TWI722399B - Auto-vehicle - Google Patents
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Abstract
一種自動載具包含一載具本體、多個設置在該載具本體的移動單元,及多個設置在該載具本體的致動單元,每一移動單元包括一輪具,及一連動該載具本體與該輪具的扇形齒輪,每一致動單元連接該多個移動單元的其中二個,包括一受控於一控制訊息的轉向伺服馬達,及一受該轉向伺服馬達帶動的正齒輪柱,每一致動單元的正齒輪柱同時嚙合該多個移動單元的其中二個的扇形齒輪,當該轉向伺服馬達受該控制訊息而帶動該正齒輪柱時,該正齒輪柱同時帶動該二扇形齒輪使該二個移動單元的二個輪具朝同一方向轉動相同的角度。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
本發明是有關於一種載具,特別是指一種自動載具。The present invention relates to a vehicle, in particular to an automatic vehicle.
為了因應工業4.0的發展趨勢,基於大數據、物聯網,及機械工具自動化等相關方面的技術,無須人為操控的自動載具(Automatic guided vehicle, AVG)在市場上也越來越常見,因此,如何設計研究各式自動載具以符合不同工作場合的需要,是業界不斷努力的方向。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.
目前,應用在賣場或工廠的而需要具備較高靈活移動特性的自動載具,多數是藉由多個可分別受控於不同訊號的驅動馬達分別驅動多個輪具,使得自動載具可以藉由多個受控的馬達和輪具相配合,而可高靈活性地移動。但此等自動載具顯然具有元件結構複雜、如何協調控制的困擾。因此,如何改善現有的自動載具以簡化傳動系統、控制方式種種,一直都是本技術領域的研發重點。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.
因此,本發明的目的,即在提供一種結構簡單、較易協調操控的自動載具。Therefore, the purpose of the present invention is to provide an automatic vehicle with a simple structure and easier coordinated control.
於是,本發明提供了一種自動載具,包含一載具本體、多個設置在該載具本體的移動單元,及多個設置在該載具本體的致動單元,每一移動單元包括一輪具,及一連接該載具本體與該輪具的扇形齒輪,每一致動單元連接該多個移動單元的其中二個,包括一受控於一控制訊息的轉向伺服馬達,及一受該轉向伺服馬達帶動的正齒輪柱,每一致動單元的正齒輪柱同時嚙合該多個移動單元的其中二個的扇形齒輪,當該轉向伺服馬達受該控制訊息而帶動該正齒輪柱時,該正齒輪柱同時帶動該二扇形齒輪使該二個移動單元的二個輪具朝同一方向轉動相同的角度。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.
本發明的功效在於:藉由一致動單元同時帶動二移動單元的轉向,而達到以較簡化的結構做到高靈活度移動的功效。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.
在本發明被詳細描述之前,應當注意在以下的說明內容中,類似的元件是以相同的編號來表示。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.
參閱圖1,本發明自動載具的一較佳實施例,包含一載具本體2、四設置在該載具本體2的移動單元3,及二設置在該載具本體的致動單元4,其中,該載具本體2包括一用以乘載物品的長方形的乘載部21,及一由該乘載部21周緣沿垂直方向往下延伸而成的環繞部22,該乘載部21與該環繞部22界定出一容室,該多個致動單元4位於該容室內,該多個移動單元3位於該容室且部分裸露於該容室外,當本發明自動載具在移動時,該載具本體2的環繞部22不會碰觸到地面,該載具本體2可以是一體成形,或由一為長方形板的該乘載部21,及一為頂緣連接該乘載部21的圍壁的環繞部22所組成,但不以此為限。1, a preferred embodiment of the automatic carrier of the present invention includes a
參閱圖1、圖2,每一移動單元3包括一扇型齒輪31、一設置在該扇型齒輪31下方的輪具32、一設置在該扇型齒輪31上方的樞接盤33,及一設置在該輪具32之靠近該致動單元4一側的驅動馬達34,其中,該輪具32具有一輪子321,及一罩蓋該輪子321的上半部且裸露該輪子321的下半部的輪蓋322。1 and 2, each moving
該樞接盤33鄰近該扇型齒輪31之軸心,且樞接該扇型齒輪31,對應該樞接盤33位置的該扇型齒輪31的底面連接該輪具32的頂面。該驅動馬達34穿過該輪蓋322以帶動該輪子321轉動,進而令自動載具移動。The
每一致動單元4包括一正齒輪組41、一轉向伺服馬達42,及一連接該正齒輪組41與該轉向伺服馬達42的方形的傳動盒43,該正齒輪組41具有一正齒輪柱411,及一套設在該正齒輪柱411的上半部的正齒輪蓋412,該正齒輪蓋412具有一法蘭環、一由該法蘭環的內周緣沿垂直方向向上延伸的中空圓柱體,及一底面連接該中空圓柱體的上端周緣的法蘭盤,其中,該中空圓柱體沿該轉向伺服馬達42的軸心方向之兩側分別具有一供該正齒輪組41裸露在外的開口,該法蘭環、該中空圓柱體、該法蘭盤,及該正齒輪柱411界定出一360度的環型凹槽,供二個相向的扇形齒輪31之部分的輪齒分別從兩側通過該中空圓柱體的二開口,與該正齒輪柱411之部分的輪齒嚙合。Each actuating
藉由該傳動盒43內的機械力轉移結構,將該轉向伺服馬達42在轉動時所產生之扭轉力,轉移成轉動該正齒輪柱411的正齒輪扭轉力,使該正齒輪再帶動與其嚙合的二個扇型齒輪31轉動。By means of the mechanical force transfer structure in the
該四個移動單元3的四個樞接盤33之頂面分別連接在長方形的該乘載部21之底面且鄰近四個轉角,且以鄰近該乘載部21之同一短邊的二個移動單元3為一組,每一組移動單元3由一致動單元4驅動。每一致動單元4的該正齒輪蓋412的法蘭盤之頂面連接該乘載部21的底面,且介於該乘載部21之同一短邊的二個移動單元3間,使每一致動單元4的該正齒輪組41可帶動其所對應的該組移動單元3。The top surfaces of the four
參閱圖3,從該正齒輪組41往鄰近的該短邊的指向為方向基準,當該轉向伺服馬達42啟動而以順時針方向地轉動該正齒輪組41的正齒輪柱411,在該正齒輪組41之右邊的扇形齒輪31被該正齒輪柱411帶動而以逆時針方向轉動,以從相對於該樞接盤33的一第一位置移動到一第二位置(如假想線所標示),類似地,當該轉向伺服馬達42啟動而以順時針方向地轉動該正齒輪組41的正齒輪柱411,在該正齒輪組41之左邊的扇形齒輪31被正齒輪柱411帶動而以逆時針方向轉動,以從相對於該另一樞接盤33的另一第一位置移動到另一第二位置(如假想線所標示)。3, the direction from the spur gear set 41 to the adjacent short side is the direction reference. When the
如上所述,同一組移動單元3的兩個輪具32會朝同方向轉動,但不同組的輪具32則是被各自對應的致動單元4所驅動,可以是朝同一方向轉動相同或不同角度,或朝不同方向轉動相同或不同角度,而具有高靈活轉向自由度。As mentioned above, the two
值得一提的是,驅動馬達34可以伺服馬達,或自適應馬達,但不以此為限。在本實施例中,每一驅動馬達34為一自適應馬達,以達到轉彎移動時各輪具34可根據一控制訊息以協調彼此的速差,增加轉彎移動的靈活度,甚至當不同組的輪具32分別被以相反的方向轉動到其可轉動的最大角度時,本發明自動載具是可以用其所可達到之最小迴轉半徑做360度旋轉。It is worth mentioning that the driving
此外,每一移動單元3還具有一接收該控制訊息的移動訊息收發元件35,每一致動單元4具有一接收該控制訊息的致動訊息收發元件44,該移動訊息收發元件35及該致動訊息收發元件44分別可以是一紅外線接收器,也可以是一無線通訊收發機(如長距(LoRa)收發器、無線網路收發機,或第四代行動通訊收發機等),但不以次為限。在本實施例中,每一移動訊息收發元件35及每一致動訊息收發元件44皆為一長距收發機,每一移動訊息收發元件35設置在每一驅動馬達34上,每一致動訊息收發元件44設置在每一轉向伺服馬達34上,每一移動訊息收發元件35及每一致動訊息收發元件44不僅可分別接收來自一外部的中央控制系統的該控制訊息,亦可分別發送一對應的馬達之狀態的回饋訊息到該外部的中央控制系統,以進行定位及路徑資訊之溝通控制。In addition, each
綜上所述,本發明自動載具藉由轉動該正齒輪柱411帶動對應的二個扇形齒輪31,以控制前排或後排的二個輪具32的轉向,確實透過本發明以創新的轉向控制結構,達到高靈活度移動。In summary, the automatic carrier of the present invention drives the corresponding two
惟以上所述者,僅為本發明的實施例而已,當不能以此限定本發明實施的範圍,凡是依本發明申請專利範圍及專利說明書內容所作的簡單的等效變化與修飾,皆仍屬本發明專利涵蓋的範圍內。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:載具本體21:乘載部22:環繞部3:移動單元31:扇形齒輪32:輪具321:輪子322:輪蓋33:樞接盤34:驅動馬達35:移動訊息收發元件4:致動單元41:正齒輪柱組411:正齒輪柱412:正齒輪蓋42:轉向伺服馬達43:傳動盒44:致動訊息收發元件 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
本發明的其他的特徵及功效,將於參照圖式的實施方式中清楚地呈現,其中: 圖1是一立體分解圖,說明本發明自動載具的一較佳實施例; 圖2是一局部立體分解圖,說明該較佳實施例的二移動單元與一致動單元間的組合關係;及 圖3是一局部剖視圖,說明該較佳實施例的二移動單元與一致動單元間的作動關係。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:載具本體 2: Vehicle body
21:乘載部 21: Passenger Department
22:環繞部 22: Surrounding part
3:移動單元 3: mobile unit
31:扇形齒輪 31: sector gear
32:輪具 32: Wheels
35:移動訊息收發元件 35: Mobile messaging components
4:致動單元 4: Actuation unit
41:正齒輪組 41: Spur gear set
42:轉向伺服馬達 42: Steering servo motor
44:致動訊息收發元件 44: Activate the messaging component
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CN203888969U (en) * | 2014-06-20 | 2014-10-22 | 佛山市格美清洁设备有限公司 | Steering wheel steering mechanism |
CN105857439A (en) * | 2016-02-03 | 2016-08-17 | 广西科技大学 | Novel direction-changing moving device |
CN206609125U (en) * | 2017-02-28 | 2017-11-03 | 郑州三和水工机械有限公司 | A kind of air outlet synchronizing controls |
CN207029282U (en) * | 2017-08-09 | 2018-02-23 | 深圳市白龙桥科技有限公司 | Proportional remote control model miniature steering system |
TWM586678U (en) * | 2019-03-11 | 2019-11-21 | 傳仕精密機械股份有限公司 | Automatic vehicle |
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US7458431B2 (en) * | 1998-12-03 | 2008-12-02 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Multi-wheel vehicle |
CN1849237A (en) * | 2003-07-31 | 2006-10-18 | 安吉洛·加埃塔尼 | Steering device for steering wheels |
CN101088826A (en) * | 2006-06-12 | 2007-12-19 | 本田技研工业株式会社 | Vehicle steering mechanism |
CN203888969U (en) * | 2014-06-20 | 2014-10-22 | 佛山市格美清洁设备有限公司 | Steering wheel steering mechanism |
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CN206609125U (en) * | 2017-02-28 | 2017-11-03 | 郑州三和水工机械有限公司 | A kind of air outlet synchronizing controls |
CN207029282U (en) * | 2017-08-09 | 2018-02-23 | 深圳市白龙桥科技有限公司 | Proportional remote control model miniature steering system |
TWM586678U (en) * | 2019-03-11 | 2019-11-21 | 傳仕精密機械股份有限公司 | Automatic vehicle |
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