CN208308361U - A kind of vehicle automatic transporting guide transport lorry and guiding transportation system - Google Patents
A kind of vehicle automatic transporting guide transport lorry and guiding transportation system Download PDFInfo
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- CN208308361U CN208308361U CN201820088458.0U CN201820088458U CN208308361U CN 208308361 U CN208308361 U CN 208308361U CN 201820088458 U CN201820088458 U CN 201820088458U CN 208308361 U CN208308361 U CN 208308361U
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Abstract
The utility model discloses a kind of vehicle automatic transporting guide transport lorry and guiding transportation system, and guide transport lorry includes transport vehicle ontology, support platform, walking mechanism, elevating mechanism, control equipment, sensing device, power module；Elevating mechanism includes an at least lift drive mechanism, at least one lifting executing agency, and lift drive mechanism connection lifting executing agency drives lifting executing agency to execute lifting action；Walking mechanism includes at least a traveling wheel, hoofing part mechanism, walking transmission mechanism, steering driving mechanism, steering gear；Sensing device includes several obstacle sensors for being distributed in the transport vehicle body perimeter, several magnetic navigation sensors for being set to the transport vehicle ontology.The utility model proposes vehicle automatic transporting guide transport lorry, the obstacle climbing ability of automatic guided vehicle can be improved, improve the degree of protection of entire vehicle, navigation effect gets a promotion, be convenient for outdoor application；Human cost investment is reduced simultaneously, reduces exhaust emissions.
Description
Technical field
The utility model belongs to technical field of vehicle transport, is related to a kind of guide transport lorry more particularly to a kind of vehicle certainly
It is dynamic to carry guide transport lorry；Meanwhile the utility model further relates to a kind of vehicle automatic transporting guiding transportation system.
Background technique
Current vehicle automatic guided vehicle is only applied to interior, and the requirement to ground is very high, and ground line gradient is less than 3 °,
Ground flat degree requires 5mm/ ㎡ hereinafter, ground surface expansion joint is less than 10mm.And waterproofing grade is lower, and only critical component is supported
IP54, and vehicle can be guided by various ways such as two-dimension code navigation, laser navigations.
Existing guiding vehicle can not be applied in outdoor, mainly the restriction by following several respects factor: 1. existing vehicle
The obstacle climbing ability of structure is unable to satisfy the outdoor substantive requirements of form；2. the class of safety protection of existing vehicle structure is unable to satisfy outdoor
Rain and snow weather situation；3. the navigation mode of existing vehicle structure is unable to satisfy outdoor weather and place installations and facilities condition.
In view of this, nowadays there is an urgent need to design a kind of new vehicle automatic guided vehicle, to overcome existing vehicle automatic
Guide drawbacks described above existing for vehicle.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of vehicle automatic transporting guide transport lorries, to mention
The obstacle climbing ability of high automatic guided vehicle improves the degree of protection of entire vehicle.
In addition, the utility model also provides a kind of vehicle automatic transporting guiding transportation system, to improve automatic guided vehicle
Obstacle climbing ability, improve the degree of protection of entire vehicle.
In order to solve the above technical problems, the utility model adopts the following technical solution:
A kind of vehicle automatic transporting guide transport lorry, the guide transport lorry include: transport vehicle ontology, support platform, row
Walk mechanism, elevating mechanism, control equipment, sensing device, power module；
The control equipment is separately connected walking mechanism, elevating mechanism, sensing device, receives the number of sensing device induction
According to the movement of control walking mechanism, elevating mechanism；
The power module is separately connected walking mechanism, elevating mechanism, control equipment, sensing device, for providing work
Required electric energy；
The walking mechanism, elevating mechanism, control equipment, sensing device, power module are set by the transport vehicle ontology
It sets, support platform is set to above the transport vehicle ontology；
The elevating mechanism includes an at least lift drive mechanism, at least one lifting executing agency, and lift drive mechanism connects
Lifting executing agency is met, driving lifting executing agency executes lifting action；One end of elevating mechanism is set to the transport vehicle sheet
Body, the other end connect support platform, drive the lifting of support platform；
The walking mechanism include an at least traveling wheel, hoofing part mechanism, walking transmission mechanism, steering driving mechanism,
Steering gear, hoofing part mechanism connect at least a line by walking transmission mechanism and walk wheel, drive an at least traveling wheel row
It walks；Each traveling wheel is set to the lower section or lower part of transport vehicle ontology；Steering driving mechanism is connected by steering gear and is walked
Wheel or deflecting roller, driving guide transport lorry turn to；
The sensing device include several obstacle sensors for being distributed in the transport vehicle body perimeter, be set to it is described
Transport vehicle body portion or/and rear portion or/and left part or/and right part or/and several magnetic navigation sensors.
As a kind of preferred embodiment of the utility model, the sensing device further includes being set to the transport vehicle ontology
Angular transducer.
As a kind of preferred embodiment of the utility model, the minimum ground clearance of the transport vehicle ontology of the guide transport lorry
More than or equal to 40mm；The diameter of traveling wheel is more than or equal to 280mm.
As a kind of preferred embodiment of the utility model, the walking mechanism includes four traveling wheels, each traveling wheel point
Not She You hoofing part mechanism, guide transport lorry use 4 wheel driven driving method；Hoofing part mechanism is alternating current generator, separate unit exchange
The output power of motor, which is greater than, is equal to 1500w.
As a kind of preferred embodiment of the utility model, the outer surface of the transport vehicle ontology, the outer surface for controlling equipment
It is respectively equipped with waterproof layer.
As a kind of preferred embodiment of the utility model, the steering gear includes the first sprocket wheel, the second sprocket wheel, chain
Item, steering driving mechanism are connect with the first sprocket wheel, driving the first sprocket wheel rotation；The chain is separately connected the first sprocket wheel, second
Sprocket wheel；Chain movement is driven after the rotation of first sprocket wheel, to drive the movement of the second sprocket wheel；
Second sprocket wheel is connect with traveling wheel；One steering shaft, the second sprocket wheel and the steering shaft are set above traveling wheel
It is fixedly connected, after the rotation of the second sprocket wheel, traveling wheel can be driven to turn to.
As a kind of preferred embodiment of the utility model, the steering driving mechanism includes steering motor, steering motor control
Minor sprocket processed drives big sprocket wheel to turn to, and steering motor output power, which is greater than, is equal to 1000w.
As a kind of preferred embodiment of the utility model, the sensing device includes two obstacle sensors, is set respectively
The front and back for being placed in the transport vehicle ontology is diagonal.
As a kind of preferred embodiment of the utility model, the elevating mechanism includes hydraulic lifting mechanism, and is increased
Mechanical anti-falling device.
As a kind of preferred embodiment of the utility model, the power module includes 250A48V lithium battery.
As a kind of preferred embodiment of the utility model, the sensing device includes four magnetic navigation sensors, respectively position
All around in transport vehicle ontology, vehicle can keep straight on and traversing.
As a kind of preferred embodiment of the utility model, the support platform includes frame, flase floor, several support foots, sets
Several deceleration strips being placed in above flase floor, flase floor are fixed on frame, and each support foot is set to the lower section of frame.
As a kind of preferred embodiment of the utility model, the elevating mechanism is hydraulic lifting mechanism, the hydraulic lifting
If mechanism includes several elevating rams, stem piston, piston connects with corresponding elevating ram cooperating, each elevating ram and hydraulic station
It connects, cooperation hydraulic station work；
Each elevating ram, which is equipped with, prevents oil cylinder falling mechanism, and preventing oil cylinder falling mechanism includes fixed mechanism, will be lifted
Oil cylinder is fixed on transport vehicle ontology.
A kind of vehicle automatic transporting guiding transportation system, including guide transport lorry, at least RFID being set on road surface
Several sensing guide wires for blocking, being layed in below road surface；
The sensing guide wire is for guiding the guide transport lorry along setting sensing guide wire walking；The sensing guiding
Line includes several magnetic markers, and each magnetic markers form magnetic track；
The guide transport lorry includes: transport vehicle ontology, support platform, walking mechanism, elevating mechanism, control equipment, passes
Induction device, power module；
The control equipment is separately connected walking mechanism, elevating mechanism, sensing device, receives the number of sensing device induction
According to the movement of control walking mechanism, elevating mechanism；
The power module is separately connected walking mechanism, elevating mechanism, control equipment, sensing device, for providing work
Required electric energy；
The walking mechanism, elevating mechanism, control equipment, sensing device, power module are set by the transport vehicle ontology
It sets, all or part of support platform is set to above the transport vehicle ontology；
The elevating mechanism includes an at least lift drive mechanism, at least one lifting executing agency, and lift drive mechanism connects
Lifting executing agency is met, driving lifting executing agency executes lifting action；One end of elevating mechanism is set to the transport vehicle sheet
Body, the other end connect support platform, drive the lifting of support platform；
The walking mechanism include an at least traveling wheel, hoofing part mechanism, walking transmission mechanism, steering driving mechanism,
Steering gear, hoofing part mechanism connect at least a line by walking transmission mechanism and walk wheel, drive an at least traveling wheel row
It walks；Each traveling wheel is set to the lower section or lower part of transport vehicle ontology；Steering driving mechanism is connected by steering gear and is walked
Wheel or deflecting roller, driving guide transport lorry turn to；
The sensing device includes several obstacle sensors for being distributed in the transport vehicle body perimeter；
The guide transport lorry further includes magnetic navigation sensor, RFID identification device；Magnetic navigation sensor is to incude magnetic track
The signal of nail, so that guide transport lorry is walked along the center of magnetic track；
The RFID card is equipped with corresponding control instruction；The RFID identification device to identify the instruction in RFID card, from
And obtain the control command to guide transport lorry.
The utility model has the beneficial effects that: the utility model proposes vehicle automatic transporting guide transport lorry, pass through
A variety of sensing modes are set, the intelligence degree of guide transport lorry can be improved, while navigation effect gets a promotion, reduce manpower
Cost input.
By improving the minimum ground clearance of transport vehicle ontology while improving walking wheel diameter, automatic guided vehicle can be improved
Obstacle climbing ability；By the way that protective materials is arranged outside transport vehicle, the degree of protection of entire vehicle is improved, outdoor application is convenient for；It is logical
It crosses battery and driving motor replaces engine, exhaust emissions can be effectively reduced.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 2 is the structural schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 3 is the structural schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 4 is the structural schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 5 is the structural schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 6 is the structural schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 7 is the structural schematic diagram of the utility model vehicle automatic transporting guide transport lorry.
Fig. 8 is the distribution schematic diagram of magnetic navigation sensor in the utility model vehicle automatic transporting guide transport lorry.
Fig. 9 is that the structure that driving mechanism cooperates with steering mechanism in the utility model vehicle automatic transporting guide transport lorry is shown
It is intended to.
Figure 10 is the composition schematic diagram that vehicle automatic transporting guides transportation system in embodiment seven.
Figure 11 is the composition schematic diagram that vehicle automatic transporting guides transportation system in embodiment eight.
Specific embodiment
The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.
Embodiment one
Fig. 1 to Fig. 8 is please referred to, the utility model discloses a kind of vehicle automatic transporting guide transport lorry, the guiding fortune
Defeated vehicle includes: transport vehicle ontology 1, support platform 2, walking mechanism 3, elevating mechanism 4, control equipment 5, sensing device 6, power supply mould
Block 7.
The control equipment 5 is separately connected walking mechanism 3, elevating mechanism 4, sensing device 6, receives sensing device 6 and incudes
Data, control walking mechanism 3, elevating mechanism 4 movement.The power module 7 is separately connected walking mechanism 3, elevating mechanism
4, equipment 5, sensing device 6, electric energy needed for providing work for it are controlled.
The walking mechanism 3, elevating mechanism 4, control equipment 5, sensing device 6, power module 7 pass through the transport vehicle sheet
Body 1 is arranged, and support platform 2 is set to 1 top of transport vehicle ontology.
The elevating mechanism 4 includes an at least lift drive mechanism, at least one lifting executing agency, and lift drive mechanism connects
Lifting executing agency is met, driving lifting executing agency executes lifting action；One end of elevating mechanism 4 is set to the transport vehicle sheet
Body 1, the other end connect support platform 2, drive the lifting of support platform 2.
The driving method of elevating mechanism 4 is also possible to hydraulic driving mode；Elevating mechanism 4 includes hydraulic lifting mechanism, institute
If stating hydraulic lifting mechanism includes several elevating rams 41, stem piston, each piston and corresponding 41 cooperating of elevating ram, respectively
Elevating ram 41 is connect with hydraulic station 42, and cooperation hydraulic station 42 works.
The walking mechanism 3 includes an at least traveling wheel 31, hoofing part mechanism 32, walking transmission mechanism, turns to driving
Mechanism 34, steering gear 35, hoofing part mechanism 32 connect at least a line by walking transmission mechanism and walk wheel 31, drive
The walking of an at least traveling wheel 31；Each traveling wheel 31 is set to the lower section or lower part of transport vehicle ontology 1；Steering driving mechanism 34 passes through
(traveling wheel can be used as deflecting roller simultaneously, also can be set special turn for the connection traveling wheel of steering gear 35 or deflecting roller
To wheel), driving guide transport lorry turns to.
In the present embodiment, as shown in figure 9, steering gear 35 includes minor sprocket 351, big sprocket wheel 352, chain 353, turn
It can be steering motor to driving mechanism 34, steering motor is connect with minor sprocket 351, and driving minor sprocket 351 rotates；The chain
353 are separately connected minor sprocket 351, big sprocket wheel 352；Minor sprocket 351 drives chain 353 to act after rotating, to drive big sprocket wheel
352 movements.Big sprocket wheel 352 is connect with traveling wheel 31 (can be set a steering shaft, big sprocket wheel 352 can be with above traveling wheel 31
The steering shaft is fixedly connected), such as can be set can drive traveling wheel 31 after big sprocket wheel 352 rotates in the top of traveling wheel 31
It turns to.Angular transducer can be set in big sprocket wheel 352.Certainly, steering driving mechanism, steering gear structure can also be
Other modes；As directly passed through gear set driving (being not provided with chain, directly the gear set by being meshed).
The sensing device 6 includes several obstacle sensors 61 for being distributed in 1 periphery of transport vehicle ontology, is set to
1 front of transport vehicle ontology or/and rear portion or/and left part or/and right part or/and several magnetic navigation sensors 62.As institute
Stating sensing device 6 may include four magnetic navigation sensors 62, be located at transport vehicle ontology 1 all around, and vehicle can be straight
It is capable and traversing, as shown in figure 11.
In addition, (certainly, the sensing device can also be including being set to the angular transducer 63 of the transport vehicle ontology 1
It can also be not provided with angular transducer 63).It can choose the angular transducer 63 that error is ± 2 °, to improve induction precision.
The sensing device 6 can also include RFID reader, to identify RFID card.
The course of work of vehicle automatic transporting guide transport lorry AGV: guide transport lorry provides electric energy by battery, and battery is optional
48V, 200AH are selected, both ends are equipped with charge port.Hydraulic station provides pressure oil for hydraulic lifting, and system maximum pressure 7MPa is used
Inlet vane oil pump feed, oil pump structure is small and exquisite, low noise, service life are long, and the commutation of low pressure (24V) solenoid valve control oil cylinder, outlet is set
There are check valve and synchronous valve, check valve guarantees that oil cylinder will not drop, for first of locking.Synchronous valve guarantees that four oil cylinders synchronize
It rises or decline, synchronous efficiency is up to 98%.For the tenesmus of anti-oil cylinder, it is additionally provided with second locking, i.e. mechanical caging, it is by electronic
Push rod drives traversing bolt, stops oil cylinder lower end piston rod, achievees the purpose that locked cylinder.The two sides AGV are equipped with electronic box, pass through four
A line outlet is connected with electrical appliance.There are four steering wheels by entire AGV, can individually control, and each steering wheel turns to total equipped with one
At control turns to.When AGV works, hydraulic station provides pressure oil, and four oil cylinders rise simultaneously, the conical surface of cylinder piston rod upper end
It being contacted with the taper hole of ride plate, ride plate jacks up, and then, after AGV is moved to parking stall, hydraulic station is again started up, oil cylinder decline,
Ride plate lower end contacts ground, and entire vehicle process of moving is completed.
Embodiment two
The difference between this embodiment and the first embodiment lies in the present embodiment, the transport vehicle ontology 1 of the guide transport lorry
Minimum ground clearance is more than or equal to 40mm；The diameter of traveling wheel is more than or equal to 280mm.
The walking mechanism 3 includes four traveling wheels 31, and each traveling wheel is respectively equipped with hoofing part mechanism, guiding transport
Vehicle uses 4 wheel driven driving method；Hoofing part mechanism is alternating current generator, and the output power of separate unit alternating current generator, which is greater than, to be equal to
1500w。
The steering driving mechanism 34 includes steering motor, and steering motor controls minor sprocket and big sprocket wheel is driven to turn to, turns to
Output power of motor is more than or equal to 1000w.
Embodiment three
The difference between this embodiment and the first embodiment lies in the driving method of elevating mechanism 4 is also possible to electricity in the present embodiment
The mode of machine cooperation telescopic rod；Elevating mechanism 4 includes lifting driving motor, lifting and driving gear set, rack gear, telescopic rod, described
It goes up and down driving motor and rack gear, the unit fixed setting of rack gear and telescopic rod is connected by lifting and driving gear set；Telescopic rod
Including first body of rod, second body of rod, rack gear and second body of rod are fixedly installed, and can drive second body of rod by lifting driving motor
Lifting action.
Example IV
The difference between this embodiment and the first embodiment lies in the present embodiment, the outer surface of the transport vehicle ontology 1, control
The outer surface of equipment is respectively equipped with waterproof layer.
The sheet metal structural of transport vehicle ontology 1 is all made of water-proofing treatment, and internal electric case equally uses waterproofing design, lifting oil
Cylinder guide rod reaches waterproof effect using speciality material surface treated.
Embodiment five
The difference between this embodiment and the first embodiment lies in the sensing device includes that two barriers pass in the present embodiment
Sensor, the front and back for being respectively arranged at the transport vehicle ontology is diagonal, and the induction angle of single obstacle sensor reaches 270 degree,
The object in trolley side and forward extent can be monitored centered on obstacle sensor, so that within the scope of 360 degree of trolley
It realizes without dead angle monitoring and environment resistant light ability reaches 80000lx.In addition, the power module includes 250A48V lithium battery.
Embodiment six
The difference between this embodiment and the first embodiment lies in the present embodiment, it, can in order to improve the stability of elevating ram 41
To prevent oil cylinder falling mechanism in the bottom of elevating ram 41 setting one, preventing oil cylinder falling mechanism includes fixed mechanism, will be lifted
Oil-lifting jar is fixed on transport vehicle ontology.Fixed mechanism may include bolt, by manual operation；It is also possible to motor cooperation to insert
Pin, the settable electric pushrod in one end of bolt drive traversing bolt by electric pushrod, stop oil cylinder lower end piston rod, reach
The purpose of locked cylinder.
Embodiment seven
Referring to Fig. 10, the present invention also discloses a kind of vehicle automatic transporting guiding transportation system, including guide transport lorry
100, at least RFID card 200 being set on road surface, several sensing guide wires 300, the control host that are layed in below road surface
400, portable terminal 500 is manipulated.
The sensing guide wire 300 is for guiding the guide transport lorry along setting sensing guide wire walking；The sensing
Guide wire 300 includes several signal projectors 301, several magnetic markers 302, and each signal projector 301 passes through power supply line and data
Line connection, each magnetic markers 302 form magnetic track (can connect by power supply line, be also possible to permanent magnet, be not necessarily to power supply line)；Each signal
Transmitter 301 is separately connected control host 400, and the control host 400 controls each signal projector 301 and emits signal
Frequency.
The primary structure of the guide transport lorry 100 can refer to above embodiments.
Respectively manipulation portable terminal 500 guides respectively with control 400 wireless telecommunications of host to input to control host 400
The order of the point of arrival, control guide transport lorry traveling of transport vehicle 100.
The point of arrival position of control host 400 each guide transport lorry 100 based on the received controls each item sensing and leads
Each signal projector 301 emits the frequency of signal in lead 300.
The guide transport lorry 100 further includes signal receiver 101, magnetic navigation sensor 102, RFID identification device 103；Letter
The signal that number receiver 101 emits to receive the signal projector 301；Magnetic navigation sensor 102 is to incude magnetic markers
302 signal, so that guide transport lorry is walked along the center of magnetic track.
The RFID card 200 is equipped with corresponding control instruction；The RFID identification device 103 is to identify in RFID card 200
Instruction, to obtain to the control command of guide transport lorry 100.
In the fork on the road of route, signal projector 301 is sent out in each route in the detection of signal receiver 101 fork on the road
The signal penetrated selects corresponding crossing according to the difference of transmitting signal, or guides fortune according to the acquisition of information in RFID card 200
The steering order of defeated vehicle 100.
When needing interim switching road, manipulation portable terminal 500 sends the signal to control host 400, controls host
The signal that the corresponding transmitting of signal projector 301 of 400 controls updates, realizes that guide transport lorry 100 switches road during traveling
Line.Each signal projector 301 can change signal frequency, in route one after the order for receiving control host 400
301 frequency of signal projector is originally used for a, the route of corresponding guide transport lorry A；It controls host 400 and controls signal in route one
The frequency of transmitter 301 is b, and the frequency for controlling signal projector 301 in route two is a, then guide transport lorry A is in intersection
It can choose updated route, so as to realize real-time control.
Embodiment eight
The present embodiment and the difference of embodiment seven are, in the present embodiment, please refer to Figure 11, can not include signal transmitting
Device 301, signal receiver 101, control host 400, lamp group, the image collection module 104, image analysis mould for issuing different light
Block 105；Vehicle to run is controlled by RFID and the mode of magnetic induction.
The present invention discloses a kind of vehicle automatic transporting guiding transportation system, including guide transport lorry, is set on road surface
An at least RFID card, several sensing guide wires being layed in below road surface.
The sensing guide wire is for guiding the guide transport lorry along setting sensing guide wire walking；The sensing guiding
Line includes several magnetic markers, and each magnetic markers form magnetic track；
The guide transport lorry mainly in combination with above embodiments can be referred to.
The guide transport lorry further includes magnetic navigation sensor, RFID identification device；Magnetic navigation sensor is to incude magnetic track
The signal of nail, so that guide transport lorry is walked along the center of magnetic track；
The RFID card is equipped with corresponding control instruction；The RFID identification device to identify the instruction in RFID card, from
And the control command to guide transport lorry is obtained, control command includes accelerating, slowing down, direction information；
In the fork on the road of route, the RFID identification device according to the acquisition of information guide transport lorry in RFID card whether need
The instruction to be turned to.
In conclusion the utility model proposes vehicle automatic transporting guide transport lorry and guiding transportation system, by setting
Set a variety of sensing modes, the intelligence degree of guide transport lorry can be improved, while navigation effect gets a promotion, reduce manpower at
This investment.
By improving the minimum ground clearance of transport vehicle ontology while improving walking wheel diameter, automatic guided vehicle can be improved
Obstacle climbing ability；By the way that protective materials is arranged outside transport vehicle, the degree of protection of entire vehicle is improved, outdoor application is convenient for；It is logical
It crosses battery and driving motor replaces engine, exhaust emissions can be effectively reduced.
The utility model guides transportation system after increasing signal projector, signal receiver, can transport in real time to guiding
The form path of defeated vehicle is controlled.
Here the description and application of the utility model are illustrative, are not wishing to for the scope of the utility model being limited in
It states in embodiment.The deformation and change of embodiments disclosed herein be it is possible, for the ordinary skill people of those this fields
The replacement of embodiment and equivalent various parts are well known for member.It should be appreciated by the person skilled in the art that not taking off
In the case where spirit or essential characteristics from the utility model, the utility model can in other forms, structure, arrangement, ratio,
And it is realized with other components, material and component.It, can be to this in the case where not departing from the scope of the utility model and spirit
In disclosed embodiment carry out other deformations and change.
Claims (10)
1. a kind of vehicle automatic transporting guide transport lorry, which is characterized in that the guide transport lorry includes: transport vehicle ontology, branch
Support platform, walking mechanism, elevating mechanism, control equipment, sensing device, power module；
The control equipment is separately connected walking mechanism, elevating mechanism, sensing device, receives the data of sensing device induction, control
The movement of walking mechanism, elevating mechanism processed；
The power module is separately connected walking mechanism, elevating mechanism, control equipment, sensing device, for providing needed for work
Electric energy；
The walking mechanism, elevating mechanism, control equipment, sensing device, power module are arranged by the transport vehicle ontology, branch
The all or part of support platform is set to above the transport vehicle ontology；
The elevating mechanism includes an at least lift drive mechanism, at least one lifting executing agency, and lift drive mechanism connection rises
Executing agency drops, and driving lifting executing agency executes lifting action；One end of elevating mechanism is set to the transport vehicle ontology, separately
One end connects support platform, drives the lifting of support platform；
The walking mechanism includes an at least traveling wheel, hoofing part mechanism, walking transmission mechanism, steering driving mechanism, steering
Transmission mechanism, hoofing part mechanism connect at least a line by walking transmission mechanism and walk wheel, driving at least traveling wheel walking；Respectively
Traveling wheel is set to the lower section or lower part of transport vehicle ontology；Steering driving mechanism connects traveling wheel by steering gear or turns
To wheel, guide transport lorry is driven to turn to；
The sensing device includes several obstacle sensors for being distributed in the transport vehicle body perimeter, is set to the transport
Vehicle body portion or/and rear portion or/and left part or/and right part or/and several magnetic navigation sensors.
2. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The sensing device further includes the angular transducer for being set to the transport vehicle ontology.
3. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The minimum ground clearance of the transport vehicle ontology of the guide transport lorry is more than or equal to 40mm；The diameter of traveling wheel is more than or equal to
280mm。
4. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The walking mechanism includes four traveling wheels, and each traveling wheel is respectively equipped with hoofing part mechanism, and guide transport lorry uses
4 wheel driven driving method；Hoofing part mechanism is alternating current generator, and the output power of separate unit alternating current generator, which is greater than, is equal to 1500w.
5. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The outer surface of the transport vehicle ontology, the outer surface for controlling equipment are respectively equipped with waterproof layer.
6. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The steering gear includes the first sprocket wheel, the second sprocket wheel, chain, and steering driving mechanism is connect with the first sprocket wheel, is driven
Dynamic first sprocket wheel rotation；The chain is separately connected the first sprocket wheel, the second sprocket wheel；Chain movement is driven after the rotation of first sprocket wheel,
To drive the movement of the second sprocket wheel；
Second sprocket wheel is connect with traveling wheel；One steering shaft is set above traveling wheel, and the second sprocket wheel is fixed with the steering shaft
Connection can drive traveling wheel to turn to after the rotation of the second sprocket wheel.
7. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The sensing device includes two obstacle sensors, and the front and back for being respectively arranged at the transport vehicle ontology is diagonal；
The power module includes 250A48V lithium battery；
The sensing device includes four magnetic navigation sensors, is located at transport vehicle ontology all around, vehicle can keep straight on
And it is traversing.
8. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The support platform includes frame, flase floor, several support foots, several deceleration strips being set to above flase floor, flase floor
It is fixed on frame, each support foot is set to the lower section of frame.
9. vehicle automatic transporting guide transport lorry according to claim 1, it is characterised in that:
The elevating mechanism is hydraulic lifting mechanism, if the hydraulic lifting mechanism includes several elevating rams, stem piston, piston
With corresponding elevating ram cooperating, each elevating ram is connect with hydraulic station, cooperation hydraulic station work；
Each elevating ram, which is equipped with, prevents oil cylinder falling mechanism, and preventing oil cylinder falling mechanism includes fixed mechanism, by elevating ram
It is fixed on transport vehicle ontology.
10. a kind of vehicle automatic transporting guides transportation system, which is characterized in that including guide transport lorry, be set on road surface
An at least RFID card, several sensing guide wires being layed in below road surface；
The sensing guide wire is for guiding the guide transport lorry along setting sensing guide wire walking；The sensing guide wire packet
Several magnetic markers are included, each magnetic markers form magnetic track；
The guide transport lorry includes: transport vehicle ontology, support platform, walking mechanism, elevating mechanism, control equipment, sensing dress
It sets, power module；
The control equipment is separately connected walking mechanism, elevating mechanism, sensing device, receives the data of sensing device induction, control
The movement of walking mechanism, elevating mechanism processed；
The power module is separately connected walking mechanism, elevating mechanism, control equipment, sensing device, for providing needed for work
Electric energy；
The walking mechanism, elevating mechanism, control equipment, sensing device, power module are arranged by the transport vehicle ontology, branch
The all or part of support platform is set to above the transport vehicle ontology；
The elevating mechanism includes an at least lift drive mechanism, at least one lifting executing agency, and lift drive mechanism connection rises
Executing agency drops, and driving lifting executing agency executes lifting action；One end of elevating mechanism is set to the transport vehicle ontology, separately
One end connects support platform, drives the lifting of support platform；
The walking mechanism includes an at least traveling wheel, hoofing part mechanism, walking transmission mechanism, steering driving mechanism, steering
Transmission mechanism, hoofing part mechanism connect at least a line by walking transmission mechanism and walk wheel, driving at least traveling wheel walking；Respectively
Traveling wheel is set to the lower section or lower part of transport vehicle ontology；Steering driving mechanism connects traveling wheel by steering gear or turns
To wheel, guide transport lorry is driven to turn to；
The sensing device includes several obstacle sensors for being distributed in the transport vehicle body perimeter；
The guide transport lorry further includes magnetic navigation sensor, RFID identification device；Magnetic navigation sensor is to incude magnetic markers
Signal, so that guide transport lorry is walked along the center of magnetic track；
The RFID card is equipped with corresponding control instruction；The RFID identification device is to identify the instruction in RFID card, to obtain
Take the control command to guide transport lorry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820088458.0U CN208308361U (en) | 2018-01-19 | 2018-01-19 | A kind of vehicle automatic transporting guide transport lorry and guiding transportation system |
Applications Claiming Priority (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110054115A (en) * | 2018-01-19 | 2019-07-26 | 安吉汽车物流股份有限公司 | A kind of vehicle automatic transporting guide transport lorry and guiding transportation system |
| CN110254560A (en) * | 2019-05-31 | 2019-09-20 | 北京星航机电装备有限公司 | A kind of automated guided vehicle of car carrying |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
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2018
- 2018-01-19 CN CN201820088458.0U patent/CN208308361U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110054115A (en) * | 2018-01-19 | 2019-07-26 | 安吉汽车物流股份有限公司 | A kind of vehicle automatic transporting guide transport lorry and guiding transportation system |
| CN110054115B (en) * | 2018-01-19 | 2023-09-19 | 安吉汽车物流股份有限公司 | Automatic carrying guiding transport vehicle and guiding transport system |
| CN110254560A (en) * | 2019-05-31 | 2019-09-20 | 北京星航机电装备有限公司 | A kind of automated guided vehicle of car carrying |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
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