241000272165 Charadriidae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
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Abstract
The utility model relates to an automatic guided dolly which comprises a dolly frame, a running system, a steering part and a detecting part, wherein the steering part is provided with a side propping mechanism, the detecting part is provided with a coder; and when the dolly runs straightforward, the side propping mechanism rises, a drive motor drives wheels to rotate through a transmission device and the coder arranged axially with a driven wheel detects the running space. When the dolly needs to turn around, the side propping mechanism turning at one side is laid down to enable wheels of the turning side of the dolly to depart from the ground, under the action of the drive motor at that time, the side wheels of the dolly idles, two wheels attaching to the ground at the other side enable the dolly to turn around taking an ejecting pin of the side propping mechanism at the turning side as the shaft, and the turning angle can be detected and calculated through the coder arranged at the same axis with the driven wheels. By controlling each linear motion distance of the dolly and the turning angle each time, the moving track of the dolly can be controlled, the dolly runs according to the preset route and the location control of the dolly is realized. The dolly has simple structure and is used as a transportation robot.
Description
Technical field
The utility model relates to mobile robot technology, and the airmanship of particularly automatic guide (AGV) dolly belongs to the robot field.
Background technology
The navigate mode of mobile robot's maturation mainly contains inertial navigation, laser navigation, magnetic navigation, infrared rays navigation, follows line navigation etc. at present, these navigate modes all can be realized the navigation purpose that accuracy of positioning is higher, but because of it generally is equipped with all kinds of corresponding sensors, check implement, error correction apparatus on the mobile robot, in advancing the way, the mobile robot also to arrange navigation signal equipment, therefore the cost of realizing navigation usually is higher, is not suitable for accuracy of positioning and requires lower simple application occasion relatively.
Summary of the invention
The purpose of this utility model be to provide a kind of simple in structure, accuracy of positioning require relatively lower, steering mode is special, both satisfies the requirement of navigation, can reduce the AGV dolly of navigation cost again.
The purpose of this utility model is achieved in that the automatic navigation dolly comprises vehicle frame, running gear, knuckle section and test section; Described vehicle frame mainly comprises four side bars in front, rear, left and right, and described running gear mainly is made up of front wheel spindle, hind axle, front-wheel, trailing wheel, bevel gear pair, axle drive shaft, drive motor, drop-gear box, driving device; Described vehicle frame also comprises the test section mounting rail parallel with the front and back wheel axle.Described bevel gear pair comprises front wheel spindle bevel gear pair, hind axle bevel gear pair; Described knuckle section main side top mechanism and thimble are formed; Described test section mainly is made up of swing arm support, swing arm, flower wheel, holddown spring, coder; The walking diameter of described front and rear wheel four wheels is identical; Two gamp teeth of forward and backward bevel gear pair are identical.Two bevel pinions are also identical.
Its annexation is: drive motor links to each other with axle drive shaft with driving device by drop-gear box, axle drive shaft is connected with hind axle with front wheel spindle respectively through forward and backward bevel gear pair, two cover side top mechanisms are installed in the middle part of car frame's two curb girders respectively, flower wheel is connected on the test section mounting rail of vehicle frame by swing arm, holddown spring is enclosed within on the little axle of swing arm support, the one end is support with the test section mounting rail, and the other end is pressed in the swing arm, coder 13 and the same axle mounting of flower wheel.
The beneficial effects of the utility model are: owing to need not to install all kinds of corresponding sensors, check implement, error correction apparatus on this dolly, also need not in dolly is advanced the way, to arrange navigation signal equipment, the built on stilts wheel on one side of thimble by vehicle body side top side mechanism is realized turning to, but with one with the coaxial mounted coder accuracy control of flower wheel carriage walking apart from and steering angle.So can satisfy the positioning requirements of automatic navigation with this dolly.Therefore, this automatic navigation dolly is simple in structure, with low cost.
The track route of dolly finish in advance and the input coding device in, when the navigation dolly was kept straight on, side top mechanism rose, drive motor drives axle drive shaft through driving device.And through the rotation of bevel gear subband driving wheel, because four wheels wheel footpath is identical, dolly is along straight line moving, and flower wheel is adjacent to ground and rotation under the pressure of holddown spring.Simultaneously, detect travel distance with the coaxial mounted coder of flower wheel.When dolly need turn left, the side top mechanism on the dolly left side puts down, make the left side wheel built on stilts of dolly, this moment is under the effect of drive motor, the wheel idle running of dolly left side, and to paste two wheels on ground be axial left steering with regard to making dolly with the thimble of left side side top mechanism on the right side, and steering angle can be by detecting and calculate with the coaxial mounted coder of flower wheel, in like manner can realize the dolly right-hand turning to.Like this, just can control the path of motion of dolly, dolly be moved by projected route, and realize the positioning control of dolly by controlling every section straight-line motion distance of dolly and each steering angle.
Description of drawings
Fig. 1 is the constructional drawing of the utility model automatic navigation dolly.
The drive motor of the driving trolley of not drawing among the figure, retarder and driving device, they can be connected with axle drive shaft in any known mode.Being numbered of each part: 1: front wheel spindle; 2: front-wheel; 3: front wheel spindle bevel gear pair; 4: hind axle; 5: trailing wheel; 6: hind axle bevel gear pair; 7: side top mechanism; 8: thimble; 9: axle drive shaft; 10: flower wheel; 11: swing arm; 12: holddown spring; 13: coder; 14: vehicle frame; 15: the test section mounting rail; 16: the swing arm support; 17: driver train.
The specific embodiment
Two front-wheels 2 are fixed on the front wheel spindle 1, two trailing wheels 5 are fixed on the hind axle 4, four wheels wheel footpath is identical, drive motor drives transmission shaft 9 through drop-gear box, drive the equidirectional constant speed rotation of front and rear wheel through bevel gear 3,6 again, two side top mechanisms 7 are installed in the middle part of vehicle frame 14 both sides respectively, thimble 8 is installed in the mechanism of side top, drive the thimble up-and-down movement by drive motor, flower wheel 10 is installed in the swing arm 11, coder 13 and the same axle mounting of flower wheel, swing arm is pressed to ground by spring 12, guarantees that flower wheel pastes ground and non-slip.
Claims (1)
1, a kind of automatic navigation dolly comprises vehicle frame, running gear, knuckle section and test section; Described vehicle frame mainly comprises four side bars in front, rear, left and right, described running gear mainly by front wheel spindle (1), hind axle (4), front-wheel (20, trailing wheel (5), bevel gear pair, axle drive shaft (9), drive motor, drop-gear box, driving device form; It is characterized in that: described vehicle frame also comprises the test section mounting rail (15) parallel with forward and backward axletree (1,4); Described bevel gear pair comprises front wheel spindle bevel gear pair (3), hind axle bevel gear pair (6); Described knuckle section main side top mechanism (7) and thimble (8) are formed; Described test section mainly is made up of swing arm support (16), swing arm (11), flower wheel (10), holddown spring (12), coder (13); The walking diameter of described front and rear wheel four wheels is identical; Two gamp teeth of front and rear wheel shaft bevel gear pair (3,6) are identical, and two bevel pinions are also identical;
Its annexation is: drive motor links to each other with axle drive shaft with driving device by drop-gear box, before the axle drive shaft warp, hind axle bevel gear pair (3,6) be connected with hind axle (4) with front wheel spindle (1) respectively, two cover side top mechanisms (7) are installed in the middle part of car frame's two curb girders respectively, flower wheel is connected on the test section mounting rail (15) of vehicle frame by swing arm, holddown spring (12) is enclosed within on the little axle of swing arm support (16), the one end is support with test section mounting rail (15), the other end is pressed in the swing arm (11), coder (13) and the same axle mounting of flower wheel (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200812127U CN201208991Y (en) | 2008-05-19 | 2008-05-19 | Automatic navigation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200812127U CN201208991Y (en) | 2008-05-19 | 2008-05-19 | Automatic navigation vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201208991Y true CN201208991Y (en) | 2009-03-18 |
Family
ID=40479720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200812127U Expired - Fee Related CN201208991Y (en) | 2008-05-19 | 2008-05-19 | Automatic navigation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201208991Y (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104061943A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Vehicle speed and mileage auxiliary measuring system and measuring method thereof |
| CN104118489A (en) * | 2014-08-14 | 2014-10-29 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety detection robot based on eccentric wheel and leg type combination |
| CN104236493A (en) * | 2014-08-22 | 2014-12-24 | 中国矿业大学 | Monitoring device and method for plunger downward shrinkage of fully-mechanized coal mining working surface |
| US9181796B2 (en) | 2011-01-21 | 2015-11-10 | Schlumberger Technology Corporation | Downhole sand control apparatus and method with tool position sensor |
| CN105346382A (en) * | 2015-11-09 | 2016-02-24 | 颍上县田之都农业科技发展有限公司 | Drive system of agricultural machine |
| CN107063034A (en) * | 2016-12-28 | 2017-08-18 | 苏州市职业大学 | Dolly in one kind meter |
| CN107310653A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of high-altitude exterior wall cleans car walking mechanism |
| CN107328341A (en) * | 2017-06-30 | 2017-11-07 | 中山市翔实机械设备有限公司 | A kind of riding type measuring wheel |
| CN108309600A (en) * | 2017-01-16 | 2018-07-24 | 秦国栋 | A kind of wheelchair component for the wireless control easily entering lavatory |
| CN109278425A (en) * | 2018-09-07 | 2019-01-29 | 合肥名华教育科技有限公司 | A kind of stage set paster processing digital printing base |
| CN110341866A (en) * | 2019-07-10 | 2019-10-18 | 东莞市景然电子科技有限公司 | A kind of coding type perambulator servo steering device and its rotating direction control method |
| CN110589388A (en) * | 2019-08-29 | 2019-12-20 | 江苏金铭智能装备有限公司 | Intelligent conveyor anti-collision structure |
| CN113034932A (en) * | 2021-03-05 | 2021-06-25 | 中机科(北京)车辆检测工程研究院有限公司 | Vehicle running speed testing system, method and device |
-
2008
- 2008-05-19 CN CNU2008200812127U patent/CN201208991Y/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9765611B2 (en) | 2011-01-21 | 2017-09-19 | Schlumberger Technology Corporation | Downhole sand control apparatus and method with tool position sensor |
| US9181796B2 (en) | 2011-01-21 | 2015-11-10 | Schlumberger Technology Corporation | Downhole sand control apparatus and method with tool position sensor |
| CN104061943A (en) * | 2014-06-10 | 2014-09-24 | 上海交通大学 | Vehicle speed and mileage auxiliary measuring system and measuring method thereof |
| CN104061943B (en) * | 2014-06-10 | 2017-05-10 | 上海交通大学 | Vehicle speed and mileage auxiliary measuring system and measuring method thereof |
| CN104118489A (en) * | 2014-08-14 | 2014-10-29 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety detection robot based on eccentric wheel and leg type combination |
| CN104236493A (en) * | 2014-08-22 | 2014-12-24 | 中国矿业大学 | Monitoring device and method for plunger downward shrinkage of fully-mechanized coal mining working surface |
| CN104236493B (en) * | 2014-08-22 | 2017-07-28 | 中国矿业大学 | Fully-mechanized mining working descending amount of piston monitoring device and method |
| CN105346382A (en) * | 2015-11-09 | 2016-02-24 | 颍上县田之都农业科技发展有限公司 | Drive system of agricultural machine |
| CN107310653A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of high-altitude exterior wall cleans car walking mechanism |
| CN107063034A (en) * | 2016-12-28 | 2017-08-18 | 苏州市职业大学 | Dolly in one kind meter |
| CN108309600A (en) * | 2017-01-16 | 2018-07-24 | 秦国栋 | A kind of wheelchair component for the wireless control easily entering lavatory |
| CN108309600B (en) * | 2017-01-16 | 2021-06-29 | 秦国栋 | Wireless control wheelchair assembly easy to enter toilet |
| CN107328341A (en) * | 2017-06-30 | 2017-11-07 | 中山市翔实机械设备有限公司 | A kind of riding type measuring wheel |
| CN107328341B (en) * | 2017-06-30 | 2020-11-17 | 潍坊诺源达电子材料有限公司 | Riding type distance measuring wheel |
| CN109278425A (en) * | 2018-09-07 | 2019-01-29 | 合肥名华教育科技有限公司 | A kind of stage set paster processing digital printing base |
| CN110341866A (en) * | 2019-07-10 | 2019-10-18 | 东莞市景然电子科技有限公司 | A kind of coding type perambulator servo steering device and its rotating direction control method |
| CN110589388A (en) * | 2019-08-29 | 2019-12-20 | 江苏金铭智能装备有限公司 | Intelligent conveyor anti-collision structure |
| CN113034932A (en) * | 2021-03-05 | 2021-06-25 | 中机科(北京)车辆检测工程研究院有限公司 | Vehicle running speed testing system, method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090318 Termination date: 20120519 |