CN205023371U - Independently walk carrier and handling system - Google Patents
Independently walk carrier and handling system Download PDFInfo
- Publication number
- CN205023371U CN205023371U CN201520741340.XU CN201520741340U CN205023371U CN 205023371 U CN205023371 U CN 205023371U CN 201520741340 U CN201520741340 U CN 201520741340U CN 205023371 U CN205023371 U CN 205023371U
- Authority
- CN
- China
- Prior art keywords
- wheel
- gration
- centre
- walking
- carrier
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an independently walk carrier and handling system, the carrier of independently walking is provided with keep straight on wheel mechanism, directive wheel mechanism, travel drive mechanism and rotation center locking mechanical system including transport platform main part in the transport platform main part, the handling system of independently walking is including independently walk carrier and rotation center. This kind of independently walk carrier and handling system has the advantages that the existing product did not possess such as the energy can be saved, efficiency height, dependable performance, spare part wearing and tearing are little, long service life.
Description
Technical field
The utility model relates to a kind of carrying field of autonomous, particularly a kind of autonomous carrier and handling system.
Background technology
Along with the development of large-scale, heavily loaded autonomous carrier, carrier self is also developing towards flattening, lightweight.The meanwhile requirement of the battery durable ability of carrier, energy utilization rate, component life is also improving constantly.
When carrier travels drive wheel and carrier sense of motion is inconsistent, walking resistance can be caused to increase, hinder carrier motion; Walk the serious wear of element, large-scale, heavily loaded carrier walking component life is difficult to meet the demands simultaneously.Current common carrier adopts Universal wheel structure to overcome the problems referred to above, but because the vehicle body of large-scale carrier is longer, friction resistance moment is larger, motor is needed to provide larger moment of torsion to export, cause the situation that energy consumption is large, capacity usage ratio is low, heavily loaded wheel flutter and earth surface friction cause wheel wear serious.
Therefore, for flat structure, the lightweight development of heavy duty, large-scale autonomous carrier, reduce energy loss, improve energy utilization rate, reduce wear, it is very important and necessary for extending walking component life.
All technological deficiencies of prior art seriously limit this area and advance further and apply.
In view of this, the purpose of this utility model is to provide a kind of new technical scheme to solve existing technological deficiency.
Utility model content
In order to overcome the deficiencies in the prior art, the utility model provides a kind of autonomous carrier and handling system, solves the technological deficiencies such as energy consumption in prior art is high, energy utilization rate is low, walking component abrasion is large, service life is short.
The utility model solves the technical scheme that its technical matters adopts:
A kind of autonomous method for carrying, carrying platform main body arranges the wheel flutter mechanism of changeable use, straight wheel mechanism and centre of gration lockout mechanism, arranges the centre of gration coordinating centre of gration lockout mechanism on ground; In straight line carrying section, described carrying platform main body adopts straight wheel mechanism and hoofing part mechanism, and fast cooperation carries out straight line moving altogether; Turning to walking section, centre of gration lockout mechanism locking centre of gration, described carrying platform main body to be coordinated with hoofing part mechanism differential by wheel flutter mechanism carries out turning to walking around turning center.
As the improvement of technique scheme, described wheel flutter mechanism and straight wheel mechanism are switched and earth surface by walking switching mechanism.
As the further improvement of technique scheme, described wheel flutter mechanism is by steering angle set mechanism, and foundation turn radius is to the setting of steering angle.
A kind of autonomous carrier, comprises carrying platform main body, described carrying platform main body is provided with straight wheel mechanism, wheel flutter mechanism, hoofing part mechanism and centre of gration lockout mechanism.
As the improvement of technique scheme, described carrying platform main body is also provided with walking switching mechanism, the changeable described straight wheel mechanism of described walking switching mechanism or wheel flutter mechanism and earth surface.
As the further improvement of technique scheme, described carrying platform main body is also provided with steering angle set mechanism, described steering angle set mechanism can set the steering angle of the wheel flutter in wheel flutter mechanism according to turn radius.
As the further improvement of technique scheme, described hoofing part mechanism comprises two traveling drive wheel and drive motor, and described two travel drive wheel can synchronized walking or differential walking.
As a kind of embodiment of technique scheme, described two travel drive wheel drives walking by same drive motor, is provided with differential gear and coupler between described traveling drive wheel and the mouth of drive motor.
As the another kind of embodiment of technique scheme, described drive motor has two, and each drive motor drives separately one to travel drive wheel, and two drive motor driving two rows can sail the synchronized walking of drive wheel or differential walking.
A kind of autonomous handling system, comprise above-mentioned a kind of autonomous carrier, also comprise the centre of gration being fixedly installed on ground, centre of gration lockout mechanism in described carrying platform main body can coordinate to be locked in and is fixed on the centre of gration on ground, after described centre of gration lockout mechanism is locked in the centre of gration on ground, described carrying platform main body can do divertical motion around centre of gration.
The beneficial effects of the utility model are: the utility model provides a kind of autonomous carrier and handling system, described autonomous carrier is provided with straight wheel mechanism and wheel flutter mechanism, carrier is at straight line moving, turn to during walking and adopt straight wheel mechanism respectively, wheel flutter mechanism and earth surface are walked, adopt centre of gration lockout mechanism to lock ground centre of gration simultaneously, make carrying platform main body can do divertical motion around centre of gration, this kind of structure provides carrying platform main body to turn to required steering effort by centre of gration, can save in a large number carrier self with the energy, efficiency of energy utilization is provided, in addition, this kind of structure exports huge twist moment owing to not needing carrier self, friction between the ground contact of carrier and ground can significantly reduce, ground contact (wheel flutter etc. as the straight wheel in straight wheel mechanism and wheel flutter mechanism) greatly can reduce the frictional loss in its operational process, effectively can extend the service life of these parts.This kind of autonomous carrier and handling system, solve the technological deficiencies such as energy consumption in prior art is high, energy utilization rate is low, walking component abrasion is large, service life is short.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the structural representation of autonomous carrier in the utility model;
Fig. 2 is the partial enlarged drawing of A in Fig. 1;
Fig. 3 is the partial enlarged drawing of B in Fig. 1;
Fig. 4 is the partial enlarged drawing of C in painting 1;
Fig. 5 is the principle schematic of autonomous handling system in the utility model;
Fig. 6 is the structural representation of centre of gration in the utility model.
Detailed description of the invention
Be clearly and completely described below with reference to embodiment and the accompanying drawing technique effect to design of the present utility model, concrete structure and generation, to understand the purpose of this utility model, characteristic sum effect fully.Obviously; described embodiment is a part of embodiment of the present utility model, instead of whole embodiment, based on embodiment of the present utility model; other embodiments that those skilled in the art obtains under the prerequisite not paying creative work, all belong to the scope of the utility model protection.In addition, all connection/annexations related in patent, not singly refer to that component directly connects, and refer to and according to concrete performance, can connect auxiliary by adding or reducing, and form more excellent draw bail.The utility model create in each technical characteristic, can combination of interactions under the prerequisite of not conflicting conflict, with reference to Fig. 1-6.
A kind of autonomous method for carrying, carrying platform main body 1 arranges the wheel flutter mechanism 2 of changeable use, straight wheel mechanism 3 and centre of gration lockout mechanism 4, arranges the centre of gration 5 coordinating centre of gration lockout mechanism 4 on ground; In straight line carrying section, described carrying platform main body 1 adopts straight wheel mechanism 2 and hoofing part mechanism 6, and fast cooperation carries out straight line moving altogether; Turning to walking section, centre of gration lockout mechanism 4 locks centre of gration 5, and described carrying platform main body 1 to be coordinated with hoofing part mechanism 6 differential by wheel flutter mechanism 2 carries out turning to walking around turning center 5.
Preferably, described wheel flutter mechanism 2 and straight wheel mechanism 3 are switched and earth surface by walking switching mechanism.
Preferably, described wheel flutter 2 mechanism is by steering angle set mechanism, and foundation turn radius is to the setting of steering angle.
Concrete with reference to Fig. 1-4.
A kind of autonomous carrier, comprises carrying platform main body 1, described carrying platform main body 1 is provided with straight wheel mechanism 3, wheel flutter mechanism 2, hoofing part mechanism 6 and centre of gration lockout mechanism 4.
Preferably, described carrying platform main body 1 is also provided with walking switching mechanism, the changeable described straight wheel mechanism 3 of described walking switching mechanism or wheel flutter mechanism 2 and earth surface.
When carrier needs straight-line motion, straight wheel mechanism 3 is switched to the state with earth surface by described walking switching mechanism, wheel flutter mechanism 2 is raised from ground and departs from the contact in ground, at this time, drive motor 62 driving two rows in hoofing part mechanism 6 sails the synchronized motion of drive wheel 61, carrier straight line moving.
When carrier needs divertical motion, wheel flutter mechanism 2 is switched to the state with earth surface by described walking switching mechanism, straight wheel mechanism 3 is raised from ground and departs from the contact with ground, at this time, drive motor 62 driving two rows in hoofing part mechanism 6 sails drive wheel 61 differential motion, and carrier turns to walking.
Preferably, described carrying platform main body 1 is also provided with steering angle set mechanism, and described steering angle set mechanism can set the steering angle of the wheel flutter in wheel flutter mechanism 2.
Preferably, described hoofing part mechanism 6 comprises two traveling drive wheels 61 and drive motor 62, and described two travel drive wheel 61 can synchronized walking or differential walking.
When carrier is at straight line moving, described drive motor 62 driving two rows sails the synchronized motion of drive wheel 61, and when carrier is at divertical motion, described drive motor 62 driving two rows sails drive wheel 61 differential motion.
As the first embodiment of such scheme, described two travel drive wheel 61 drives walking by same drive motor 62, is provided with differential gear and coupler between described traveling drive wheel 61 and the mouth of drive motor 52.
As the second embodiment of technique scheme, described drive motor 62 has two, and each drive motor 62 drives separately one to travel drive wheel 61, two drive motor 62 driving two rows can sail the synchronized walking of drive wheel 61 or differential walking.
Can realize travelling the synchronized or differential motion of drive wheel 61 by above-mentioned two kinds of embodiments.
Concrete with reference to Fig. 5, Fig. 6.
Based on above-mentioned autonomous carrier, the utility model additionally provides a kind of autonomous handling system, described autonomous handling system comprises described a kind of autonomous carrier, also comprise the centre of gration 5 being fixedly installed on ground, centre of gration lockout mechanism 4 in described carrying platform main body 1 can coordinate to be locked in and is fixed on the centre of gration 5 on ground, after described centre of gration lockout mechanism 4 is locked in the centre of gration 5 on ground, described carrying platform main body 1 can do divertical motion around centre of gration 5.
Described centre of gration 5 is fixedly installed on the center of curvature place of finite segmentation in carrier track route.
Described centre of gration lockout mechanism 4 can contact with the centre of gration 5 being fixed on ground, and limits carrier planar movement.
Described centre of gration 5 and the connection mode of both centre of gration lockout mechanisms 4 are that failure-free is articulated and connected mode, guarantee that carrier S. A. coincides with the centre of gration 5 being fixed on ground.
It should be noted that, above-mentioned ground refers to relative to the part of carrier motion or the place contacted with carrier crawler body, straight wheel mechanism 3, wheel flutter mechanism 2 in carrier handling process, as: terrace, structural framing, platform base etc.
Described carrier is when straight line moving, ensure to keep in touch in straight wheel mechanism 3 and ground, described wheel flutter mechanism 2 and ground keep being separated, and drive motor 62 driving two rows of hoofing part mechanism 6 sails drive wheel 61 synchronously speed motion altogether, and whole carrier linearly moves.
When carrier travels to turn marking point, centre of gration lockout mechanism 4 be connected with the centre of gration 5 being fixed on ground reliable and lock, making it be subject to the constraint of planar movement, only keeping the degree of freedom rotated around centre of gration.Wheel flutter in wheel flutter mechanism 2 is adjusted to angle corresponding to radius of curvature in liftoff state, then the straight wheel in straight wheel mechanism 3 is packed up or the wheel flutter in wheel flutter mechanism 2 is fallen, keep the wheel flutter in wheel flutter mechanism 2 and earth surface, the straight wheel of straight wheel mechanism 3 and surface separation.Travel-driving mechanism 6 driving two rows sails drive wheel 61 differential motion.After completing rotary motion, straight wheel mechanism 3 put down, lift wheel flutter mechanism 2, centre of gration lockout mechanism 4 is separated with the centre of gration 5 being fixed on ground, and whole carrier completes divertical motion.
Centre of gration 5 is fixed at the center point of curvature place of finite segmentation on specified path, and turning to initial point and turning to terminating point locking hinged, regulating rotary is to the steering angle of wheel mechanism 2, switch wheel flutter mechanism 2 or straight wheel mechanism 3 and earth surface, travel-driving mechanism 6 differential or synchronous speed altogether drive and travel drive wheel 61 and rotate and finally make carrier complete the autonomous in whole piece path.
More than that better enforcement of the present utility model is illustrated, but the utility model is created and is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to the utility model spirit, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (7)
1. an autonomous carrier, it is characterized in that: comprise carrying platform main body (1), described carrying platform main body (1) is provided with straight wheel mechanism (3), wheel flutter mechanism (2), hoofing part mechanism (6) and centre of gration lockout mechanism (4).
2. a kind of autonomous carrier according to claim 1, it is characterized in that: described carrying platform main body (1) is also provided with walking switching mechanism, the changeable described straight wheel mechanism (3) of described walking switching mechanism or wheel flutter mechanism (2) and earth surface.
3. a kind of autonomous carrier according to claim 1, it is characterized in that: described carrying platform main body (1) is also provided with steering angle set mechanism, and described steering angle set mechanism can set the steering angle of the wheel flutter in wheel flutter mechanism (2).
4. a kind of autonomous carrier according to claim 1, is characterized in that: described hoofing part mechanism (6) comprises two traveling drive wheels (61) and drive motor (62), and described two travel drive wheel (61) can synchronized walking or differential walking.
5. a kind of autonomous carrier according to claim 4, it is characterized in that: described two travel drive wheel (61) drives walking by same drive motor (62), is provided with differential gear and coupler between described traveling drive wheel (61) and the mouth of drive motor (52).
6. a kind of autonomous carrier according to claim 4, it is characterized in that: described drive motor (62) has two, each drive motor (62) drives separately one and travels drive wheel (61), and two drive motor (62) driving two rows can sail drive wheel (61) synchronized walking or differential walking.
7. an autonomous handling system, it is characterized in that: comprise a kind of autonomous carrier described in any one of claim 1-6, also comprise the centre of gration (5) being fixedly installed on ground, centre of gration lockout mechanism (4) on described carrying platform main body (1) can coordinate on the centre of gration (5) that is locked in and is fixed on ground, after described centre of gration lockout mechanism (4) is locked in the centre of gration (5) on ground, described carrying platform main body (1) can do divertical motion around centre of gration (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520741340.XU CN205023371U (en) | 2015-09-23 | 2015-09-23 | Independently walk carrier and handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520741340.XU CN205023371U (en) | 2015-09-23 | 2015-09-23 | Independently walk carrier and handling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205023371U true CN205023371U (en) | 2016-02-10 |
Family
ID=55255923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520741340.XU Withdrawn - After Issue CN205023371U (en) | 2015-09-23 | 2015-09-23 | Independently walk carrier and handling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205023371U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173581A (en) * | 2015-09-23 | 2015-12-23 | 王俊 | Autonomous walking carrying method, carrier and carrying system |
| CN106285125A (en) * | 2016-09-22 | 2017-01-04 | 深圳精智机器有限公司 | Vehicle carrier |
-
2015
- 2015-09-23 CN CN201520741340.XU patent/CN205023371U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173581A (en) * | 2015-09-23 | 2015-12-23 | 王俊 | Autonomous walking carrying method, carrier and carrying system |
| CN105173581B (en) * | 2015-09-23 | 2018-01-09 | 深圳精智机器有限公司 | A kind of autonomous method for carrying, carrier and handling system |
| CN106285125A (en) * | 2016-09-22 | 2017-01-04 | 深圳精智机器有限公司 | Vehicle carrier |
| CN106285125B (en) * | 2016-09-22 | 2019-04-16 | 深圳精智机器有限公司 | Vehicle carrier |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203996231U (en) | A kind of track switch exchange system of suspending rail-car | |
| CN203460696U (en) | Six-wheeled full drive obstacle clearance car | |
| CN104773042A (en) | Amphibious robot with transformable structure | |
| CN204250039U (en) | A kind of air cushion suspended transport vehicle is accurately walked servo motor driving device | |
| CN205023371U (en) | Independently walk carrier and handling system | |
| CN203480309U (en) | Driving device of bidirectional automated guided vehicle | |
| WO2019037692A1 (en) | Guide wheel rail vehicle and tracks | |
| CN203974852U (en) | Pneumatic department control switch device for a kind of monorail crane | |
| CN203819345U (en) | Foldable self-aid multifunctional paddy field managing machine | |
| CN204587079U (en) | Mobile platform | |
| CN207347840U (en) | Improve the commutation track of empty iron railway points system commutation stability | |
| CN103318215B (en) | Guideway vehicle | |
| CN105173581A (en) | Autonomous walking carrying method, carrier and carrying system | |
| CN202716956U (en) | Omnidirectional mobile crawler | |
| CN204915881U (en) | High efficiency turns to platform based on endless track vehicle motion pattern | |
| CN209126845U (en) | A kind of wheel shoe alternative expression all-terrain vehicle | |
| CN108715304A (en) | A kind of steering guiding mechanism of double track revolution driving vehicle | |
| CN204222964U (en) | Wagon drill | |
| CN202080331U (en) | Vehicle steering structure for rigid axle suspension | |
| CN206914478U (en) | A kind of electric bicycle shoe | |
| CN205131427U (en) | Full all terrain vehicle tire elevating gear | |
| CN104386154B (en) | One efficiently turns to crawler belt and platform thereof | |
| CN201427575Y (en) | Single-track vehicle | |
| CN203877784U (en) | Semi-rubber-tired gantry crane with electric hoist | |
| CN209974138U (en) | Monorail crane four-way type rotary lane changing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171129 Address after: 518057 Beek science and Technology Building No. 9, Nanshan District Hi-tech Zone, Shenzhen City, Guangdong Province, 1101-B Patentee after: Shenzhen Jingzhi Machine Co., Ltd. Address before: 518000 Beek science and technology building, No. 9, science research road, Nanshan District high tech Zone, Guangdong, Shenzhen, China 1101-B Patentee before: Wang Jun |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160210 Effective date of abandoning: 20180109 |