CN218859862U - Vehicle guiding device and automatic driving automobile - Google Patents
Vehicle guiding device and automatic driving automobile Download PDFInfo
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- CN218859862U CN218859862U CN202223419940.3U CN202223419940U CN218859862U CN 218859862 U CN218859862 U CN 218859862U CN 202223419940 U CN202223419940 U CN 202223419940U CN 218859862 U CN218859862 U CN 218859862U
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- vehicle
- guide
- support
- supporting rod
- power device
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The utility model relates to an autopilot car field particularly, relates to a vehicle guider and autopilot car. The vehicle guiding device is arranged below a vehicle feeding end and comprises a connecting part, a guiding part, a first supporting rod and a telescopic power device; two ends of the first supporting rod are respectively and rotatably connected with the connecting part and the guide part; the telescopic power device is respectively connected with the connecting part and the first supporting rod in a rotating mode and used for changing an included angle between the first supporting rod and the connecting part through telescopic. The utility model discloses a rear end at the vehicle has set up vehicle guider, can lead to of vehicle, makes the vehicle align with the material transfer chain in last unloading, has improved the security of vehicle when last unloading, can enough realize leading the vehicle when last unloading, can guarantee the normal travel of vehicle again.
Description
Technical Field
The utility model relates to an autopilot car field particularly, relates to a vehicle guider and autopilot car.
Background
In a factory with a large area, because different processes are in different factories, materials are often required to be transported between the different factories. In the prior art, when materials are transported in a factory, a manual cart or a manual driving vehicle is adopted.
Because the weight of the material may be heavier, to avoid manual handling, the autonomous vehicle may be parked directly at the discharge port of the production line.
Because the discharge gate of production line has certain directionality, how to guarantee that automatic drive vehicle can accurately park is the technical problem that needs to solve.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a vehicle guider and autopilot car, its accuracy that can realize the vehicle is parked.
The embodiment of the utility model is realized like this:
in a first aspect, the present invention provides a vehicle guiding device, which includes a sensor, a ground support guiding frame disposed under a vehicle, and a positioning member fixedly disposed at a predetermined position;
the vehicle guide device comprises a connecting part, a guide part, a first support rod and a telescopic power device;
the connecting part is used for connecting the bottom of the vehicle;
two ends of the first supporting rod are respectively connected with the connecting part and the guide part in a rotating manner;
the telescopic power device is respectively and rotatably connected with the connecting part and the first supporting rod and is used for changing an included angle between the first supporting rod and the connecting part through telescopic movement;
the distance between the guide part and the positioning part is adjustable;
the sensor is arranged on the guide part or the positioning part and used for detecting the left and right position states of the guide part and the positioning part.
In an optional embodiment, the number of the first support rods is two, a cross rod is arranged between the two first support rods, and the telescopic power device is rotatably connected with the cross rod.
In an alternative embodiment, the ground support guide further includes a second support rod, and both ends of the second support rod are rotatably connected to the connecting portion and the guide portion, respectively.
In an alternative embodiment, the first support bar, the connecting portion, the second support bar and the guide portion together form the shape of a parallelogram.
In an optional embodiment, the telescopic power device further comprises a controller, and the controller is in signal connection with the telescopic power device.
In an alternative embodiment, the guide portion includes a support bracket and a connecting plate;
the first supporting rod is rotatably connected with the supporting frame, and the connecting plate is arranged on one side of the supporting frame, which is far away from the connecting part;
the sensor is arranged on one side of the connecting plate.
In an alternative embodiment, the number of the sensors is a plurality of the sensors, and the plurality of the sensors are arranged in parallel.
In an alternative embodiment, a backing plate is provided on a side of the connecting portion remote from the guide portion.
In an alternative embodiment, the telescopic power device is a cylinder or a hydraulic cylinder.
In a second aspect, the present invention provides an autonomous vehicle comprising a ground support guide according to any one of the preceding embodiments.
The utility model has the advantages that:
the rear end of the vehicle is provided with the ground support guide frame, the discharge hole of the production line is provided with the positioning piece, the first supporting rod is driven by the telescopic power device to swing, the guide part and the positioning piece are close to and separated from each other, the left and right position states of the guide part and the positioning piece are detected by the sensors, the direction of the vehicle is adjusted in real time, and the vehicle is accurately parked.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.
Fig. 1 is a front view of a vehicle guiding apparatus according to an embodiment of the present invention;
fig. 2 is a side view of a vehicle guiding apparatus provided in an embodiment of the present invention;
fig. 3 is a top view of a vehicle guiding device provided by an embodiment of the present invention;
fig. 4 is a schematic perspective view of a vehicle guiding device according to an embodiment of the present invention.
Icon: 1-a connecting part; 2-a first support bar; 3-a cross bar; 4-a support frame; 5-a sensor; 6-a telescopic power device; 7-a backing plate; 8-a connecting seat; 9-a connecting shaft; 10-a second support bar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.
Some embodiments of the present invention will be described in detail below with reference to fig. 1 to 4. The embodiments and features of the embodiments described below can be combined with each other without conflict.
In a first aspect, the present invention provides a vehicle guiding device, which includes a sensor, a ground support guiding frame disposed under a vehicle, and a positioning member fixedly disposed at a predetermined position; the vehicle guiding device comprises a connecting part 1, a guiding part, a first supporting rod 2 and a telescopic power device 6; the connecting part 1 is used for connecting the bottom of a vehicle; two ends of the first supporting rod 2 are respectively and rotatably connected with the connecting part 1 and the guide part; the telescopic power device 6 is respectively rotatably connected with the connecting part 1 and the first supporting rod 2 and is used for changing an included angle between the first supporting rod 2 and the connecting part 1 through telescopic movement; the guide part can be attached to the positioning part; the sensor is arranged on the guide part or the positioning part and is used for detecting the left and right position states of the guide part and the positioning part.
Specifically, in this embodiment, the setting element is fixed to be set up on the ground below production line discharge gate position, or fixed to be set up on the ground below production line feed gate position, and after the vehicle reached the position through the mode of backing a car, start flexible power device, stretch out the guide part, make guide part and setting element be close to. When the sensor detects that the guide part and the positioning part are completely close to each other, the left and right offset sizes of the guide part and the positioning part are detected, the position state is adjusted in real time through the vehicle, and finally the purpose of accurate parking is achieved.
More specifically, in this embodiment, after the vehicle guiding device is disposed below the rear end of the chassis of the autonomous vehicle, when the vehicle is parked, the telescopic power device 6 is activated to open the first supporting rod 2, so that the guiding portion is close to the positioning member, and the driving direction of the autonomous vehicle is adjusted.
In this embodiment, the both ends of first bracing piece 2 rotate with connecting portion 1 and guide part respectively and are connected, first bracing piece 2, connecting portion 1 and flexible power device 6 constitute a triangle-shaped structure, the upside and the vehicle fixed connection of connecting portion 1, first bracing piece 2 and flexible power device 6 all rotate the lower floor that sets up at connecting portion 1, flexible through flexible power device 6, change the contained angle between first bracing piece 2 and the connecting portion 1, and then change the vertical distance between connecting portion 1 and the guide part, realize being close to through guide part and setting element, and withdraw when not needing to support.
In a preferred embodiment, the running direction of the vehicle needs to be detected, and the left and right positions of the vehicle are also detected, namely the corresponding positions of the vehicle and the production line are detected, so that the condition that the angle is accurate but the positions have deviation, and the vehicle cannot be normally loaded or unloaded after being parked is avoided.
Specifically, in this embodiment, set up a plurality of sensors on the guide part, when every sensor homoenergetic senses the setting element, the vehicle position is just in the same place, can carry out normal material loading or unload.
In an alternative embodiment, the number of the first support rods 2 is two, a cross rod 3 is arranged between the two first support rods 2, and the telescopic power device 6 is rotatably connected with the cross rod 3.
In this embodiment, in order to ensure the strength of the first support rods 2 supporting the vehicle, the number of the first support rods 2 is set to two, and the two first support rods 2 are connected to each other through the cross rod 3 to form a whole.
Specifically, in this embodiment, the one end of flexible power device 6 is rotated with connecting portion 1 and is connected, and the other end rotates with the middle part of horizontal pole 3 to be connected, can enough realize the support to first bracing piece 2, can guarantee again when changing the angle of first bracing piece 2, the equilibrium of two first bracing pieces 2.
In this embodiment, in order to further ensure the connection strength between the two first supporting rods 2, the number of the cross rods 3 may also be multiple, and the telescopic power device 6 is rotatably connected to one of the cross rods 3 and can drive the first supporting rods 2 to swing.
It should be pointed out that, in this embodiment, the number of first bracing piece 2 is two, but it is not only limited to two, and it can also be more quantity, if can also set up to three, four, or even more, it as long as can be connected as a whole through horizontal pole 3, and then rotate with horizontal pole 3 through power device 6 that stretches out and draws back and be connected, realize the change of the contained angle between first bracing piece 2 and connecting portion 1 to the realization is to the height-adjusting of guide part can.
In an alternative embodiment, the vehicle guiding device further comprises a second support rod 10, and two ends of the second support rod 10 are respectively rotatably connected with the connecting part 1 and the guiding part.
Specifically, in the embodiment, the first support bar 2, the connecting portion 1, the second support bar 10, and the guide portion together form a parallelogram shape.
In this embodiment, the first support bar 2, the second support bar 10, the connecting portion 1 and the guide portion form a quadrilateral structure, so that it can be avoided that the guide portion located below freely rotates to cause abnormal support when the telescopic power device 6 is telescopic.
Specifically, in the present embodiment, the quadrangle formed by the first support bar 2, the connecting portion 1, the second support bar 10, and the guide portion is a parallelogram.
In this arrangement, the first support bar 2 and the second support bar 10 can synchronously swing at the same angle by the connection of the guide portions.
In the present embodiment, the parameters of the first support bar 2 and the second support bar 10 are the same.
Such an arrangement, without requiring separate distinction, can facilitate production and installation.
It should be noted that the parameters of the first support rod 2 and the second support rod 10 may be the same, or may be partially different, for example, the diameters may be different, the materials may be different, and the length thereof is the same, and after the two ends of the first support rod 2 are hinged and the two ends of the second support rod 10 are hinged, a parallelogram may be formed.
In an alternative embodiment, the vehicle guiding device further comprises a controller in signal connection with the telescopic power unit 6.
In this embodiment, the controller may be a remote controller, and the vehicle guiding device can be remotely controlled and conveniently operated through the remote controller.
In this embodiment, the controller may be matched with other devices, so that the vehicle guiding device can automatically perform approaching detection with the positioning member.
Specifically, the controller is in signal connection with a distance sensor behind the vehicle, receives distance data of the distance sensor, and controls the telescopic power device 6 to be started when the distance is smaller than a set threshold value, so that the vehicle guide device can automatically support the vehicle.
In this embodiment, a distance sensor is provided at the rear end of the vehicle, when the vehicle stops at the production line position, the distance sensor detects the distance between the production line and the vehicle, the controller judges the distance, when the distance reaches a proper distance, the controller starts to control the telescopic power device 6 to start, the guide part extends out to be attached to the positioning part, and the position accuracy of the stopped vehicle is judged according to the attachment state.
In an alternative embodiment, the guide comprises a support frame 4 and a connecting plate; the first support rod 2 is rotatably connected with the support frame 4, and the connecting plate is arranged on one side of the support frame 4 far away from the connecting part 1; the sensor 5 is arranged on one side of the connection plate.
In this embodiment, the support frame 4 is provided with the connecting seat 8, the first support rod 2 and the second support rod 10 are rotatably connected with the connecting seat 8 through the connecting shaft 9, so that the first support rod 2 and the support frame 4 are rotatably connected, and the second support rod 10 and the support frame 4 are rotatably connected.
Similarly, a connecting seat 8 is also arranged on the connecting part 1 and is rotatably connected with the first supporting rod 2 and the second supporting rod 10 through a connecting shaft 9.
In this embodiment, the connecting plate is arranged below the supporting frame 4, and is connected with the sensor 5 through the connecting plate, so that the sensor 5 can be better mounted and dismounted.
In the present embodiment, the connection mode between the sensor 5 and the connection plate is a bolt fixing connection.
It should be noted that, the connection mode between the sensor 5 and the connection frame may be a bolt fixed connection, but it is not limited to this fixed connection mode, and it may also be another fixed connection mode, for example, it may also be a clamping connection mode, a pin connection mode, etc., as long as it can realize that the sensor 5 is fixedly arranged on the connection plate.
In an alternative embodiment, the number of the sensors 5 is multiple, and multiple sensors 5 are arranged in parallel.
In the present embodiment, the sensors 5 are arranged side by side in a row, i.e., the plate surfaces are aligned.
It should be noted that the sensors 5 may be arranged in a single row or in multiple rows for increasing the stability of the support.
In an alternative embodiment, the side of the connecting part 1 remote from the guide part is provided with a backing plate 7.
Specifically, in the present embodiment, the connecting seat 8 is disposed on the lower side of the connecting portion 1, and the pad 7 is disposed on the upper side.
Through the setting of backing plate 7, can reduce the wearing and tearing between connecting portion 1 and the vehicle, improve the life of connecting portion 1.
In the present embodiment, the thickness, area, and the like of the pad 7 may be set according to the actual mounting position of the connecting portion 1.
In this embodiment, after the connecting portion 1 is provided with a connecting hole, the backing plate 7 is also provided with a connecting hole, and the connecting hole on the backing plate 7 is arranged corresponding to the connecting hole on the connecting portion 1, the fixing bolt penetrates through the connecting hole to fix the connecting portion 1 and the backing plate 7 together on the chassis of the vehicle.
It should be noted that, in this embodiment, the connecting portion 1 is fixedly connected to the pad 7 and the chassis of the vehicle through the fixing bolt, but the connecting manner is not limited to the fixing bolt, and other fixing connecting manners such as clamping, riveting, etc. may also be used, as long as the connecting portion 1 and the pad 7 can be fixedly disposed on the chassis of the vehicle.
In alternative embodiments, the telescopic power device 6 is a pneumatic or hydraulic cylinder.
In this embodiment, an air cylinder or a hydraulic cylinder is used as the telescopic power device 6, so that the air cylinder or the hydraulic cylinder can drive the cross rod 3 to perform linear movement, and further, the angular swing of the first supporting rod 2 is realized.
It should be noted that the telescopic power device 6 may be an air cylinder or a hydraulic cylinder, but is not limited to the air cylinder or the hydraulic cylinder, and may also be other power devices, such as a linear motor, etc., that is, it only needs to drive the first support rod 2 to swing, so as to achieve the up-and-down lifting of the guide portion.
In a second aspect, the present invention provides an autonomous vehicle comprising a ground support guide according to any one of the preceding embodiments.
The utility model has the advantages that:
the vehicle guide device is arranged at the rear end of the vehicle, the rear end of the vehicle can be supported, the vehicle is prevented from tilting under the action of materials when the vehicle is loaded, and the safety of the vehicle during loading is improved.
Drive first bracing piece 2 through flexible power device 6 and swing, realize the guide part to the support of vehicle with pack up, can enough realize supporting the vehicle when the material loading, can guarantee the normal travel of vehicle again.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle guiding device is characterized by comprising a sensor, a ground support guide frame arranged below a vehicle and a positioning piece fixedly arranged at a preset position;
the vehicle guide device comprises a connecting part, a guide part, a first support rod and a telescopic power device;
the connecting part is used for connecting the bottom of the vehicle;
two ends of the first supporting rod are respectively connected with the connecting part and the guide part in a rotating manner;
the telescopic power device is respectively and rotatably connected with the connecting part and the first supporting rod and is used for changing an included angle between the first supporting rod and the connecting part through telescopic movement;
the guide part and the positioning part can be attached;
the sensor is arranged on the guide part or the positioning part and used for detecting the left and right position sizes of the guide part and the positioning part.
2. The vehicle guiding device as defined in claim 1, wherein the number of the first supporting rods is two, a cross rod is arranged between the two first supporting rods, and the telescopic power device is rotatably connected with the cross rod.
3. The vehicle guiding apparatus as defined in claim 1, wherein the ground support guide further comprises a second support rod having both ends rotatably connected to the connecting portion and the guide portion, respectively.
4. The vehicle guiding apparatus as defined in claim 3, wherein the first support bar, the connecting portion, the second support bar and the guide portion together form a parallelogram shape.
5. The vehicle steering arrangement of claim 1, further comprising a controller in signal communication with the power plant.
6. The vehicle guiding apparatus as defined in claim 1, wherein the guiding portion includes a support bracket and a connecting plate;
the first supporting rod is rotatably connected with the supporting frame, and the connecting plate is arranged on one side of the supporting frame, which is far away from the connecting part;
the sensor is arranged on one side of the connecting plate.
7. The vehicle guiding apparatus as defined in claim 1, wherein the number of said sensors is plural, and plural said sensors are arranged in parallel.
8. The vehicle guiding apparatus according to claim 1, wherein a pad is provided on a side of the connecting portion remote from the guiding portion.
9. The vehicle guidance device of claim 1, wherein the power unit is a pneumatic or hydraulic cylinder.
10. An autonomous vehicle comprising a ground support according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223419940.3U CN218859862U (en) | 2022-12-15 | 2022-12-15 | Vehicle guiding device and automatic driving automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223419940.3U CN218859862U (en) | 2022-12-15 | 2022-12-15 | Vehicle guiding device and automatic driving automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218859862U true CN218859862U (en) | 2023-04-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223419940.3U Active CN218859862U (en) | 2022-12-15 | 2022-12-15 | Vehicle guiding device and automatic driving automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218859862U (en) |
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2022
- 2022-12-15 CN CN202223419940.3U patent/CN218859862U/en active Active
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