TWI722399B - Auto-vehicle - Google Patents

Abstract

An automatic carrier includes a carrier body, a plurality of moving units arranged on the carrier body, and a plurality of actuating units arranged on the carrier body, each moving unit includes a wheel and a linkage with the carrier The body and the sector gear of the wheel, each actuating unit connected to two of the multiple moving units, includes a steering servo motor controlled by a control message, and a spur gear column driven by the steering servo motor, The spur gear column of each actuating unit simultaneously meshes with the sector gears of two of the multiple moving units. When the steering servo motor drives the spur gear column by the control message, the spur gear column drives the two sector gears at the same time The two wheels of the two moving units are rotated by the same angle in the same direction.

Description

Auto-vehicle

The present invention relates to a vehicle, in particular to an automatic vehicle.

In response to the development trend of Industry 4.0, automated guided vehicles (AVGs) that do not require human manipulation based on big data, Internet of Things, and machine tool automation are becoming more and more common in the market. Therefore, How to design and research various automatic vehicles to meet the needs of different workplaces is the direction of the industry's continuous efforts.

At present, most of the automatic vehicles that are used in stores or factories that require high mobility characteristics are driven by multiple drive motors that can be controlled by different signals, so that the automatic vehicles can be borrowed. A number of controlled motors and wheels are coordinated to move with high flexibility. However, these automatic vehicles obviously suffer from the complicated structure of components and the problems of how to coordinate and control them. Therefore, how to improve the existing automatic vehicles to simplify the transmission system and control methods has always been the focus of research and development in this technical field.

Therefore, the purpose of the present invention is to provide an automatic vehicle with a simple structure and easier coordinated control.

Therefore, the present invention provides an automatic carrier including a carrier body, a plurality of moving units arranged on the carrier body, and a plurality of actuating units arranged on the carrier body, each moving unit includes a wheel. , And a sector gear connecting the carrier body and the wheel. Each actuating unit is connected to two of the multiple moving units, including a steering servo motor controlled by a control message, and a steering servo motor controlled by the steering servo. A spur gear column driven by a motor. The spur gear column of each actuating unit simultaneously engages the sector gears of two of the multiple moving units. When the steering servo motor drives the spur gear column by the control message, the spur gear The column simultaneously drives the two sector gears to make the two wheels of the two moving units rotate in the same direction by the same angle.

The effect of the present invention is that by simultaneously driving the steering of the two moving units by the actuating unit, the effect of achieving high flexibility of movement with a simplified structure is achieved.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numbers.

1, a preferred embodiment of the automatic carrier of the present invention includes a carrier body 2, four moving units 3 arranged on the carrier body 2, and two actuation units 4 arranged on the carrier body, Wherein, the carrier body 2 includes a rectangular loading portion 21 for loading articles, and a surrounding portion 22 extending downward from the periphery of the loading portion 21 in a vertical direction. The loading portion 21 and The surrounding portion 22 defines a chamber, the plurality of actuating units 4 are located in the chamber, and the plurality of mobile units 3 are located in the chamber and partially exposed outside the chamber. When the automatic carrier of the present invention is moving, The surrounding portion 22 of the carrier body 2 does not touch the ground. The carrier body 2 may be integrally formed, or may consist of a rectangular plate of the carrier section 21 and a top edge connected to the carrier section 21 It is composed of the surrounding part 22 of the surrounding wall, but it is not limited to this.

1 and 2, each moving unit 3 includes a sector gear 31, a wheel 32 arranged below the sector gear 31, a pivot plate 33 arranged above the sector gear 31, and a A drive motor 34 arranged on the side of the wheel 32 close to the actuation unit 4, wherein the wheel 32 has a wheel 321, and a cover that covers the upper half of the wheel 321 and exposes the lower half of the wheel 321部的轮盖322。 Part of the wheel cover 322.

The pivot disk 33 is adjacent to the axis of the sector gear 31 and is pivotally connected to the sector gear 31. The bottom surface of the sector gear 31 corresponding to the position of the pivot disk 33 is connected to the top surface of the wheel 32. The driving motor 34 passes through the wheel cover 322 to drive the wheel 321 to rotate, thereby causing the automatic carrier to move.

Each actuating unit 4 includes a spur gear set 41, a steering servo motor 42, and a square transmission box 43 connecting the spur gear set 41 and the steering servo motor 42. The spur gear set 41 has a spur gear column 411 , And a spur gear cover 412 set on the upper half of the spur gear column 411. The spur gear cover 412 has a flange ring and a hollow cylinder extending upward in the vertical direction from the inner periphery of the flange ring , And a flange with a bottom surface connected to the upper peripheral edge of the hollow cylinder, wherein both sides of the hollow cylinder along the axial direction of the steering servo motor 42 respectively have an opening for the spur gear set 41 to be exposed to the outside, The flange ring, the hollow cylinder, the flange, and the spur gear column 411 define a 360-degree ring-shaped groove for the gear teeth of the two opposing sector gears 31 to pass through from both sides. The two openings of the hollow cylinder mesh with the gear teeth of the spur gear column 411.

By means of the mechanical force transfer structure in the transmission box 43, the torsion force generated by the steering servo motor 42 when rotating is transferred to the torsion force of the spur gear that rotates the spur gear column 411, so that the spur gear is then driven to mesh with it The two sector gears 31 rotate.

The top surfaces of the four pivot plates 33 of the four moving units 3 are respectively connected to the bottom surface of the rectangular carrying portion 21 and adjacent to four corners, and move by two adjacent to the same short side of the carrying portion 21 The unit 3 is a group, and each group of mobile units 3 is driven by an actuating unit 4. The top surface of the flange of the spur gear cover 412 of each actuating unit 4 is connected to the bottom surface of the loading portion 21, and is located between the two moving units 3 on the same short side of the loading portion 21, so that each is aligned The spur gear set 41 of the moving unit 4 can drive the corresponding set of moving units 3.

3, the direction from the spur gear set 41 to the adjacent short side is the direction reference. When the steering servo motor 42 is activated, the spur gear column 411 of the spur gear set 41 is rotated in a clockwise direction. The sector gear 31 on the right of the gear set 41 is driven by the spur gear column 411 to rotate counterclockwise to move from a first position relative to the pivot plate 33 to a second position (as indicated by the imaginary line) Similarly, when the steering servo motor 42 is activated to rotate the spur gear column 411 of the spur gear set 41 in a clockwise direction, the sector gear 31 on the left side of the spur gear set 41 is driven by the spur gear column 411 to reverse Rotate in the clockwise direction to move from another first position relative to the other pivotal plate 33 to another second position (as indicated by the imaginary line).

As mentioned above, the two wheels 32 of the same group of moving units 3 will rotate in the same direction, but the wheels 32 of different groups are driven by their corresponding actuation units 4, and they can rotate in the same direction with the same or different rotations. Angle, or rotate the same or different angles in different directions, and have high flexibility of steering freedom.

It is worth mentioning that the driving motor 34 can be a servo motor or an adaptive motor, but it is not limited to this. In this embodiment, each driving motor 34 is an adaptive motor, so that each wheel 34 can coordinate the speed difference with each other according to a control message when turning, and increase the flexibility of turning, even when different groups of wheels are moving. When the wheels 32 are rotated in opposite directions to their maximum rotatable angles, the automatic carrier of the present invention can rotate 360 degrees with the minimum achievable radius of gyration.

In addition, each mobile unit 3 also has a mobile message transceiving element 35 that receives the control message, each actuation unit 4 has an actuation message transceiving element 44 that receives the control message, the mobile message transceiving element 35 and the actuation The message transceiving element 44 can be an infrared receiver or a wireless communication transceiver (such as a long-range (LoRa) transceiver, a wireless network transceiver, or a fourth-generation mobile communication transceiver, etc.), but not Times is limited. In this embodiment, each mobile message transceiving element 35 and each active message transceiving element 44 is a long-distance transceiver, and each mobile message transceiving element 35 is arranged on each drive motor 34, and each active message transceiving element 35 is a long-distance transceiver. The element 44 is arranged on each steering servo motor 34. Each mobile message receiving and sending element 35 and each actuation message receiving and sending element 44 can not only receive the control message from an external central control system, but also send a corresponding The feedback information of the state of the motor is sent to the external central control system for communication and control of positioning and path information.

In summary, the automatic carrier of the present invention drives the corresponding two sector gears 31 by rotating the spur gear column 411 to control the steering of the two wheels 32 in the front row or the rear row. Steering control structure to achieve high mobility.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, all simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the patent specification still belong to Within the scope of the patent of the present invention.

2: Vehicle body 21: Carriage part 22: Surround part 3: Moving unit 31: Sector gear 32: Wheel 321: Wheel 322: Wheel cover 33: Pivot plate 34: Drive motor 35: Mobile message sending and receiving element 4: Actuating unit 41: Spur gear column group 411: Spur gear column 412: Spur gear cover 42: Steering servo motor 43: Transmission box 44: Actuation message sending and receiving element

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: Figure 1 is a three-dimensional exploded view illustrating a preferred embodiment of the automatic carrier of the present invention; Figure 2 is a partial The three-dimensional exploded view illustrates the combined relationship between the two moving units and the cooperating unit of the preferred embodiment; and FIG. 3 is a partial cross-sectional view illustrating the operating relationship between the two moving units and the cooperating unit of the preferred embodiment.

2: Vehicle body

21: Passenger Department

22: Surrounding part

3: mobile unit

31: sector gear

32: Wheels

35: Mobile messaging components

4: Actuation unit

41: Spur gear set

42: Steering servo motor

44: Activate the messaging component

Claims (7)

An automatic carrier includes: a carrier body; a plurality of moving units arranged on the carrier body, each moving unit includes a wheel, and a sector gear that links the wheel; and a plurality of actuation units, arranged In the carrier body, each actuating unit is connected to two of the multiple moving units, including a steering servo motor controlled by a control message, and a spur gear column driven by the steering servo motor. The spur gear column of the unit meshes with the sector gears of two of the multiple moving units at the same time. When the steering servo motor drives the spur gear column by the control message, the spur gear column simultaneously drives the two sector gears to make the two sector gears. The two wheels of each mobile unit rotate in the same direction by the same angle. The automatic carrier according to claim 1, wherein each moving unit further includes a driving motor controlled by the control message and used to drive the wheel. The automatic carrier according to claim 2, wherein the driving motor is any one of an adaptive motor and a servo motor. The automatic vehicle according to claim 3, wherein each mobile unit further has a mobile message transceiving element for receiving the control message and sending a feedback message to an external central control system. The automatic vehicle according to claim 4, wherein the mobile messaging component is a wireless communication transceiver. The automatic vehicle according to claim 1, wherein each actuation unit further has an actuation message transceiving element for receiving the control message and sending a feedback message to an external central control system. The automatic vehicle according to claim 6, wherein the actuation message transceiving element is a wireless communication transceiver.

Images