CN214775863U - Automatic driving vehicle - Google Patents
Automatic driving vehicle Download PDFInfo
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- CN214775863U CN214775863U CN202022867986.6U CN202022867986U CN214775863U CN 214775863 U CN214775863 U CN 214775863U CN 202022867986 U CN202022867986 U CN 202022867986U CN 214775863 U CN214775863 U CN 214775863U
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Abstract
The utility model provides an automatic driving vehicle, including carriage, wheel, sensing module, track structure, track, driving system, control system of traveling, both ends all are equipped with the track structure of traveling around carriage up end and the lower terminal surface, the lateral surface and the wheel coaxial coupling of the track structure of traveling of terminal surface under the carriage, the carriage up end is equipped with sensor module, track structure and track contact travel, the track is connected gradually in turn by plane track strip and flank of tooth track strip and is constituteed, be equipped with driving system and control system in the carriage, driving system is connected with wheel, the transmission of the track structure of traveling, control system is connected with track structure and sensing module electricity of traveling. The invention ensures the stability and the fluency of automatic driving, and the integral working efficiency is not influenced even if a fault occurs in a single carriage.
Description
Technical Field
The utility model relates to a car, especially an automatic driving car.
Background
In recent years, with the development of artificial intelligence technology, automatic driving technology has also been rapidly developed. In the automatic driving field, the vehicle automatically collects the environmental information without the operation of a driver, and automatically drives according to the environmental information, although the automatic driving of the vehicle becomes the trend of later development, the current automatic driving system is not mature, and has some defects, such as the problems that the automatic driving system is too complex, the stability of the system operation is insufficient, the system operation is easily interfered by the outside, the driving guide in the driving process is not easy to control, and the like, which cause the current automatic driving vehicle to be easy to break down, greatly increase the maintenance cost, in addition, the current automatic driving vehicle has no good emergency measure after breaking down, waits for manual rescue maintenance, thereby reducing the whole working efficiency, and the current automatic driving vehicle lacks the capability of multi-vehicle coordination combination operation, so that the carrying rate and the power of the current automatic driving vehicle can not be ensured, the existence of the above problems reduces the practicality of the current autonomous vehicle.
Therefore, in order to solve the above problems, a novel automatic driving vehicle is provided.
Disclosure of Invention
Aiming at the defects in the prior art, the automatic driving vehicle provided by the invention has a simple system, is not easily interfered by the outside, ensures the driving stability and the easiness in control of the driving direction when the carriage runs on a specific track, can run by connecting a plurality of carriages, ensures the carrying rate, and can be driven by other carriages to run when a certain carriage breaks down without rescue of workers.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an automatic driving vehicle comprises carriages, wheels, carriage connecting structures, a sensing module, rail running structures and rails, wherein the carriages are closed cuboid cavity structures, the rail running structures are arranged on the front and back sides of the upper end surfaces and the lower end surfaces of the carriages, the upper end surfaces of the carriages correspond to the rail running structures of the lower end surfaces from top to bottom, the front and back of the rail running structures on the same side of the carriages correspond to each other, the rail running structures on the upper end surfaces of the carriages are connected with the rail running structures on the lower end surfaces of the corresponding carriages through connecting columns, the rail running structures on the lower end surfaces of the carriages are connected through connecting columns, the connecting columns are coaxially distributed with the rail running structures connected with the connecting columns, the outer sides of the two ends of the rail running structures on the lower end surfaces of the carriages are connected with the wheels, guide grooves are arranged on the positions, corresponding to the wheels, and the rails are 4, the utility model discloses a railway vehicle, including the railway vehicle structure, the railway vehicle structure is connected with the track, the same end of the structure and the same rail connection of going of the same face of track structure and track connection and carriage, before the carriage, rear end face all is equipped with connection structure, extending structure perpendicular to carriage up end and with the coaxial distribution of sensing module, the carriage rear end face is equipped with carriage connection structure and the carriage before the terminal surface be equipped with the spread groove corresponding with carriage connection structure, inside driving system and the control system of being equipped with in carriage, driving system and wheel and the transmission of track structure are connected, control system is connected with sensing module, track structure electricity that goes.
Preferably, the track running structure comprises a bearing column, a bearing rod root, a transmission rod, a first telescopic device, a second telescopic device, a fixed block, a safety block, a bearing table and a track gear, wherein the bearing column is coaxially connected with a table top at one side of the bearing table and a carriage and at the other side of the bearing table, the bearing rod is connected with both transverse ends of one side of the bearing column, the bearing rods are symmetrically distributed along the center of the plane and are vertically distributed with the plane, the side, far away from the carriage, of one end of the bearing rod is hinged with the fixed end of the first telescopic device, far away from the carriage, the first telescopic device and the axis of the bearing rod are arranged on the same vertical plane, the included angle is 0-90 degrees, the fixed block is hinged with the output end of the first telescopic device, both ends of the transmission rod respectively penetrate through the fixed block and the safety block to be coaxially connected with the track gear, and the fixed end of the second telescopic device is connected with the fixed block, the output end of the second telescopic device is connected with the safety block, one end of the safety block, close to the track, is provided with a sliding block corresponding to the track guide groove, the axes of the second telescopic device, the bearing column and the transmission rod are on the same vertical plane and are parallel to each other, the safety block, the fixed block, the track gear and the second telescopic device are symmetrically distributed along the central line of the transmission rod and the central line of the bearing column, perpendicular to the axis, and the axis of the outer side face of the track gear is in transmission connection with the axis of the outer side face of the bearing column through the transmission gear box.
Preferably, the car connecting structure may be a coupler.
Preferably, the first telescopic device and the second telescopic device in the track running structure are both electrically connected with the control system.
Preferably, the first and second telescopic devices may be one of electric telescopic devices and hydraulic telescopic devices.
Preferably, the cross section of the track gear is of an I-shaped groove structure, and the inner side surface of one side of the I-shaped groove is of a conical gear structure.
Preferably, the track comprises a track strip, a bearing base body and a sleeper, the bearing base body is of a cylindrical structure, the track strips are connected with the inner surface of the bearing base body through sleepers, the track strips are parallel to the axis of the bearing base body and are uniformly distributed around the axis of the bearing base body, the track strip is formed by connecting a plurality of track sections, the track sections are in an I-shaped steel structure with inclined planes, the inclined plane is positioned at a working angle of the track section, the track section is divided into a tooth surface track section and a plane track section, the inclined surface of the plane track section is of a plane structure, the inclined surface of the plane track section is provided with a convex tooth-shaped structure to form a tooth surface track section, the plurality of plane track sections are sequentially connected into a plane track section, the plurality of tooth surface track sections are sequentially connected into a tooth surface track section, and the plane track section and the tooth surface track section are alternately connected to form a track strip.
Furthermore, the bearing base body is any one or more of a concrete structure, a sintered prefabricated member structure, a metal frame structure and a sintered ceramic prefabricated member.
The invention has simple system and is not easy to be interfered by the outside, the running stability and the running guidance easiness are ensured when the carriages run on the specific track, the invention can run by connecting a plurality of carriages, the carrying rate is ensured, and simultaneously, when a certain carriage breaks down, the carriages can be driven by other carriages to run without the rescue of workers.
Drawings
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a side view structural diagram of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is an enlarged view of A;
FIG. 5 is an enlarged view of B;
fig. 6 is a front view of the track.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
An automatic driving vehicle comprises a carriage 1, wheels 2, a carriage connecting structure 16, a sensing module 14, a rail driving structure and a rail, wherein the carriage 1 is a closed cuboid cavity structure, the front and back sides of the upper end surface and the lower end surface of the carriage 1 are respectively provided with the rail driving structure, the upper end surface of the carriage 1 corresponds to the rail driving structure of the lower end surface up and down, the front and back of the rail driving structure of the same surface of the carriage 1 are corresponding, the rail driving structure of the upper end surface of the carriage 1 is connected with the rail driving structure of the lower end surface of the carriage 1 corresponding to the rail driving structure of the lower end surface of the carriage 1 through a connecting column 19, the rail driving structure of the lower end surface of the carriage 1 is connected through a connecting column 18, the connecting columns 18 and 19 are coaxially distributed with the rail driving structure connected with the connecting columns, the outer sides of the two ends of the rail driving structure of the lower end surface of the carriage 1 are connected with the wheels 2, guide grooves are arranged at the positions of the lower end surface of the carriage 1 corresponding to the wheels 2, the track is 4, the structure of traveling the track is connected with the track and the same end of the structure of traveling the track of carriage 1 coplanar is connected with same track, sensing module 14 is installed in 1 up end center department in carriage and sensing module 14 is connected with carriage 1 through extending structure 15, extending structure 15 perpendicular to carriage 1 up end and with the coaxial distribution of sensing module 14, carriage 1 front and back terminal surface all is equipped with connection structure, carriage 1 is inside to be equipped with driving system and control system, driving system and wheel 2 and the transmission of the structure of traveling the track are connected, control system and sensing module 14, the structural electricity of traveling the track are connected.
In the above example, the track running structure includes a bearing column 3, a bearing rod 9, a transmission rod 10, a first telescopic device 5, a second telescopic device 6, a fixed block 7, a safety block 11, a bearing platform 4, and a track gear 8, wherein the bearing column 3 is coaxially connected to a platform surface at one side of the bearing platform 4 and a platform surface at the other side of the bearing platform 1, the bearing rod 9 is connected to both transverse ends of one side surface of the bearing column 3, the bearing rods 9 are symmetrically distributed along the center of the plane and are vertically distributed with the plane, the side surface of one end of the bearing rod 9 far away from the bearing column 3 and far away from the platform is hinged to a fixed end of the first telescopic device 5, the first telescopic device 5 and the bearing rod 9 are on the same vertical plane and have an included angle of 0-90 degrees, the output end of the first telescopic device 5 is hinged to the fixed block 7, and two ends of the transmission rod 10 respectively pass through the fixed block 7 and the safety block 11 and are coaxially connected to the track gear 8, the stiff end of second telescoping device 6 is connected with fixed block 7, the output and the safety block 11 of second telescoping device 6 are connected, the nearly orbital one end of safety block 11 is equipped with the slider 12 that corresponds with the track guide way, second telescoping device 6, carrier post 3, transfer line 10 axis are just parallel to each other on same perpendicular, the central line symmetric distribution of the perpendicular to axis of transfer line 10 central line and carrier post 3 is all followed to safety block 11, fixed block 7, rail gear 8, second telescoping device 6, the lateral surface axle center department of rail gear 8 is connected with 3 lateral surface axle centers transmission of carrier post through transmission gear box 13.
In the above example, the car connection structure 16 may be a coupler.
In the above example, the first telescopic device 5 and the second telescopic device 6 in the track running structure are both electrically connected with the control system.
In the above example, the first and second telescoping devices 5, 6 may be one of electric telescoping devices or hydraulic telescoping devices.
In the above example, the cross section of the orbit gear 8 is in an i-shaped groove structure, and the inner side surface of one side of the i-shaped groove is in a conical gear structure.
In the above example, the track comprises a track strip, a bearing matrix 23, a sleeper 22, the bearing matrix being of cylindrical construction, the track strips are connected with the inner surface of the bearing base body through sleepers, the track strips are parallel to the axis of the bearing base body and are uniformly distributed around the axis of the bearing base body, the track strip is formed by connecting a plurality of track sections, the track sections are in an I-shaped steel structure with inclined planes, the inclined plane is positioned at a working angle of the track section, the track section is divided into a tooth surface track section 21 and a plane track strip section 20, the inclined surface of the plane track section is of a plane structure, the inclined surface of the plane track section is provided with a convex tooth-shaped structure to form a tooth surface track section, the plurality of plane track sections are sequentially connected into a plane track section, the plurality of tooth surface track sections are sequentially connected into a tooth surface track section, and the plane track section and the tooth surface track section are alternately connected to form a track strip.
In this embodiment, the bearing substrate is any one or more of a concrete structure, a sintered prefabricated member structure, a metal frame structure, and a sintered ceramic prefabricated member.
For a better understanding of the invention, the following description of the working principle or the operating mode is provided:
s1: assembling equipment:
before the track-laying machine runs, tracks can be laid in advance, at least 1 main track is laid in the horizontal direction, at least 1 vertical track is laid above and perpendicular to the main tracks and communicated with the main tracks, and at least 1 uphill track and 1 downhill track are laid in the uphill direction and the downhill direction of the main tracks respectively;
s2: the equipment operates:
the carriage 1 runs in the main track: when a driver drives the carriage 1 into the main track, and the sensing module 14 detects that the carriage 1 runs in the main track and the track section corresponding to the track gear 8 is a plane track section, the control system starts the first telescopic device 5 to enable the lower end face of the track gear 8 to be in contact with the main track and enable the wheels 2 to leave the ground, and then starts the second telescopic device 6 to enable the sliding block 12 on the safety block 11 to be located in the track bar guide groove, so that the carriage 1 can automatically run on the main track;
the carriage 1 runs in a vertical track: when the sensing module 14 detects that the carriage 1 runs under the vertical track, the control system starts the second telescopic device 5 of the track running structure to enable the sliding block 12 on the safety block 11 to be outside the track bar guide groove and simultaneously starts the first telescopic device 5 on the upper end surface of the carriage 1 to enable the track gear 8 on the upper end surface of the carriage 1 to be meshed with the tooth surface track section of the vertical track, then starts the second telescopic device 6 on the upper end surface of the carriage 1 to enable the sliding block 12 on the safety block 11 to be located in the vertical track bar guide groove, and then the track gear 8 on the upper end surface of the carriage 1 can enable the carriage 1 to run vertically upwards along the vertical track under the driving of the power system;
the carriage 1 runs in an uphill track: when the sensing module 14 detects that the carriage 1 is going to run uphill, the working state of the track running structure on the upper end surface of the carriage 1 is unchanged, the control system starts the second telescopic device 6 on the lower end surface of the carriage 1 to enable the sliding block 12 on the safety block 11 to be located outside the track bar guide groove, and the carriage 1 can run in an uphill track.
The carriage 1 runs in a downhill track: when the sensing module 14 detects that the carriage 1 is going to run downhill, the working state of the track running structure on the lower end surface of the carriage 1 is unchanged, the second telescopic device 6 on the upper end surface of the carriage 1 is started to enable the sliding block 12 on the safety block 11 to be positioned outside the track bar guide groove, and the carriage 1 can run in the downhill track;
when the carriage 1 runs in a derailing mode, when the sensing module 14 detects that the track section corresponding to the track gear 8 is a plane track section, the second telescopic device 6 is started to enable the sliding block 12 on the safety block 11 to be located outside the track bar guide groove, then the first telescopic device 5 is started to enable the track gear to be separated from the track bar 8, the wheels 2 are in contact with the ground, and the vehicle can run in a derailing mode after the derailing process is completed;
in the running process of the carriage 1, the sensing module 14 monitors the distance to surrounding obstacles in real time, the running speed of the carriage 1 can be automatically adjusted according to the data monitored by the sensing module 14 when the rail runs, and the running speed of the carriage 1 can be automatically adjusted according to the data detected by the sensing module 14 when the rail runs on the ground, and meanwhile, the obstacle avoidance running can be realized;
the carriage 1 can also run in connection with other carriages via the carriage connection structure 16, and when several carriages are running in connection, only the distance measuring sensors in the sensor modules 14 of the first and last carriage are operated.
The invention has simple system and is not easy to be interfered by the outside, the running stability and the running guidance easiness are ensured when the carriages run on the specific track, the invention can run by connecting a plurality of carriages, the carrying rate is ensured, and simultaneously, when a certain carriage breaks down, the carriages can be driven by other carriages to run without the rescue of workers.
It will be appreciated by persons skilled in the art that the present invention is not limited by the embodiments described above. The foregoing embodiments and description have been presented only to illustrate the principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention. Such variations and modifications are intended to be within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An automatic driving vehicle, its characterized in that: the automatic driving vehicle comprises a carriage, wheels, a carriage connecting structure, a sensing module, a rail running structure, a rail, a power system and a control system, wherein the carriage is of a closed cuboid cavity structure, the rail running structures are arranged on the front side and the rear side of the upper end surface and the lower end surface of the carriage, the upper end surface of the carriage corresponds to the rail running structure of the lower end surface from top to bottom, the rail running structure of the same side of the carriage corresponds to the rail running structure of the lower end surface of the carriage through a connecting column, the rail running structure of the lower end surface of the carriage is connected through the connecting column, the connecting column and the rail running structure connected with the connecting column are coaxially distributed, the outer sides of the two ends of the rail running structure of the lower end surface of the carriage are connected with the wheels, and the guide grooves are arranged on the positions, corresponding to the wheels, of the lower end surface of the carriage, the track is 4, the structure of traveling the track is connected with the track and the same end of the structure of traveling the track of carriage coplanar and is connected with same track, sensing module installs in carriage up end center department and sensing module passes through extending structure and is connected with the carriage, extending structure perpendicular to carriage up end and with the coaxial distribution of sensing module, preceding, the rear end face in carriage all is equipped with connection structure, inside driving system and the control system of being equipped with in carriage, driving system and wheel and the transmission of the structure of traveling the track are connected, control system and sensing module, the structural electricity of traveling the track are connected.
2. The automatic driving vehicle according to claim 1, wherein the rail running structure comprises a bearing column, a bearing rod root, a transmission rod, a first telescopic device, a second telescopic device, a fixed block, a safety block, a bearing table and a rail gear, wherein the bearing column is coaxially connected with a table top at one side of the bearing table and a table top at the other side of the bearing table, the bearing rods are connected with two transverse ends of one side of the bearing column, the bearing rods are centrally and symmetrically distributed along the plane and are vertically distributed with the plane, the side, far away from the bearing column, of one end of the bearing rod is hinged with a fixed end of the first telescopic device, far away from the table, is hinged with the fixed end of the first telescopic device, far away from the table top, the first telescopic device and the axis of the bearing rod are on the same vertical plane, the included angle is 0-90 degrees, the output end of the first telescopic device is hinged with the fixed block, and two ends of the transmission rod respectively pass through the fixed block and the safety block and are coaxially connected with the rail gear, the stiff end and the fixed block of second telescoping device are connected, the output and the safety block of second telescoping device are connected, the one end of the nearly track of safety block is equipped with the slider that corresponds with the track guide way, second telescoping device, carrier post, transfer line axis are parallel to each other on same perpendicular, the central line symmetric distribution of safety block, fixed block, track gear, second telescoping device all along transfer line central line and carrier post perpendicular to axis, the lateral surface axle center department of track gear is connected with carrier post lateral surface axle center department transmission through the transmission gear box.
3. An autonomous vehicle as claimed in claim 1, characterized in that the car connection can be a coupler.
4. The autonomous-capable vehicle of claim 1, wherein the first telescoping device and the second telescoping device in the track structure are electrically connected to the control system.
5. An autonomous vehicle as claimed in claim 2, characterized in that the first and second telescopic means can be one of electric or hydraulic telescopic means.
6. An autonomous vehicle as claimed in claim 2, wherein the orbital gear is of i-channel configuration in cross-section and has a bevel gear configuration on one side of its inner face.
7. An autonomous vehicle as claimed in claim 1, characterized in that the rail comprises rail strips, a carrier body, sleepers, the bearing base body is of a cylindrical structure, 4 track strips are connected with the inner surface of the bearing base body through sleepers, the track strip is parallel to the axis of the bearing base body and is uniformly distributed around the axis of the bearing base body, the track strip is formed by connecting a plurality of track sections, the track sections are of an I-shaped steel structure with inclined planes, the inclined planes are positioned at one working angle of the track sections, the track sections are tooth surface track sections and plane track sections, the inclined planes of the plane track sections are of plane structures, the inclined planes of the plane track sections are provided with convex tooth-shaped structures to form tooth surface track sections, the plane track sections are sequentially connected into plane track sections, the tooth surface track sections are sequentially connected into tooth surface track sections, and the plane track sections and the tooth surface track sections are alternately connected to form the track strip.
8. The automatic driving vehicle of claim 7, wherein the bearing base is one or more of a concrete structure, a sintered prefabricated structure, a metal frame structure and a sintered ceramic prefabricated member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022867986.6U CN214775863U (en) | 2020-12-03 | 2020-12-03 | Automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022867986.6U CN214775863U (en) | 2020-12-03 | 2020-12-03 | Automatic driving vehicle |
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| Publication Number | Publication Date |
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| CN214775863U true CN214775863U (en) | 2021-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022867986.6U Active CN214775863U (en) | 2020-12-03 | 2020-12-03 | Automatic driving vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114045709A (en) * | 2021-11-23 | 2022-02-15 | 重庆交通大学 | Elastic fastener for gap area of Strub type toothed rail railway bridge |
-
2020
- 2020-12-03 CN CN202022867986.6U patent/CN214775863U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114045709A (en) * | 2021-11-23 | 2022-02-15 | 重庆交通大学 | Elastic fastener for gap area of Strub type toothed rail railway bridge |
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