CN203623808U - Four-wheel independent-drive transport trolley - Google Patents
Four-wheel independent-drive transport trolley Download PDFInfo
- Publication number
- CN203623808U CN203623808U CN201320803071.6U CN201320803071U CN203623808U CN 203623808 U CN203623808 U CN 203623808U CN 201320803071 U CN201320803071 U CN 201320803071U CN 203623808 U CN203623808 U CN 203623808U
- Authority
- CN
- China
- Prior art keywords
- wheel
- drive mechanism
- master controller
- transport carriage
- objective table
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
A four-wheel independent-drive transport trolley comprises an object carrying bench, a battery, and a master controller. Four wheel-type supporting devices are arranged on the bottom face of the object carrying bench. Each of the wheel-type supporting devices comprises a wheel, a wheel hanging device, a wheel drive mechanism, a wheel mounting seat, and a wheel steering drive mechanism, wherein the wheel hanging device and the wheel drive mechanism are fixedly connected onto the wheel mounting seat; the wheel drive mechanism is connected with the wheel; the wheel mounting seat is connected to the bottom face of the object carrying bench by a rotating shaft and a thrust bearing; the wheel steering drive mechanism is fixed on the bottom face of the object carrying bench; and the wheel steering drive mechanism is connected with the wheel mounting seat. According to the utility model, the restriction on turning radius needed during the movement process is reduced substantially so that the trolley is suitable for narrow regions being very compact in space; and the four wheels are connected with the independent drive mechanisms respectively so that a sufficient road holding force can be generated in the case of swinging of the working environment, thereby maintaining the stable operation.
Description
Technical field:
The utility model relates to mechanical field, relates in particular to transportation means, particularly a kind of four-wheel individual drive transport carriage.
Background technology:
Often carry out article transfer with dolly at narrow zone.In prior art, dolly is often driven by manpower, or utilizes an electrically propelled traction vehicle to drive, and therefore can not be applicable to the compacter narrow zone in space, and the environment that especially cannot be used for self producing swing is as large-scale shipping platform.
Summary of the invention:
The purpose of this utility model is to provide a kind of four-wheel individual drive transport carriage, and described this four-wheel individual drive transport carriage will solve transport carriage of the prior art and can not be applicable to the compacter narrow zone in space and self can produce the technical matters in the environment of swing.
This four-wheel individual drive transport carriage of the present utility model, comprise an objective table, a battery and a master controller, wherein, described battery and master controller are fixedly installed in the bottom surface of described objective table, in the bottom surface of objective table, be provided with four wheel support devices, four described rectangular arrangements of wheel support device, any one wheel support device all comprises a wheel separately, wheel supporting device or suspension gear, a drive mechanism for wheel, a wheel mount pad and a wheel steering driver train, in any one wheel support device, described wheel supporting device or suspension gear and drive mechanism for wheel are all fixedly connected on wheel mount pad, described wheel is arranged in wheel supporting device or suspension gear, drive mechanism for wheel is connected with wheel, wheel mount pad is connected with the bottom surface of objective table with thrust baring by rotating shaft, described wheel steering driver train is fixedly installed in the bottom surface of objective table, wheel steering driver train is connected with wheel mount pad, in drive mechanism for wheel and wheel steering driver train, include separately an electrical motor, the control end of described electrical motor is connected to a motor driver separately, described motor driver is all connected to described battery and master controller by cable.
Further, in any one drive mechanism for wheel, the output shaft of electrical motor is all connected with axletree by retarder, coupler, or is all connected with axletree or wheel body with gear drive by retarder.
Further, on any one wheel mount pad, be all fixedly installed a worm gear, in any one wheel steering driver train, the output shaft of electrical motor is all connected with a worm screw by retarder, coupler, and described worm screw engages with described worm gear and forms Worm and Worm Gear Driving pair.
Further, the plane of rotation of wheel is vertical with the plane of rotation of wheel mount pad.
Further, in any one drive mechanism for wheel, between the output shaft of electrical motor and axletree or wheel body, be provided with torque sensor, on the output shaft of electrical motor and axletree or wheel body, be provided with separately tachogen, described torque sensor and tachogen are connected to master controller by signal wire (SW) separately.
Further, in the bottom surface of the periphery of objective table or contiguous its periphery or end face, be provided with crash sensor or rang sensor, described crash sensor or rang sensor are connected to master controller by signal wire (SW).
Further, in described master controller, include main control board, acceleration pick-up, gyroscope and magnetic field sensor, in described main control board, be provided with microprocessor, described acceleration pick-up, gyroscope and magnetic field sensor is all connected with the signal input part of described microprocessor by signal wire (SW), and main control board is connected with input media.
Further, described input media comprises wireless communication interface.
Principle of work of the present utility model is: four wheels are connected with independently steering hardware separately, greatly reduce the restriction of needed turn radius in motion process, the narrow zone that applicable space is extremely compact, four wheels are connected with independently driver train separately, in the time that working environment produces swing, can produce enough earth-grasping forces, keep smooth operation.Utilize torque sensor, tachogen and acceleration pick-up can detect in real time objective table attitude, speed and wheel mode of operation, and by master controller, the horsepower output of steering angle and drive mechanism for wheel is adjusted to normal condition.Utilize acceleration pick-up, gyroscope and magnetic field sensor can detect little truck position, and draw operating path by the upper control end gauage being connected with the input interface of master controller.Utilize crash sensor or rang sensor can detect the obstacle in operating path.
Concrete, the main control board described in the utility model, microprocessor and input media all adopt known schemes of the prior art, do not repeat them here.
The utility model and prior art are compared, and its effect is actively with obvious.The utility model arranges four wheels under an objective table, each wheel is connected with independently steering hardware separately, greatly reduce the restriction of needed turn radius in motion process, the narrow zone that applicable space is extremely compact, four wheels are connected with independently driver train separately, in the time that working environment produces swing, can produce enough earth-grasping forces, keep smooth operation.
Accompanying drawing explanation:
Fig. 1 is the structural representation of four-wheel individual drive transport carriage of the present utility model.
The specific embodiment:
Embodiment 1:
As shown in Figure 1, four-wheel individual drive transport carriage of the present utility model, comprise an objective table 1, a battery 2 and a master controller 3, wherein, described battery 2 and master controller 3 are fixedly installed in the bottom surface of described objective table 1, in the bottom surface of objective table 1, be provided with four wheel support devices, four described rectangular arrangements of wheel support device, any one wheel support device all comprises a wheel 4 separately, wheel supporting device or suspension gear 5, a drive mechanism for wheel 6, a wheel mount pad 7 and a wheel steering driver train 8, in any one wheel support device, described wheel supporting device or suspension gear 5 and drive mechanism for wheel 6 are all fixedly connected on wheel mount pad 7, described wheel 4 is arranged in wheel supporting device or suspension gear 5, drive mechanism for wheel 6 is connected with wheel 4, wheel mount pad 7 is connected with the bottom surface of objective table 1 with thrust baring by rotating shaft, described wheel steering driver train 8 is fixedly installed in the bottom surface of objective table 1, wheel steering driver train 8 is connected with wheel mount pad 7, in drive mechanism for wheel 6 and wheel steering driver train 8, include separately an electrical motor, the control end of described electrical motor is connected to a motor driver separately, described motor driver is all connected to described battery 2 and master controller 3 by cable.
Further, in any one drive mechanism for wheel 6, the output shaft of electrical motor is all connected with axletree by retarder, coupler, or is all connected with axletree or wheel 4 bodies with gear drive by retarder.
Further, on any one wheel mount pad 7, be all fixedly installed a worm gear, in any one wheel steering driver train 8, the output shaft of electrical motor is all connected with a worm screw by retarder, coupler, and described worm screw engages with described worm gear and forms Worm and Worm Gear Driving pair.
Further, the plane of rotation of wheel 4 is vertical with the plane of rotation of wheel mount pad 7.
Further, in any one drive mechanism for wheel 6, between the output shaft of electrical motor and axletree or wheel 4 bodies, be provided with torque sensor, on the output shaft of electrical motor and axletree or wheel 4 bodies, be provided with separately tachogen, described torque sensor and tachogen are connected to master controller 3 by signal wire (SW) separately.
Further, in the bottom surface of the periphery of objective table 1 or contiguous its periphery or end face, be provided with crash sensor or rang sensor, described crash sensor or rang sensor are connected to master controller 3 by signal wire (SW).
Further, in described master controller 3, include main control board, acceleration pick-up, gyroscope and magnetic field sensor, in described main control board, be provided with microprocessor, described acceleration pick-up, gyroscope and magnetic field sensor is all connected with the signal input part of described microprocessor by signal wire (SW), and main control board is connected with input media.
Further, described input media comprises wireless communication interface.
The principle of work of the present embodiment is: four wheels 4 are connected with independently steering hardware separately, greatly reduce the restriction of needed turn radius in motion process, the narrow zone that applicable space is extremely compact, four wheels 4 are connected with independently driver train separately, in the time that working environment produces swing, can produce enough earth-grasping forces, keep smooth operation.Utilize torque sensor, tachogen and acceleration pick-up can detect in real time objective table 1 attitude, speed and wheel 4 mode of operations, and by master controller 3, the horsepower output of steering angle and drive mechanism for wheel 6 is adjusted to normal condition.Utilize acceleration pick-up, gyroscope and magnetic field sensor can detect little truck position, and draw operating path by the upper control end gauage being connected with the input interface of master controller 3.Utilize crash sensor or rang sensor can detect the obstacle in operating path.
Concrete, the main control board described in the utility model, microprocessor and input media all adopt known schemes of the prior art, do not repeat them here.
Claims (8)
1. a four-wheel individual drive transport carriage, comprise an objective table, a battery and a master controller, it is characterized in that: described battery and master controller are fixedly installed in the bottom surface of described objective table, in the bottom surface of objective table, be provided with four wheel support devices, four described rectangular arrangements of wheel support device, any one wheel support device all comprises a wheel separately, wheel supporting device or suspension gear, a drive mechanism for wheel, a wheel mount pad and a wheel steering driver train, in any one wheel support device, described wheel supporting device or suspension gear and drive mechanism for wheel are all fixedly connected on wheel mount pad, described wheel is arranged in wheel supporting device or suspension gear, drive mechanism for wheel is connected with wheel, wheel mount pad is connected with the bottom surface of objective table with thrust baring by rotating shaft, described wheel steering driver train is fixedly installed in the bottom surface of objective table, wheel steering driver train is connected with wheel mount pad, in drive mechanism for wheel and wheel steering driver train, include separately an electrical motor, the control end of described electrical motor is connected to a motor driver separately, described motor driver is all connected to described battery and master controller by cable.
2. four-wheel individual drive transport carriage as claimed in claim 1, it is characterized in that: in any one drive mechanism for wheel, the output shaft of electrical motor is all connected with axletree by retarder, coupler, or is all connected with axletree or wheel body with gear drive by retarder.
3. four-wheel individual drive transport carriage as claimed in claim 1, it is characterized in that: on any one wheel mount pad, be all fixedly installed a worm gear, in any one wheel steering driver train, the output shaft of electrical motor is all connected with a worm screw by retarder, coupler, and described worm screw engages with described worm gear and forms Worm and Worm Gear Driving pair.
4. four-wheel individual drive transport carriage as claimed in claim 1, is characterized in that: the plane of rotation of wheel is vertical with the plane of rotation of wheel mount pad.
5. four-wheel individual drive transport carriage as claimed in claim 2, it is characterized in that: in any one drive mechanism for wheel, between the output shaft of electrical motor and axletree or wheel body, be provided with torque sensor, on the output shaft of electrical motor and axletree or wheel body, be provided with separately tachogen, described torque sensor and tachogen are connected to master controller by signal wire (SW) separately.
6. four-wheel individual drive transport carriage as claimed in claim 1, it is characterized in that: in the bottom surface of the periphery of objective table or contiguous its periphery or end face, be provided with crash sensor or rang sensor, described crash sensor or rang sensor are connected to master controller by signal wire (SW).
7. four-wheel individual drive transport carriage as claimed in claim 1, it is characterized in that: in described master controller, include main control board, acceleration pick-up, gyroscope and magnetic field sensor, in described main control board, be provided with microprocessor, described acceleration pick-up, gyroscope and magnetic field sensor is all connected with the signal input part of described microprocessor by signal wire (SW), and main control board is connected with input media.
8. four-wheel individual drive transport carriage as claimed in claim 7, is characterized in that: described input media comprises wireless communication interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320803071.6U CN203623808U (en) | 2013-12-09 | 2013-12-09 | Four-wheel independent-drive transport trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320803071.6U CN203623808U (en) | 2013-12-09 | 2013-12-09 | Four-wheel independent-drive transport trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203623808U true CN203623808U (en) | 2014-06-04 |
Family
ID=50810310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320803071.6U Expired - Fee Related CN203623808U (en) | 2013-12-09 | 2013-12-09 | Four-wheel independent-drive transport trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203623808U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661660A (en) * | 2013-12-09 | 2014-03-26 | 上海德圣米高电梯有限公司 | Four-wheel independent drive transfer trolley |
| CN104982408A (en) * | 2015-07-15 | 2015-10-21 | 沙洋青山农业机械有限公司 | Novel spray walking frame used on pesticide sprayer |
| CN105970862A (en) * | 2016-07-22 | 2016-09-28 | 浙江捷众科技股份有限公司 | Waste picking robot |
| CN106741297A (en) * | 2016-12-31 | 2017-05-31 | 河南城建学院 | One kind turns to flexible forerunner's intelligent carriage |
| CN107407688A (en) * | 2015-03-18 | 2017-11-28 | 株式会社日立高新技术 | Check equipment |
| CN108372502A (en) * | 2018-01-08 | 2018-08-07 | 浙江立石机器人技术有限公司 | A kind of robot movement-control system and control method |
-
2013
- 2013-12-09 CN CN201320803071.6U patent/CN203623808U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661660A (en) * | 2013-12-09 | 2014-03-26 | 上海德圣米高电梯有限公司 | Four-wheel independent drive transfer trolley |
| CN107407688A (en) * | 2015-03-18 | 2017-11-28 | 株式会社日立高新技术 | Check equipment |
| CN104982408A (en) * | 2015-07-15 | 2015-10-21 | 沙洋青山农业机械有限公司 | Novel spray walking frame used on pesticide sprayer |
| CN105970862A (en) * | 2016-07-22 | 2016-09-28 | 浙江捷众科技股份有限公司 | Waste picking robot |
| CN106741297A (en) * | 2016-12-31 | 2017-05-31 | 河南城建学院 | One kind turns to flexible forerunner's intelligent carriage |
| CN106741297B (en) * | 2016-12-31 | 2019-07-30 | 河南城建学院 | It is a kind of to turn to flexible forerunner's intelligent carriage |
| CN108372502A (en) * | 2018-01-08 | 2018-08-07 | 浙江立石机器人技术有限公司 | A kind of robot movement-control system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203623808U (en) | Four-wheel independent-drive transport trolley | |
| CN105751892B (en) | Compact AGV drives steering integrated device | |
| CN102653246B (en) | Four-wheel driven high-ground gap mobile car and control method thereof | |
| CN205113439U (en) | A drive steering mechanism for AGV | |
| CN206344650U (en) | The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel | |
| CN202879184U (en) | Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor | |
| CN203358312U (en) | Double-drive automated guided vehicle | |
| CN103661660A (en) | Four-wheel independent drive transfer trolley | |
| CN110758038A (en) | Novel AGV drive chassis of floating | |
| CN204110280U (en) | The spacing Self-resetting steering hardware of a kind of balance truck rocking bar | |
| CN103407518A (en) | Vehicle automatic tilting balance control system and inverted tricycle with same | |
| CN201784478U (en) | Forklift multi-mode running control device | |
| CN106315148A (en) | Novel intelligent AGV | |
| CN205632110U (en) | AGV drive turns to integrated device | |
| CN104118505A (en) | Electric vehicle | |
| CN203595609U (en) | Vehicle for testing mechanical property of tyre in multiple working conditions | |
| CN101088834A (en) | Omnibearing servo magnetic wheel type four-wheel drive vehicle | |
| CN103495968A (en) | Chassis mechanism for mobile welding robot | |
| CN109927776A (en) | Vehicle and method for controlling a vehicle with rotating-table apparatus | |
| CN203172722U (en) | AGV automatic carrying vehicle with steering driving wheel train fixedly linked with vehicle body | |
| CN203449966U (en) | Differentially driven mobile robot chassis mechanism | |
| CN106956583A (en) | A kind of novel electric vehicle chassis | |
| CN207060147U (en) | A kind of mobile chassis of place crusing robot | |
| CN203237344U (en) | Electric car | |
| CN103318215B (en) | Guideway vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140604 Termination date: 20191209 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |