CN218021920U

CN218021920U - Automatic tractor

Info

Publication number: CN218021920U
Application number: CN202221037974.3U
Authority: CN
Inventors: 刘胜明; 韩全乐; 翁蒙
Original assignee: Suzhou Agv Robot Co ltd
Current assignee: Suzhou Agv Robot Co ltd
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2022-12-13
Anticipated expiration: 2032-04-25

Abstract

The utility model discloses an automatic tractor, which comprises a tractor body; the control system comprises an industrial personal computer or a control integration board; the walking device comprises a walking driving assembly arranged in the vehicle body and a driving wheel arranged at the bottom of the vehicle body, the walking driving assembly is controlled by a control system to perform walking and/or steering, the walking driving assembly comprises a walking motor and a steering motor, and the walking motor and the driving motor are of vertical structures and are arranged above the driving wheel side by side; the navigation positioning module comprises a plurality of sensors, and the sensors comprise a first laser sensor for map building and positioning and a second laser sensor for navigation positioning and obstacle avoidance; the traction device comprises a butt joint device which is arranged at the rear of the vehicle body and is used for being in butt joint with goods. The walking motor and the steering motor are of vertical structures and are arranged side by side, so that the transverse size of the vehicle body is reduced, and the occupied space is reduced. Navigation positioning and obstacle avoidance are carried out through the laser sensor, and the navigation positioning precision is high. The traction device facilitates the butt joint connection of the tractor and goods.

Description

Automatic tractor

Technical Field

The utility model relates to a commodity circulation technical field, concretely relates to automatic tractor.

Background

An AGV (Automatic Guided Vehicle) belongs to a mobile robot, and is an unmanned Automatic carrying Vehicle which takes a battery as power and is provided with a non-contact guiding device and an independent addressing system. The system is mainly characterized by having functions of trolley programming, parking selection device, safety protection and various shifting functions, and can automatically drive according to instructions under the monitoring of a computer, automatically travel along a specified guide path, arrive at a specified place and complete a series of operation tasks. The system technology and products thereof become important equipment and technology of flexible production lines, flexible assembly lines and warehouse logistics automation systems.

Automatic tractor adopts magnetic navigation drive among the prior art, and the arrangement of the walking drive subassembly that in addition has is reasonable inadequately and leads to the volume of whole tractor great, and the cost is higher, consequently, still waits to further optimize the promotion.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists, the utility model aims at providing an automatic tractor.

The technical scheme of the utility model is that:

an object of the utility model is to provide an automatic tractor, include:

a vehicle body;

the control system comprises an industrial personal computer or a control integration board;

the walking device comprises a walking driving assembly and a driving wheel, the walking driving assembly is arranged in the vehicle body, the driving wheel is arranged at the bottom of the vehicle body, the walking driving assembly is controlled by the control system to drive the driving wheel to walk and/or steer, the walking driving assembly comprises a walking motor and a steering motor, and the walking motor and the driving motor are of vertical structures and are arranged above the driving wheel side by side;

the navigation positioning module comprises a plurality of sensors, and the sensors comprise a first laser sensor for mapping and positioning and a second laser sensor for navigation positioning and obstacle avoidance;

and the traction device comprises a butt joint device which is arranged at the rear of the vehicle body and is used for butt joint with goods.

Preferably, a support column is arranged in the middle of the top of the vehicle body, and the first laser sensor is arranged at the top of the support column and faces the front of the vehicle body.

Preferably, an electronic display screen for issuing tasks and displaying faults is arranged on the supporting upright.

Preferably, the second laser sensor is arranged at a position close to the ground at the bottom in front of the vehicle body.

Preferably, the traction device further comprises a traction fixing seat, the traction fixing seat is arranged at the lower end of the rear baffle plate behind the vehicle body, the traction fixing seat is U-shaped, the opening of the traction fixing seat faces the rear side, and the butt joint device is arranged on the traction fixing seat.

Preferably, the docking device is a hook.

Preferably, the walking device further comprises a driving fixing plate and a driving connecting plate;

the walking motor and the driving motor are both arranged on the driving fixing plate, an outer gear disc of a slewing bearing and a gear connected with the steering motor are also arranged below the driving fixing plate, the gear is meshed with the outer gear disc and moves along the outer gear disc under the control of the steering motor so as to control the driving wheel to rotate to realize steering;

the driving connecting plate is arranged below the driving fixing plate, and the driving wheel is arranged at the bottom of the driving connecting plate.

Preferably, the walking drive assembly further comprises a suspension device, wherein the suspension device comprises an upper mounting bracket, a lower mounting bracket, a first guide bearing, a second guide bearing, a first elastic piece and a second elastic piece;

the driving fixing plate is arranged between the upper mounting bracket and the lower mounting bracket and is close to the lower mounting bracket;

the first guide bearing and the second guide bearing are arranged oppositely and at intervals, the upper ends of the first guide bearing and the second guide bearing respectively penetrate through the upper mounting bracket, and the lower ends of the first guide bearing and the second guide bearing respectively penetrate through the driving fixing plate and the lower mounting bracket;

the first elastic piece and the second elastic piece are respectively sleeved on the first guide bearing and the second guide bearing correspondingly, and two ends of the first elastic piece and the second elastic piece are respectively abutted against the upper mounting bracket and the driving fixing plate;

when the vehicle body bears cargos, the first elastic piece and the second elastic piece are in a compressed state.

Preferably, a vertical back plate is arranged inside the vehicle body, and the back plate is connected with a vehicle body rear support;

an upper fixing block and a lower fixing block are further arranged inside the vehicle body, and the upper fixing block and the lower fixing block are fixedly connected with the first guide bearing, the second guide bearing and the vehicle body rear support;

running gear still includes first universal wheel, second universal wheel and first auxiliary wheel mounting panel, second auxiliary wheel mounting panel, the drive wheel is installed the place ahead bottom intermediate position of automobile body, first universal wheel and second universal wheel are installed respectively the both sides of drive wheel just are located the rear of automobile body, first universal wheel, second universal wheel correspond respectively to be installed the bottom of first auxiliary wheel mounting panel, second auxiliary wheel mounting panel, first auxiliary wheel mounting panel and second auxiliary wheel mounting panel pass through preceding baffle and drive connecting plate fixed connection, the drive connecting plate is installed the below of drive fixed plate.

Preferably, the walking device further comprises a first rear wheel, a second rear wheel, a first rear wheel support and a second rear wheel support;

the first rear wheel support and the second rear wheel support are arranged on the two sides of the rear part of the vehicle body, are respectively and fixedly connected with the driving connecting plate, and are simultaneously and fixedly connected with the front baffle and the vehicle body rear frame;

the first rear wheel and the second rear wheel are respectively and correspondingly arranged at the bottoms of the first rear wheel support and the second rear wheel support.

Compared with the prior art, the utility model has the advantages that:

the utility model discloses an automatic tractor sets up to vertical structure and arranges side by side through the walking motor with the walking drive subassembly with turn to the motor, can reduce the transverse dimension of automobile body to reduce the occupation space of automobile body. Navigation positioning and obstacle avoidance are carried out through the laser sensor, and the navigation positioning precision is high. Through the setting of draw gear, can make things convenient for the butt joint of tractor and goods to be connected, realize the transport to the goods, simple structure. In addition, a suspension device is arranged, so that the driving wheel can be prevented from slipping and vibration can be reduced.

Drawings

The invention will be further described with reference to the following drawings and examples:

fig. 1 is a schematic perspective view of an automatic tractor according to an embodiment of the present invention;

fig. 2 is a schematic structural view of the traveling device of the automatic tractor according to the embodiment of the present invention, with the front of the vehicle body facing forward;

fig. 3 is a schematic structural view of the traveling device and the rear portion of the vehicle body of the automatic tractor according to the embodiment of the present invention.

Wherein: 11. a traveling motor; 12. a steering motor; 13. a drive wheel; 141. a gear; 142. an outer gear plate; 15. driving the fixed plate; 21a, an upper mounting bracket; 21b, a lower mounting bracket; 22a, a first guide bearing; 22b, a second guide bearing; 23a, a first elastic member; 23b, a second elastic member; 31a, an upper fixing block; 31b, a lower fixing block; 32. a vehicle body rear support; 33. a back plate; 34a, a first auxiliary wheel mounting plate; 34b, a second auxiliary wheel mounting plate; 35. a front baffle; 36. a drive connection plate; 37. a rear frame of the vehicle body; 37a, a first rear wheel support; 37b, a second rear wheel support; 38. a tailgate; 41a, a first universal wheel; 41b, a second universal wheel; 42a, a first rear wheel; 42b, a second rear wheel; 51. a traction fixing seat; 52. a docking device; 60. supporting the upright post; 61. a first laser sensor; 62. a second laser sensor; 63. an electronic display screen.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended for purposes of illustration only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The embodiment is as follows:

referring to fig. 1 to 3, the embodiment of the present invention provides an automatic tractor, including a vehicle body, a control system, a traveling device, a navigation positioning module and a traction device. The control system is arranged in the vehicle body and comprises an industrial personal computer or a control integration board. Running gear is including locating the inside walking drive subassembly of automobile body and the drive wheel 13 of locating the bottom half, and the walking drive subassembly is controlled by control system so that drive wheel 13 carries out the walking and/or turns to, and the walking drive subassembly includes walking motor 11 and turns to motor 12, and walking motor 11 and driving motor are vertical structure and set up the top at drive wheel 13 side by side, so design, can reduce the shared space of walking drive subassembly to reduce the volume of whole automatic tractor. Navigation orientation module includes a plurality of sensors, and the sensor is including being used for building the first laser sensor 61 of picture location and being used for the navigation orientation and keeping away the second laser sensor 62 of barrier, can realize the automatic navigation location of automatic tractor through the setting of first laser sensor 61, and the precision is high, can fix a position the barrier and make automatic tractor avoid the barrier through the setting of second laser sensor 62, prevents to run into with the barrier and causes the automobile body to damage, improves the security. The traction device comprises a butt joint device 52 which is arranged at the rear of the vehicle body and is used for butt joint with goods, the butt joint device 52 is in butt joint connection with the goods to be transported, and the automatic tractor moves to pull the goods to a specified place to complete the transportation of the goods.

According to some preferred embodiments of the present invention, as shown in fig. 1, a supporting pillar 60 is disposed at a middle position of the top of the vehicle body, and the first laser sensor 61 is disposed at the top of the supporting pillar 60 and faces the front of the vehicle body. By the arrangement, the wide visual field of the laser sensor can be ensured, so that the comprehensiveness of map construction and the navigation and positioning precision are improved.

According to some preferred embodiments of the present invention, as shown in fig. 1, an electronic display screen 63 is provided on the support column 60. Can be used for publishing the task and showing the trouble through electronic display screen 63, visual degree is high, and convenient to use person in time knows the trouble.

According to some preferred embodiments of the present invention, as shown in fig. 1, the second laser sensor 62 is provided at a position near the ground at the bottom of the front of the vehicle body.

According to some preferred embodiments of the present invention, as shown in fig. 1, the traction device further includes a traction fixing seat 51, the traction fixing seat 51 is disposed at the lower end of the rear baffle 38 at the rear of the vehicle body, the traction fixing seat 51 is U-shaped and opens toward the rear, and the docking device 52 is disposed on the traction fixing seat 51. Optionally, the docking device 52 is an insertion rod, and is vertically inserted into the traction fixing seat 51, the U-shaped opening of the traction fixing seat 51 serves as a bayonet, and the goods is hung at the bayonet and then the insertion rod is inserted into the goods on the bayonet to connect the goods with the automatic towing vehicle. Preferably, the docking device 52 is a hook fixed on the traction fixing seat 51, and the connection between the goods and the automatic tractor can be realized by directly hooking the goods through the hook, so that the structure is simple.

According to some preferred embodiments of the present invention, as shown in fig. 2, the walking device further includes a driving fixing plate 15 and a driving connection plate 36. The traveling motor 11 and the driving motor are both mounted on the driving fixing plate 15, an external gear 141 disk of a slewing bearing and a gear 141 connected with the steering motor 12 are further arranged below the driving fixing plate 15, and the gear 141 is meshed with the external gear 141 disk and revolves along the external gear 141 under the control of the steering motor 12 so as to control the driving wheel 13 to rotate to realize steering. The driving connecting plate 36 is provided below the driving fixing plate 15 and the driving wheel 13 is mounted on the bottom of the driving connecting plate 36.

According to some preferred embodiments of the present invention, as shown in fig. 3, the travel drive assembly further comprises a suspension device comprising an upper mounting bracket 21a, a lower mounting bracket 21b, a first guide bearing 22a, a second guide bearing 22b, and a first elastic member 23a and a second elastic member 23b. The drive fixing plate 15 is provided between the upper mounting bracket 21a and the lower mounting bracket 21b and adjacent to the lower mounting bracket 21b. The first guide bearing 22a and the second guide bearing 22b are arranged oppositely and at intervals, the upper ends of the first guide bearing 22a and the second guide bearing 22b respectively penetrate through the upper mounting bracket 21a, and the lower ends of the first guide bearing 22a and the second guide bearing 22b respectively penetrate through the driving fixing plate 15 and the lower mounting bracket 21b. The first elastic piece 23a and the second elastic piece 23b are respectively sleeved on the first guide bearing 22a and the second guide bearing 22b correspondingly, and two ends of the first elastic piece and the second elastic piece respectively abut against the upper mounting bracket 21a and the drive fixing plate 15. When the vehicle body carries goods, the first elastic piece 23a and the second elastic piece 23b are in a compressed state, and the bottoms of the first guide bearing 22a and the second guide bearing 22b can be attached to the ground. Through linkage's setting, when cargo handling, provide the holding down force for drive wheel 13, prevent that drive wheel 13 from skidding in idle running, play the absorbing effect simultaneously, prevent under the rugged condition on ground, lead to shaking too big problem.

According to some preferred embodiments of the present invention, as shown in fig. 3, a vertical back plate 33 is provided inside the vehicle body, and the back plate 33 is connected to a rear support 32 of the vehicle body. An upper fixing block 31a and a lower fixing block 31b are further arranged inside the vehicle body, and the upper fixing block 31a and the lower fixing block 31b are fixedly connected with the first guide bearing 22a, the second guide bearing 22b and the vehicle body rear support 32. The traveling device further comprises a first universal wheel 41a, a second universal wheel 41b, a first auxiliary wheel mounting plate 34a and a second auxiliary wheel mounting plate 34b, the driving wheel 13 is mounted in the middle of the front bottom of the vehicle body, the first universal wheel 41a and the second universal wheel 41b are respectively mounted on two sides of the driving wheel 13 and located behind the vehicle body, the first universal wheel 41a and the second universal wheel 41b are respectively correspondingly mounted at the bottoms of the first auxiliary wheel mounting plate 34a and the second auxiliary wheel mounting plate 34b, the first auxiliary wheel mounting plate 34a and the second auxiliary wheel mounting plate 34b are fixedly connected with the driving connecting plate 36 through the front baffle 35, and the driving connecting plate 36 is mounted below the driving fixing plate 15. Through setting up the universal wheel, realize automatic traction vehicle's all-round free steering.

According to some preferred embodiments of the present invention, the number of the driving wheels 13 of the automatic tractor according to the embodiments of the present invention is one, and in order to further improve the supporting stability of the vehicle body, as shown in fig. 3, the traveling device further includes a first rear wheel 42a, a second rear wheel 42b, a first rear wheel support 37a, and a second rear wheel support 37b. The first rear wheel support 37a and the second rear wheel support 37b are provided on both rear sides of the vehicle body, and are fixedly connected to the drive connecting plate 36, the front fender 35, and the vehicle body rear frame 37, respectively. The first rear wheel 42a and the second rear wheel 42b are respectively installed at the bottom of the first rear wheel holder 37a and the second rear wheel holder 37b. The rear wheel and the driving wheel 13 form a triangular supporting structure, so that the supporting stability is improved.

According to some preferred embodiments of the utility model, be equipped with walking encoder and rotary encoder on walking motor and the steering motor respectively.

According to some preferred embodiments of the present invention, a charging system is further provided, optionally, the charging system comprises a charging port, a battery and a power switch assembly. Specifically, the mouth that charges is installed in the side of automobile body, and the mouth that charges is convenient for the automobile body and fills the electric pile contact and charge. The battery is installed on the rear frame 37 inside the vehicle body, and the battery of the embodiment of the present invention is preferably a lithium battery, and preferably, a battery protection cover (not shown) is installed outside the lithium battery. The switch unit mount is in the inside of automobile body, the utility model discloses well switch is preferred to be installed on battery protection cover. Alternatively, if different electrical components are required, a 24V to 5V switching power supply can be provided.

For the control system, the control system further comprises a communication V module, a wireless AP client and a switch. The industrial computer is connected with the switch through the Ethernet, the industrial computer is connected with the communication V module through the Ethernet, the switch is connected with the wireless AP client through the Ethernet, the communication V module is connected with the wireless AP client through the Ethernet, and the communication V module is connected with the navigation positioning module through a serial port. Specifically, not shown in the drawings, reference may be made to the published patent CN215756204U previously applied by the applicant.

Optionally, the automated guided vehicle may also include accessories (not shown), such as a power switch, an emergency stop button, a start switch and a reset switch, and a manual/automatic switch. And the power switch is used for controlling a main power supply of the automatic guide forklift. The emergency stop button is used for controlling emergency stop. The start switch is used for controlling the start of the internal program. The reset switch is used for controlling the reset of the internal program, and the manual/automatic switch is used for manual gear control and automatic gear control switching. The specific position of the auxiliary is not particularly limited, and the auxiliary can be arranged at any position on the side surface of the vehicle body shell according to actual requirements.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. An automatic tractor, comprising:

a vehicle body;

2. The automatic tractor according to claim 1, wherein a support pillar is disposed at a middle position of a top of the vehicle body, and the first laser sensor is disposed at the top of the support pillar and faces a front of the vehicle body.

3. The automated tractor according to claim 2, wherein an electronic display screen is provided on the support column for issuing tasks and displaying faults.

4. The automatic tractor according to claim 1, wherein the second laser sensor is provided at a position near the ground at the bottom of the front of the vehicle body.

5. The automatic tractor according to claim 1, wherein the traction device further includes a traction fixing seat, the traction fixing seat is disposed at a lower end of a rear baffle plate behind the vehicle body, the traction fixing seat is U-shaped and has an opening facing rearward, and the docking device is disposed on the traction fixing seat.

6. The automated tractor of claim 5, wherein the docking device is a hook.

7. The automated tow vehicle of claim 1, wherein the travel assembly further comprises a drive attachment plate and a drive coupling plate;

8. The automated tow vehicle of claim 7, wherein the travel drive assembly further comprises a hitch, the hitch comprising an upper mounting bracket, a lower mounting bracket, a first guide bearing, a second guide bearing, and first and second resilient members;

9. The automatic tractor according to claim 8, wherein a vertical back plate is arranged inside the tractor body, and a tractor body rear support is connected with the back plate;

10. The automated tractor of claim 9, wherein the running gear further comprises a first rear wheel, a second rear wheel, a first rear wheel support, and a second rear wheel support;

the first rear wheel support and the second rear wheel support are arranged on two sides behind the vehicle body and are respectively fixedly connected with the driving connecting plate and the front baffle and the rear frame of the vehicle body;