TW201714761A - Auto guided vehicle - Google Patents

Abstract

An auto guided vehicle driving on a ground including a body, at least one driving wheel module, at least three auxiliary wheel modules and an adjusting module is provided. The driving wheel module is assembled to the body, and the auxiliary wheel modules are freely pivoted to the body respectively. The adjusting module is assembled and connected between the body and the driving wheel module to adjust a friction force of the driving wheel module relative to the ground.

Description

Automatic guided vehicle

The invention relates to an automatic guided vehicle.

Auto-guided vehicle (AGV) is a combination of environmental sensing, planning decision-making and unmanned automatic control. It is widely used in autonomous driving, because it can effectively save labor costs. Material transportation, surveillance patrols, access to dangerous places, etc. Known automatic guided vehicles use a Programmable Logic Controller (PLC) as a control core to perform output signals for overall motion control of each external motor and actuator.

Moreover, in general, the automatic guided vehicle is often subjected to various accelerations, decelerations, and various terrain fluctuations during the traveling process. For example, the dynamic friction between the automatic guided vehicle and the ground will vary depending on the condition of the ground (flatness, roughness). However, the drive system and wheels of the existing automatic guided vehicles are fixed, so that automatic guidance cannot be ensured. The car maintains a certain amount of traction force on all terrains.

Based on the above, how can the auto-guided vehicle be able to adapt to various terrains in a relatively more active manner, that is, to maintain sufficient dynamic friction in various terrains, which is a subject that the relevant personnel need to consider and solve.

The present invention provides an automatic guided vehicle that can adjust the friction of the drive wheel module relative to the ground by adjusting the module to maintain the proper tracking force of the automatic guided vehicle.

The automatic guided vehicle of the present invention is used for walking on a ground, and the automatic guided vehicle comprises a vehicle body, at least one driving wheel module, at least three auxiliary wheel modules and an adjusting module. The drive wheel module is disposed on the vehicle body. The auxiliary wheel modules are respectively freely pivotally connected to the vehicle body. The adjustment module is assembled between the vehicle body and the drive wheel module to adjust the frictional force of the drive wheel module relative to the ground.

In an embodiment of the invention, the adjustment module includes a first cylinder, an adjustment component, and an elastic member. The first cylinder is erected on the first carrier of the drive wheel assembly. The adjustment assembly is movably sleeved on the first cylinder and assembled on the vehicle body. The elastic member is sleeved on the first cylinder and abuts between the first carrier and the adjustment assembly. The adjustment assembly adjusts its position on the first cylinder to change the degree of deformation of the elastic member.

In an embodiment of the invention, the adjusting component comprises a fixing seat, a second cylinder and an abutting member. The fixing seat is assembled to the vehicle body. The second cylinder passes through the fixing seat and is sleeved outside the first column. The abutting member is sleeved outside the second column. The elastic member is abutted between the abutting member and the first carrier.

In an embodiment of the invention, the fixing base has an internal thread, and the second cylinder has an external thread, wherein the internal thread of the fixing seat is matched with the external thread of the second cylinder to adjust the second cylinder and The relative position between the mounts.

In an embodiment of the invention, the abutting member has an internal thread, and the internal thread of the abutting member is matched with the external thread of the second cylinder to adjust the relative relationship between the abutting member and the second cylinder. Position to change the degree of deformation of the elastic member.

In an embodiment of the invention, the second cylinder is a hollow stud, and the hollow stud is sleeved on the surface of the first cylinder as a smooth surface.

In an embodiment of the invention, the second cylinder further has a nut portion, and the automatic guided vehicle further has a stopper, which is detachably disposed on the fixing seat and sleeved on the second cylinder. The stopper has a sleeve conforming to the outer shape of the nut portion, and the sleeve and the nut portion interfere with each other to prevent the second cylinder from moving relative to the fixed seat.

In an embodiment of the invention, the automatic guided vehicle further has a stopper, which is detachably disposed on the fixing seat and sleeved on the second cylinder. The stopper has an internal thread, and the external thread of the second cylinder is engaged with the internal thread of the stopper, and the direction of the internal thread of the stopper is opposite to the direction of the internal thread of the fixing seat, so that the second cylinder cannot be Move relative to the fixed seat.

In an embodiment of the invention, the automatic guided vehicle further has a stopper having an external thread, and one side of the fixing seat has an internal thread. The external thread of the stopper cooperates with the internal thread of the side to allow the stopper to be detachably locked into the fixing seat and interfere with the second cylinder to prevent the second cylinder from moving relative to the fixed seat .

In an embodiment of the invention, the drive wheel module includes a motor, a drive wheel, and a transmission assembly. The motor is disposed on the first carrier, and the driving wheel is pivotally disposed on the first carrier. The drive assembly is coupled between the motor and the drive wheel. The adjustment assembly changes the degree of deformation of the elastic member to adjust the frictional force of the drive wheel relative to the ground.

In an embodiment of the invention, each of the auxiliary wheel modules includes a second carrier and an auxiliary wheel. The second carrier is disposed on the vehicle body described above. The auxiliary wheel is freely pivotally coupled to the second carrier by a bearing.

In an embodiment of the invention, the drive wheel module is located between the auxiliary wheel modules.

Based on the above, the automatic guided vehicle changes the frictional force of the driving wheel module relative to the ground by adjusting the module, so that the automatic guiding vehicle can maintain the tracking force of the driving wheel module when facing the ground with low roughness. Moreover, the situation that the driving wheel module slips is effectively avoided, and the adaptability of the automatic guided vehicle to various grounds or terrains is also improved.

The above described features and advantages of the invention will be apparent from the following description.

1 is a schematic view of an automated guided vehicle in accordance with an embodiment of the present invention. Referring to FIG. 1, the automated guided vehicle 100 includes a vehicle body 130 and drive wheel modules 110A, 110B, auxiliary wheel modules 120A, 120B and 120C assembled thereon, and adjustment modules 140A, 140B. In the present embodiment, the vehicle body 130 is a truss-like structure including an outer frame 132, two trusses 131, 133 erected on the outer frame 132, and two other trusses 134 erected on the two trusses 131, 133, 136, wherein the auxiliary wheel module 120C is disposed between the outer frame 132 and the truss 131, and the auxiliary wheel modules 120A, 120B are respectively disposed between the outer frame 132 and the truss 133, and the driving wheel module 110A is disposed on the truss 134, and is driven. The wheel module 110B is disposed on the truss 136.

The number of the driving wheel modules 110A, 110B is not limited here, that is, the user selects an appropriate number of driving wheel modules according to the load demand and driving force of the automatic guiding vehicle 100, as another one is not shown. In an embodiment, a single drive wheel module can also be used as a driving force source for the automatic guided vehicle 100. Furthermore, in the present embodiment, in order to load the load of the automatic guided vehicle 100 evenly on the auxiliary wheel modules 120A to 120C, the automatic guided vehicle 100 of the embodiment needs to have at least three auxiliary wheel modes. The group 120A-120C is the minimum requirement, and the three auxiliary wheel modules 120A-120C need to form a plane, and the driving wheel modules 110A, 110B are located on the plane and located in the auxiliary wheel modules 120A-120C. between. Under this premise, the user can achieve the effect of dispersing the load by arranging more than three auxiliary wheel modules.

2 and FIG. 3 are partial schematic views of the automatic guided vehicle of FIG. 1 taken from different perspectives. Referring to FIG. 1 to FIG. 3 simultaneously, since the drive wheel modules 110A and 110B are identical to each other, only the drive wheel module 110A disposed on the truss 134 will be described as an example. In this embodiment, the driving wheel module 110A includes a first carrier 112, a motor 114, a driving wheel 116, and a transmission assembly 118. The motor 114 is disposed on the first carrier 112, and the driving wheel 116 is pivoted on the first carrier. On the member 112, a transmission assembly 118 (such as the drive chain and gear set shown in FIG. 3) is coupled between the motor 114 and the drive wheel 116. As such, the power provided by the motor 114 is transmitted to the drive wheels 116 via the transmission assembly 118 to achieve the effect of the zoned automated guided vehicle 100 traveling.

4 is a schematic view of the auxiliary wheel module of FIG. 1. Similarly, only one of the auxiliary wheel modules 120A to 120C is taken as an example here. The auxiliary wheel module of the embodiment includes a second carrier member 128, a bearing 124 and an auxiliary wheel 122. The second carrier member 128 is fixed to the vehicle body 130, and the bearing 124 is assembled to the second carrier member 128 via the fixing member 126. Wheel 122 is assembled to bearing 124. Accordingly, the auxiliary wheel 122 can be freely pivotally coupled to the second carrier 128 to freely swing relative to the second carrier 128 (ie, relative to the vehicle body 130).

Based on the above, the auxiliary wheel modules 120A-120C serve only as the weight of the automated guided vehicle 100, and the main driving force is provided by the drive wheel modules 110A, 110B. In addition, one of the auxiliary wheel modules 120A-120C may also be provided with a steering assembly (not shown), and further provides for steering the automatic guided vehicle 100.

FIG. 5 is an exploded view of the adjustment module of FIG. 1. FIG. Please refer to FIG. 2, FIG. 3 and FIG. 5 at the same time (please refer to FIG. 1 at the same time). Similarly, the adjustment module 140A is taken as an example here (the same is true for the adjustment module 140B, which will not be described again). In this embodiment, the adjustment module 140A assembled between the vehicle body 130 and the drive wheel module 110A includes a first cylinder 142, an adjustment assembly AD and an elastic member 144, wherein the first cylinder 142 is erected on the drive wheel. On the first carrier 112 of the module 110A, the adjustment component AD can be sleeved up and down on the first cylinder 142 and assembled on the truss 134 of the vehicle body 130. The elastic member 144 is, for example, a spring. It is disposed on the first cylinder 142 and abuts between the first carrier 112 and the adjustment component AD, and the deformation degree of the elastic member 144 can be changed by adjusting the position of the adjustment component AD on the first cylinder 142. In order to achieve the adjustment effect of providing the driving wheel module 110A downward pressure toward the ground.

In detail, the adjustment assembly AD includes a fixing base 148 , a second cylinder 146 and an abutment 141 , and the fixing base 148 is assembled on the truss 134 of the vehicle body 130 . Further, the truss 134 has an opening 134a, and the fixed seat 148 carries the top portion 148a and is secured in the recess of the truss 134 with its post 148b passing through the opening 134a. The second cylinder 146 passes through the fixing base 148 and is sleeved outside the first cylinder 142. As shown in FIG. 5, the second cylinder 146 is a hollow stud having an external thread, and the fixing base 148 has an internal thread, so that the external thread of the second cylinder 146 and the internal thread of the fixing base 148 are matched with each other ( That is, the fixing seat 148 is screwed to the first section 146b) of the second cylinder 146, so that the second cylinder 146 can be screwed to adjust its relative position with the fixing seat 148. Furthermore, the second cylinder 146 has a smooth surface 146a. Therefore, when the relative position of the second cylinder 146 and the fixing base 148 is adjusted, the second cylinder 146 can also be movably sleeved by the smooth surface 146a. Outside of a cylinder 142.

In addition, the abutting member 141 is sleeved outside the second cylinder 146 , and the elastic member 144 is abutted between the abutting member 141 and the first carrier 112 . As can be seen from the drawings of the embodiment, the abutting member 141 has an internal thread, so that the internal thread of the abutting member 141 and the external thread of the second cylinder 142 are engaged with each other (that is, the abutting member 141 is screwed to The second section 146c) of the second cylinder 146 can adjust the relative position between the two cylinders. More importantly, the elastic member 144 substantially abuts the first load of the abutting member 141 and the driving wheel module 110A. Between the members 112, the abutting member 141 is thereby brought to a state in which the elastic member 144 is deformed or not.

In this way, when the automatic guided vehicle 100 faces the ground with low roughness, the user can reduce the between the truss 134 of the vehicle body 130 and the first carrier 112 of the driving wheel module 110A by adjusting the assembly AD. The spacing D1 (shown in FIG. 2), that is, the adjustment assembly AD compresses the elastic member 144, thereby enabling the elastic force of the elastic member 144 to be a downward pressure that increases the dynamic friction between the driving wheel 116 and the ground (ie, with the driving wheel 116). It is the source of rolling on the ground so that the automated guided vehicle 100 at this time can still maintain sufficient tracking force on the ground with lower roughness. Conversely, the adjustment of the adjustment assembly AD can reverse the resilient member 144 to reduce its downward pressure on the drive wheel 116. Accordingly, the automated guided vehicle 100 can thus accommodate different roughness or contoured floors with a better range of adaptation.

It should be noted that, in this embodiment, the two sets of adjustment components AD, the two first cylinders 142 and the two elastic members 144 are illustrated, but in practical applications, the components AD can still be adjusted in a single group. A single first cylinder 142 and a single elastic member 144 achieve the desired effect.

Referring to FIG. 5 again, in the present embodiment, in order to prevent the adjusted adjustment component AD from being loosened due to the vibration or collision of the automatic guided vehicle 100, the automatic guided vehicle 100 further includes a stopper 150, for example, It is a stop screw with external thread. Correspondingly, one side portion 148c of the mount 148 also has an internally threaded bore that communicates from the side 148c of the mount 148 to the interior with internal threads. Accordingly, when the second cylinder 146 of the adjustment assembly AD is adjusted to the proper position, the stopper 150 can be interfered with the second cylinder 146 by the stopper 150 being locked into the side portion 148c of the fixing seat 148. In order to prevent the second cylinder 146 from being screwed relative to the fixed seat 148 so as to move up and down. Of course, when the position of the adjustment assembly AD relative to the fixed seat 148 is to be changed, the desired position can be achieved by removing the stopper 150.

Fig. 6 is a partial schematic view of an automatic guided vehicle according to another embodiment of the present invention, which is shown in a state before assembly. Referring to FIG. 6 , unlike the foregoing embodiment, the stopper 160 of the embodiment has a sleeve 162 conforming to the outer shape of the nut portion of the second cylinder 146 , so that when the stopper 160 is fixed to the fixing seat 148 The sleeve 162 interferes with the nut portion, thereby preventing the second cylinder 146 from being screwed relative to the fixed seat 148 for relative movement of the upper and lower portions.

Figure 7 is a partial schematic view of an automatic guided vehicle according to still another embodiment of the present invention. Referring to FIG. 7, different from the foregoing embodiment, the stopper 170 of the embodiment has an internal thread (not shown), which can be engaged with the external thread of the second cylinder 146, and the stopper 170 is also At the same time, it can be fixed on the fixing base 146. In other words, the internal thread of the stop member 170 is substantially opposite to the direction of the external thread of the fixed seat 148. As such, the stop member 170 can provide additional friction to prevent the second post 146 from moving relative to the mount 148 to achieve a stop effect.

In summary, in the above embodiment of the present invention, the automatic guided vehicle changes the frictional force of the driving wheel module relative to the ground by adjusting the module, wherein the adjusting module can compress the elastic member by adjusting the assembly. In order to make the elastic force of the elastic member become the downward pressure of the driving wheel, the driving wheel can maintain the tracking force even when facing the ground with low roughness, so the automatic guided vehicle can be adapted to each by the above means. Different ground or terrain to improve its scope of application.

Furthermore, the automatic guided vehicle further includes a stopper for allowing the adjusted second cylinder to maintain its relative position with the fixed seat by various means, so as to avoid the shock or collision of the automatic guided vehicle during the traveling. Adjust the looseness of the component.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and any one of ordinary skill in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of the invention is defined by the scope of the appended claims.

100‧‧‧Automatic guided vehicle
110A, 110B‧‧‧ drive wheel module
112‧‧‧First carrier
114‧‧‧Motor
116‧‧‧ drive wheel
118‧‧‧Transmission components
120A, 120B, 120C‧‧‧Auxiliary wheel module
122: auxiliary wheel
124‧‧‧ Bearing
126‧‧‧Fixed parts
128‧‧‧Second carrier
130‧‧‧ body
132‧‧‧Front frame
131, 133, 134, 136‧‧‧ trusses
134a‧‧‧ openings
140A, 140B‧‧‧ adjustment module
141‧‧‧Resistance
142‧‧‧First cylinder
144‧‧‧Flexible parts
146‧‧‧Second cylinder
146A‧‧‧Smooth face
146b‧‧‧ first paragraph
146c‧‧‧second paragraph
148‧‧‧ fixed seat
148a‧‧‧ top
148b‧‧‧ pillar
148c‧‧‧ side
150, 160, 170‧ ‧ stop
162‧‧‧ mouth
AD‧‧‧Adjustment components
D1‧‧‧ spacing

1 is a schematic view of an automated guided vehicle in accordance with an embodiment of the present invention. 2 and FIG. 3 are partial schematic views showing the automatic guided vehicle of FIG. 1 in different perspectives. 4 is a schematic view of the auxiliary wheel module of FIG. 1. FIG. 5 is an exploded view of the adjustment module of FIG. 1. FIG. Figure 6 is a partial schematic view of an automated guided vehicle in accordance with another embodiment of the present invention. Figure 7 is a partial schematic view of an automatic guided vehicle according to still another embodiment of the present invention.

100‧‧‧Automatic guided vehicle

110A, 110B‧‧‧ drive wheel module

120A, 120B, 120C‧‧‧Auxiliary wheel module

130‧‧‧ body

132‧‧‧Front frame

131, 133, 134, 136‧‧‧ trusses

140A, 140B‧‧‧ adjustment module

Claims (12)

An automatic guided vehicle for walking on a ground, the automatic guided vehicle comprising: a vehicle body; at least one driving wheel module disposed on the vehicle body; at least three auxiliary wheel modules respectively freely pivoted The vehicle body and an adjustment module are assembled between the vehicle body and the drive wheel module to adjust the frictional force of the drive wheel module relative to the ground. The automatic guided vehicle of claim 1, wherein the adjusting module comprises: a first cylinder standing on a first carrier of the driving wheel assembly; an adjusting component, the movable sleeve Provided on the first cylinder and assembled on the vehicle body; and an elastic member sleeved on the first cylinder and abutting between the first carrier and the adjusting component, the adjusting component adjusting the The position on the first cylinder changes the degree of deformation of the elastic member. The automatic guided vehicle of claim 2, wherein the adjusting component comprises: a fixing base assembled to the vehicle body; a second cylinder passing through the fixing seat and sleeved outside the first column And an abutting member is sleeved on the outside of the second column, and the elastic member abuts between the abutting member and the first carrier member. The automatic guided vehicle according to claim 3, wherein the fixing base has an internal thread, the second cylinder has an external thread, and the internal thread of the fixing seat is adjusted to be engaged with the external thread of the second cylinder. The relative position between the second cylinder and the mount. The automatic guided vehicle according to claim 4, wherein the abutting member has an internal thread, and the internal thread of the abutting member is adapted to engage with an external thread of the second cylinder to adjust the abutting member and the first The relative position between the two cylinders to change the degree of deformation of the elastic member. The automatic guided vehicle of claim 4, wherein the second cylinder is a hollow stud, and the hollow stud is sleeved on the surface of the first cylinder as a smooth surface. The automatic guided vehicle of claim 3, wherein the second cylinder further has a nut portion, and the automatic guided vehicle further has a stop member detachably disposed on the fixing seat and sleeved In the second cylinder, the stopper has a set of mouths corresponding to the outer shape of the nut portion, and the sleeve and the nut portion interfere with each other to prevent the second cylinder from moving relative to the fixed seat. The automatic guided vehicle of claim 4, wherein the automatic guided vehicle further has a stop member detachably disposed on the fixing base and sleeved on the second cylinder, the stopper having the inner portion The external thread of the second cylinder is engaged with the internal thread of the stopper to prevent the second cylinder from moving relative to the fixed seat. The automatic guided vehicle according to claim 3, wherein the automatic guided vehicle further has a stopper having an external thread, and one side of the fixing seat has an internal thread, and the external thread of the stopper The internal thread of the side is engaged with the engaging member to detachably lock the stopper into the fixing seat and interfere with the second cylinder so that the second cylinder cannot move relative to the fixing seat. The automatic guided vehicle of claim 2, wherein the driving wheel module comprises: a motor disposed on the first carrier; a driving wheel pivotally disposed on the first carrier; and a A transmission assembly is coupled between the motor and the drive wheel, the adjustment assembly changing a degree of deformation of the elastic member to adjust a frictional force of the drive wheel relative to the ground. The automatic guided vehicle according to claim 1, wherein each of the auxiliary wheel modules comprises: a second carrier disposed on the vehicle body; and an auxiliary wheel freely pivotally connected by a bearing On the second carrier. The automatic guided vehicle of claim 1, wherein the driving wheel module is located between the at least three auxiliary wheel modules.