WO2022040924A1 - 用于无人车的承载机构 - Google Patents

用于无人车的承载机构 Download PDF

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Publication number
WO2022040924A1
WO2022040924A1 PCT/CN2020/111115 CN2020111115W WO2022040924A1 WO 2022040924 A1 WO2022040924 A1 WO 2022040924A1 CN 2020111115 W CN2020111115 W CN 2020111115W WO 2022040924 A1 WO2022040924 A1 WO 2022040924A1
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WO
WIPO (PCT)
Prior art keywords
unmanned vehicle
processing module
base
electrical connection
carrying
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PCT/CN2020/111115
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English (en)
French (fr)
Inventor
叶家杰
阎柏均
曾建达
Original Assignee
威刚科技股份有限公司
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Application filed by 威刚科技股份有限公司 filed Critical 威刚科技股份有限公司
Priority to PCT/CN2020/111115 priority Critical patent/WO2022040924A1/zh
Publication of WO2022040924A1 publication Critical patent/WO2022040924A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor

Definitions

  • the invention relates to a bearing mechanism, in particular to a bearing mechanism for an unmanned vehicle.
  • the invention discloses a bearing mechanism for an unmanned vehicle, which is mainly used to improve the existing bearing mechanism arranged on the unmanned vehicle, and only has the bearing function, but not the shortcoming of the lifting function.
  • the bearing mechanism includes a base, at least one supporting structure, a bearing platform, a driving module, and a processing unit. module, a plurality of movable components, a control component and a power supply component.
  • the base has a plurality of fixing structures, and the plurality of fixing structures are used to be detachably fixed to a connecting mechanism of the unmanned vehicle; at least one end of a supporting structure is fixed to the base; a bearing platform is connected to the supporting structure, and the bearing platform is used to carry a load to be moved; a drive module is disposed at one end of the support structure opposite to the base; a processing module is electrically connected to the drive module; a plurality of movable components are connected to the drive module and the carrying platform, and the drive module can be controlled by the processing module, to drive a plurality of movable components to move, so that the carrying platform moves in a direction away from or close to the base relative to the supporting structure; a control component is electrically connected to the processing module, and the control component is used for pluggable processing of the unmanned vehicle
  • the device is electrically connected; a power supply component is electrically connected to the processing module, and the power supply component is used for pluggable electrical connection with a battery of the unmanned vehicle
  • the carrying platform includes a plurality of rollers
  • the driving module is also electrically connected to the plurality of rollers
  • the processing module can control the driving module to rotate the plurality of rollers forward or reverse.
  • the periphery of each roller has an elastic buffer structure.
  • the carrying mechanism for the unmanned vehicle includes two supporting structures, each supporting structure has a channel, and when the carrying platform moves relative to the base through the plurality of movable assemblies, the plurality of auxiliary wheels can correspondingly move along the two channels.
  • each movable assembly includes two gears, a chain and two fixing members, wherein one gear is fixed to the base, the other gear is connected to the drive module, the two fixing members are arranged on the upper and lower sides of the bearing platform, the chain is connected to the two The gears are meshed with each other, and the two ends of the chain are connected with the two fixing members.
  • the carrying mechanism for the unmanned vehicle further includes a plurality of locking assemblies, and the plurality of locking assemblies are used to cooperate with a plurality of fixing structures to be fixed on the connecting mechanism of the unmanned vehicle.
  • control assembly includes a wire and an electrical connection plug, one end of the wire is connected to the processing module, and the other end of the wire is provided with an electrical connection plug, which is used to be inserted into an electrical connection socket of the unmanned vehicle.
  • the power supply assembly includes a wire and an electrical connection plug, one end of the wire is connected to the processing module, and the other end of the wire is provided with an electrical connection plug, which is used to be inserted into an electrical connection socket of the unmanned vehicle.
  • the bearing mechanism for unmanned vehicles of the present invention allows relevant personnel to easily fix the bearing mechanism on the unmanned vehicle through the design of multiple fixing mechanisms on the base, and the invention is used for unmanned vehicles.
  • the carrying mechanism of the vehicle through the design of power supply components and control components, allows relevant personnel to easily enable the unmanned vehicle to supply power to the carrying mechanism, and enable the unmanned vehicle to control the carrying platform of the carrying mechanism to move up or down.
  • FIG. 1 to FIG. 4 are schematic diagrams of different viewing angles of the carrying mechanism of the present invention, respectively.
  • Figure 5 shows a schematic diagram of an unmanned vehicle.
  • FIG. 6 is a schematic diagram of the carrying mechanism of the present invention being installed in an unmanned vehicle.
  • FIG. 7 is a schematic side view of the carrying mechanism of the present invention disposed on an unmanned vehicle.
  • the carrying mechanism 3 of the present invention is suitable for being detachably installed and fixed on an unmanned vehicle 1 .
  • the carrying mechanism 3 may include a base 30 , a supporting structure 31 , a driving module 32 , two movable components 33 , a carrying platform 34 , a processing module 35 , a control component 36 and a power supply component 37 .
  • the unmanned vehicle 1 referred to here may be various automatic unmanned vehicles such as AGV (Automated Guided Vehicle), RGV (Rail Guided Vehicle), IGV (Intelligent Guided Vehicle).
  • the base 30 has a plurality of fixing structures 301 , and the plurality of fixing structures 301 are used for detachably fixing to a connecting mechanism 11 (shown in FIG. 5 ) of the unmanned vehicle 1 (shown in FIG. 5 ).
  • the carrying mechanism 3 may also include a plurality of locking assemblies (not shown in the figure), and the plurality of locking assemblies are used to cooperate with the plurality of fixing structures 301 , so that the carrying mechanism 3 is fixed to the unmanned vehicle 1 . on the connecting mechanism 11 .
  • each locking component may include at least one screw and at least one nut
  • each fixing structure 301 of the base 30 may correspond to an unthreaded through hole or a threaded screw hole.
  • the unmanned vehicle 1 The connecting mechanism 11 can be a corresponding unthreaded through hole or a threaded screw hole.
  • the base 30 can be detachably fixed to the connecting mechanism 11 of the unmanned vehicle 1 using screws and nuts, and the relevant personnel can
  • the carrying mechanism 3 of the present invention can be selectively installed on the unmanned vehicle 1 to expand the functions of the unmanned vehicle 1 .
  • the support structure 31 is fixed to the base 30 .
  • the support structure 31 may be integrally formed with the base 30 , or the support structure 31 may be detachably or non-detachably fixed to the base 30 , which is not limited thereto.
  • the driving module 32 is disposed at one end of the support structure 31 opposite to the base 30 .
  • the supporting structure 31 is mainly used to support the driving module 32, and the driving module 32 is disposed away from the base 30.
  • the number and appearance of the supporting structure 31 shown in this embodiment are just one example.
  • the driving module 32 is electrically connected to the processing module 35 , and the driving module 32 can be controlled by the processing module 35 .
  • the driving module 32 includes, for example, at least one motor. The number and type of the motors are not limited herein.
  • the processing module 35 may be capable of controlling the rotational speed, steering, and rotational angle of the motor.
  • the two movable assemblies 33 are connected with the driving module 32 and the carrying platform 34 .
  • the carrying platform 34 is connected with the supporting structure 31 , and the carrying platform 34 is used for carrying a load to be moved.
  • the driving module 32 can be controlled by the processing module 35 to drive a plurality of movable components 33 to move, so as to move the carrying platform 34 relative to the support structure 31 in a direction away from or close to the base 30 .
  • the movable components 33 are mainly used to enable the driving module 32 to drive the carrying platform 34 to ascend or descend relative to the base 30 . Therefore, the number, appearance, and form of the movable components 33 can be designed according to requirements, and are not shown in the drawings. shown as limited.
  • the drive module 32 can be kept away from the base 30 , thereby greatly reducing the load on the carrying platform 34 for carrying the load to be moved when the carrying platform 34 is located at the position closest to the base 30 .
  • the position is relative to the height of the ground, and the relevant personnel can relatively easily transfer the objects to be transferred from the ground to the carrying platform 34 .
  • the position where the carrying platform 34 is used to carry the object to be moved is approximately 80 cm in height relative to the ground.
  • the position where the carrying platform 34 is used to carry the object to be moved is relative to the ground.
  • the height is reduced to 60 centimeters; that is, if the drive module 32 is fixed on the base 30, the relevant personnel need to lift the object to be moved higher than 80 cm before the object to be moved can be set on the bearing platform 34 , and if the drive module 32 is fixed on the end of the support structure 31 opposite to the base 30 , the relevant personnel only need to lift the object to be moved higher than 60 cm, and then the object to be moved can be set on the bearing platform 34 .
  • each movable component 33 may include two gears 331 , a chain 332 and two fixing members 333 , wherein one gear 331 is arranged on the drive module 32 , the other gear 331 is arranged on the base 30 , and both ends of the chain 332 It is connected with two fixing members 333 , and the chain 332 and the two gears 331 are engaged with each other, and the two fixing members 333 are fixedly arranged on the upper and lower sides of the bearing platform 34 .
  • the drive module 32 drives the gear 331 to rotate
  • the gear 331 drives the chain 332 to move, and the carrying platform 34 moves upward or downward with the chain 332 relative to the base 30 accordingly.
  • the carrying platform 34 may also include a plurality of auxiliary wheels 341 , the plurality of auxiliary wheels 341 are arranged on both sides of the carrying platform 34 , and the plurality of auxiliary wheels 341 are used for each support structure 31 and a channel 311 move in.
  • the carrying platform 34 is driven by the chain 332 and moves relative to the base 30 , the plurality of auxiliary wheels 341 will move in the channel 311 corresponding to the support structure 31 .
  • the supporting platform 34 can be assisted to move upward or downward relative to the base 30 more smoothly.
  • the number of the auxiliary wheels 341 of the carrying platform 34 is not limited to the four shown in the figure.
  • the carrying platform 34 may include a plurality of rollers 342, the driving module 32 may be connected with the plurality of rollers 342 through various electronic components and mechanisms, and the processing module 35 can control the driving module 32 to make the plurality of rollers 342. 342 forward or reverse.
  • the drive module 32 is electrically connected to the plurality of rollers 342, and the processing module 35 can control the design of the forward or reverse rotation of the plurality of rollers 342, which will make it easier for the relevant personnel to move the load to be transferred to the carrying platform 34. Alternatively, it is easier to move the load to be moved up and down from the carrying platform 34 .
  • each roller 342 may have an elastic buffer structure (for example, a structure made of PU material), so that when the object to be transferred moves on the plurality of rollers 342, it can be avoided by the plurality of rollers 342. 342 scratches.
  • an elastic buffer structure for example, a structure made of PU material
  • each movable assembly 33 may not include the aforementioned gear 331, chain 332 and fixing member 333, and each movable assembly 33 may also include at least one slide rail group (not shown), each slide rail
  • the set includes at least one sliding rail (not shown) and at least one sliding block (not shown).
  • the sliding rail can be arranged in the support structure 31, and the sliding block is fixed on the bearing platform 34, and the bearing platform 34 can pass through the sliding plate. The blocks move relative to the slide rails and accordingly move up or down relative to the base 30 .
  • the processing module 35 may include a circuit board, a microprocessor, etc.
  • the processing module 35 is mainly used to control the actions of the driving module 32 .
  • the control component 36 is electrically connected to the processing module 35 , and the control component 36 is used for pluggable connection with an electrical connection socket 12 (as shown in FIG. 5 ) of the unmanned vehicle 1 .
  • an electrical connection socket 12 (as shown in FIG. 5 ) of the unmanned vehicle 1 .
  • a processing device 13 as shown in FIG. 5
  • the unmanned vehicle 1 can be electrically connected to the processing module 35 through the control assembly 36 .
  • the electrical connection socket 12 may have, for example, a USB specification, a Type-C specification, or the like.
  • the power supply component 37 is electrically connected to the processing module 35 , and the power supply component 37 is used for pluggable connection with an electrical connection socket 14 (as shown in FIG. 5 ) of the unmanned vehicle 1 .
  • an electrical connection socket 14 as shown in FIG. 5
  • the power supply component 37 When the power supply component 37 is connected to the electrical connection seat 14 of the unmanned vehicle 1, a battery 15 of the unmanned vehicle 1 (as shown in FIG. 5 ) will supply power to the drive module 32 and the processing module 35 through the power supply component 37; That is to say, the power required for the operation of the processing module 35 and the driving module 32 can be obtained from the battery 15 of the unmanned vehicle 1 through the power supply component 37 .
  • the battery 15 of the unmanned vehicle 1 will provide power to the driving module 32 and the processing module 35, and the unmanned vehicle 1
  • the processing device 13 (as shown in FIG. 5 ) can control the processing module 35 through the control assembly 36 , so as to control the carrying platform 34 to move up or down relative to the base 30 .
  • control assembly 36 may include a wire 361 and an electrical connection plug 362.
  • One end of the wire 361 is connected to the processing module 35, and the other end of the wire 361 is provided with an electrical connection plug 362.
  • the electrical connection plug 362 is used for inserting In the electrical connection base 12 of the unmanned vehicle 1;
  • the power supply assembly 37 includes a wire 371 and an electrical connection plug 372, one end of the wire 371 is connected to the processing module 35, and the other end of the wire 371 is provided with an electrical connection plug 372, the electrical connection plug 372 is used to be inserted into another electrical connection socket 14 of the unmanned vehicle 1 .
  • the number of wires 361 included in the control assembly 36 , the form of the electrical connection plugs 362 , the quantity of the wires 371 included in the power supply assembly 37 , and the form of the electrical connection plugs 372 can be changed according to requirements, which are not limited here.
  • the driving module 32 and the processing module 35 of the carrying mechanism 3 of the present invention obtain electric power from the unmanned vehicle 1 through the power supply component 37. Therefore, the carrying mechanism 3 of the present invention may not be provided with a large-capacity battery, but The overall weight of the carrying mechanism 3 is relatively light.
  • the processing module 35 of the carrying mechanism 3 of the present invention is electrically connected to the processing device 13 of the unmanned vehicle 1 through the control assembly 36 , so that the relevant personnel can easily control the setting on the unmanned vehicle through the unmanned vehicle 1 .
  • the drive module 32 of the carrying mechanism 3 on the 1 moves, and the relevant personnel do not need to control the unmanned vehicle 1 and the carrying mechanism 3 separately. Specifically, the moving route of the unmanned vehicle 1 is originally carried out by remote control.
  • the carrying mechanism 3 of the present invention when the carrying mechanism 3 of the present invention is electrically connected to the processing device 13 of the unmanned vehicle 1 through the control assembly 36, the relevant personnel can At the same time, a signal for controlling the operation of the unmanned vehicle 1 and a signal for controlling the operation of the carrying mechanism 3 are transmitted.
  • dozens or even hundreds of unmanned vehicles 1 will be installed in the factory building. Therefore, if the unmanned vehicles 1 are not electrically connected to the bearing mechanism 3 disposed thereon, the relevant personnel must additionally design A system is used to determine which carrying mechanism 3 each unmanned vehicle 1 is connected to, which will significantly increase the cost of plant construction.
  • FIG. 5 is a schematic diagram of an unmanned vehicle
  • FIGS. 6 and 7 are schematic diagrams of a carrying mechanism of the present invention disposed on an unmanned vehicle.
  • the unmanned vehicle 1 may include: a main body 10 , the aforementioned connection mechanism 11 , the aforementioned electrical connection base 12 , the aforementioned processing device 13 , the aforementioned electrical connection base 14 and the aforementioned battery 15 .
  • the main body 10 is provided with a movable wheel 16 , a processing device 13 , a battery 15 and the like.
  • the processing device 13 is electrically connected to the plurality of movable wheels 16 and the battery 15 .
  • the battery 15 is used to provide the power required for the operation of the processing device 13
  • the processing device 13 is used to control the movement of the plurality of movable wheels 16 to make the unmanned vehicle 1 move forward, Rewind or rotate.
  • the connecting mechanism 11 includes a connecting plate 111 .
  • the connecting plate 111 is fixed to the body 10 .
  • the connecting plate 111 has a plurality of fixing structures 1111 , and the plurality of fixing structures 1111 are used to assist the bearing mechanism 3 to be fixed to the body 10 .
  • each fixing structure 1111 can be a lock hole, and the bearing mechanism 3 can use a plurality of screws to cooperate with the plurality of fixing structures 1111 of the connecting plate 111, so that the bearing mechanism 3 can be detachably fixed to the connecting plate 111.
  • the shape and size of the connecting plate 111 may be designed according to the shape and size of the carrying mechanism 3 , and are not limited to those shown in the drawings.
  • the appearance, quantity and style of the plurality of fixing structures 1111 are also not limited to those shown in the figures.
  • the connecting mechanism 11 referred to here is mainly used to detachably connect the carrying mechanism 3 to the main body 10. Therefore, in practical applications, any mechanism that can be used to detachably connect the carrying mechanism 3 to the main body 10 can be used. , devices, components, etc., all belong to the applicable scope of the connecting mechanism 11 referred to herein.
  • the unmanned vehicle 1 may only include a single battery 15 , and the battery 15 simultaneously supplies the electrical energy required for the operation of the unmanned vehicle 1 , and the driving module 32 and the processing module 35 of the carrying mechanism 3 operate power required.
  • the unmanned vehicle 1 may also include two or more batteries 15 , wherein one battery 15 is mainly used to provide the electrical energy required for the operation of the unmanned vehicle 1 , and the other battery 15 may It is mainly used to provide the electrical energy required for the operation of the drive module 32 of the carrying mechanism 3 .
  • the processing device 13 can monitor the power of the battery 15, and the processing device 13 can stop the battery 15 from supplying power to the driving module 32 through the power supply component 37 when the power of the battery 15 is lower than a predetermined power, thereby avoiding The unmanned vehicle 1 cannot move to the charging station.
  • the way for the unmanned vehicle 1 to obtain electric power it can be a contact type or a wireless charging type according to requirements, which is not limited here.
  • the processing device 13 of the unmanned vehicle 1 can also receive a transfer information transmitted from an external processing device (such as a server, a computer, a smart phone, etc.), and the processing device 13 can according to the transfer information , control the unmanned vehicle 1 to move to a predetermined position, when the processing device 13 controls the unmanned vehicle 1 to be transferred to the predetermined position according to the transfer information, the processing device 13 can control the operation of the driving module 32 through the control component 36 .
  • the processing device 13 may not allow the battery 15 to supply power to the driving module 32 through the power supply assembly 37, but is not limited thereto.
  • the bearing mechanism of the present invention is designed through the fixing structure of the base, so that the user can easily install the bearing mechanism on the unmanned vehicle according to the actual needs;
  • the bearing mechanism of the present invention is designed by the control component and the power supply component. , so that the mushroom personnel can easily make the carrying mechanism obtain power from the battery of the unmanned vehicle, and the relevant personnel can control the processing module and the driving module of the carrying mechanism through the processing device of the unmanned vehicle, and the relevant personnel will not need to use other systems.
  • Control the bearing mechanism; the bearing mechanism of the present invention allows the relevant personnel to relatively easily move the load to be moved to the bearing platform through the support structure and the design of the drive module disposed at the end of the support structure opposite to the base.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种用于无人车(1)的承载机构，其适以安装于无人车(1)，承载机构(3)包含底座(30)、支撑结构(31)、承载平台(34)、驱动模块(32)、处理模块(35)、活动组件(33)、控制组件(36)及供电组件(37)。底座(30)用以可拆卸地与无人车(1)的连接机构(11)相互固定。支撑结(31)构的一端固定于底座(30)，驱动模块(32)设置于支撑结构(31)相反于底座(30)的一端。处理模块(35)能控制驱动模块(32)动作，而使活动组件(33)动作，据以带动承载平台(34)相对于底(30)座向上或向下移动。控制组件(36)及供电组件(37)用以与无人车(1)电性连接，而无人车(1)的电池能通过供电组件供电给处理模块(35)及驱动模块(32)，无人车(1)的处理装置(35)能通过控制组件(36)控制处理模块。

Description

用于无人车的承载机构 技术领域
本发明涉及一种承载机构，尤其涉及一种用于无人车的承载机构。
背景技术
现有用以设置于无人车(例如各式AGV、RGV、IGV)上的承载机构，仅具有载物的功能，并没有升降的功能。虽然，部分的无人车本身具有升降功能，但具有升降功能无人车的价格高出没有升降功能的无人车许多，而对于相关厂商而言，在一个厂房中可能需要设置上百台的无人车，因此，若是多数采用具有升降功能的无人车，则会导致厂房的建置成品高昂。
发明内容
本发明公开一种用于无人车的承载机构，主要用以改善现有用于设置在无人车上的承载机构，仅具有承载功能，而不具有升降功能的缺点。
本发明的其中一个实施例公开一种用于无人车的承载机构，其适以安装于一无人车，承载机构包含一底座、至少一支撑结构、一承载平台、一驱动模块、一处理模块、多个活动组件、一控制组件及一供电组件。底座具有多个固定结构，多个固定结构用以可拆卸地与无人车的一连接机构相互固定；至少一支撑结构一端固定于底座；一承载平台与支撑结构相连接，承载平台用以承载一待移载物；一驱动模块设置于支撑结构相反于底座的一端；一处理模块电性连接驱动模块；多个活动组件与驱动模块及承载平台相连接，而驱动模块能被处理模块控制，以带动多个活动组件动作，据以使承载平台相对于支撑结构向远离或靠近底座的方向移动；一控制组件电性连接处理模块，控制组件用以可插拔地与无人车的一处理装置电性连接；一供电组件电性连接处理模块，供电组件用以可插拔地与无人车的一电池电性连接；其中，处理模块及驱动模块运作所需的电力能通过供电组件由无人车的电池取得，处理模块能通过控制组件与无人车的处理装置电性连接，而无人车的处理装置能据以通过处理模块控制承载平台相对于底座向上或向下移动。
优选地，承载平台包含多个滚轮，驱动模块还电性连接多个滚轮，处理模块能控制驱 动模块，以使多个滚轮正转或反转。
优选地，各个滚轮的外围具有一弹性缓冲结构。
优选地，用于无人车的承载机构包含两个支撑结构，各个支撑结构具有一通道，承载平台通过多个活动组件相对于底座移动时，多个辅助轮能对应沿两个通道移动。
优选地，各个活动组件包含两个齿轮、一链条及两个固定构件，其中一个齿轮固定于底座，另一个齿轮与驱动模块连接，两个固定构件设置于承载平台的上下两侧，链条与两个齿轮相互咬合，且链条的两端与两个固定构件相连接。
优选地，用于无人车的承载机构还包含多个锁固组件，多个锁固组件用以与多个固定结构相互配合，以固定于无人车的连接机构上。
优选地，控制组件包含一电线及一电连接插头，电线的一端与处理模块连接，电线的另一端设置有电连接插头，电连接插头用以插设于无人车的一电连接座。
优选地，供电组件包含一电线及一电连接插头，电线的一端与处理模块连接，电线的另一端设置有电连接插头，电连接插头用以插设于无人车的一电连接座。
综上所述，本发明的用于无人车的承载机构，通过底座的多个固定机构的设计，让相关人员可以轻易地将承载机构固定于无人车上，且发明的用于无人车的承载机构，通过供电组件及控制组件等设计，让相关人员可以轻易地使无人车能供电给承载机构，且使无人车能控制承载机构的承载平台向上或向下移动。
为能更进一步了解本发明的特征及技术内容，请参阅以下有关本发明的详细说明与附图，但是此等说明与附图仅用来说明本发明，而非对本发明的保护范围作任何的限制。
附图说明
图1至图4分别显示为本发明的承载机构的不同视角的示意图。
图5显示为无人车的示意图。
图6显示为本发明的承载机构设置于无人车的示意图。
图7显示为本发明的承载机构设置于无人车的侧面示意图。
具体实施方式
于以下说明中，如有指出请参阅特定附图或是如特定附图所示，其仅是用以强调于后续说明中，所述及的相关内容大部分出现于该特定附图中，但不限制该后续说明中仅可参 考所述特定附图。
请一并参阅图1至图4所示，其分别显示为本发明的承载机构的不同视角的示意图。本发明的承载机构3适用于可拆卸地安装固定于一无人车1。承载机构3可以包含一底座30、一支撑结构31、一驱动模块32、两个活动组件33、一承载平台34、一处理模块35、一控制组件36及一供电组件37。于此所指的无人车1可以为AGV(Automated Guided Vehicle)、RGV(Rail Guided Vehicle)、IGV(Intelligent Guided Vehicle)等各式自动无人搬运车。
底座30具有多个固定结构301，多个固定结构301用以可拆卸地与所述无人车1(如图5所示)的一连接机构11(如图5所示)相互固定。在实际应用中，承载机构3还可以包含多个锁固组件(图未示)，多个锁固组件用以与多个固定结构301相互配合，以使承载机构3固定于无人车1的连接机构11上。具体来说，各个锁固组件可以是包含至少一螺丝及至少一螺帽，底座30的各个固定结构301可以对应为无螺纹的贯穿孔或是具有螺纹的螺孔，相对地，无人车1的连接机构11可以是对应为无螺纹的贯穿孔或是具有螺纹的螺孔，如此，底座30可以利用螺丝及螺帽，可拆卸地固定于无人车1的连接机构11，而相关人员可以轻易地依据需求，选择性地于无人车1上安装本发明的承载机构3，以扩充无人车1的功能。
支撑结构31的一端固定于底座30。在具体的应用中，支撑结构31可以是与底座30一体成型地设置，或者，支撑结构31可以是可拆卸地或是不可拆卸地固定于底座30，于此不加以限制。驱动模块32设置于支撑结构31相反于底座30的一端。支撑结构31主要是用来支撑驱动模块32，而使驱动模块32远离底座30设置，本实施例图中所示的支撑结构31的数量、外型等仅为其中一示范方式。驱动模块32电性连接处理模块35，而驱动模块32能被处理模块35控制。驱动模块32例如是包含至少一马达，所述马达的数量、种类于此不加以限制，处理模块35可以是能控制马达的转速、转向、旋转角度等。
两个活动组件33与驱动模块32及承载平台34相连接。承载平台34与支撑结构31相连接，承载平台34用以承载一待移载物。驱动模块32能被处理模块35控制，以带动多个活动组件33动作，据以使承载平台34相对于支撑结构31向远离或靠近底座30的方向移动。活动组件33主要是用来使驱动模块32能带动承载平台34相对于底座30上升或下将，因此，活动组件33的数量、外型、形式等，皆可依据需求设计，不以图中所示为限。
特别说明的是，通过支撑结构31的设置，可以让驱动模块32远离底座30，借此，将可大幅降低承载平台34位于最靠近底座30的位置时，承载平台34用以承载待移载物的位置，相对于地面的高度，而相关人员将可以相对轻易地将待移载物，由地面移载至承载平台34上。具体来说，若是将驱动模块32设置于底座30上，承载平台34位于最靠近底座30的位置时，承载平台34用来承载待移载物的位置，相对于地面的高度大致为80公分，而通过使驱动模块32设置于支撑结构31相反于底座30的一端，则可以使承载平台34位于最靠近底座30的位置时，承载平台34用来承载待移载物的位置，相对于地面的高度降低至60分；也就是说，若是将驱动模块32固定于底座30上，则相关人员需要将待移载物抬起高于80公分，才可以将待移载物设置于承载平台34上，而若是将驱动模块32固定于支撑结构31相反于底座30的一端时，相关人员则仅需要将待移载物抬起高于60公分，即可将待移载物设置于承载平台34上。
在实际应用中，各个活动组件33可以是包含两齿轮331、一链条332及两个固定构件333，其中一齿轮331设置于驱动模块32，另一齿轮331设置于底座30，链条332的两端与两个固定构件333相连接，且链条332与两个齿轮331相互咬合，两个固定构件333固定设置于承载平台34的上、下两侧。当驱动模块32带动齿轮331旋转时，齿轮331将带动链条332动作，而承载平台34则据以随链条332相对于底座30向上或向下移动。
在较佳的实施例中，承载平台34还可以是包含多个辅助轮341，多个辅助轮341设置于承载平台34的两侧，多个辅助轮341用以于各个支撑结构31一通道311中移动。当承载平台34被链条332带动，而相对于底座30移动时，多个辅助轮341将对应于支撑结构31的通道311中移动。通过多个辅助轮341的设置，可以辅助承载平台34更平稳地相对于底座30向上或向下移动。关于承载平台34具有的辅助轮341的数量，不以图中所示四个为限。
另外，承载平台34可以是包含多个滚轮342，驱动模块32可以是通过各式电子零组件及机构与多个滚轮342相连接，而处理模块35能通过控制驱动模块32，以使多个滚轮342正转或反转。通过驱动模块32电性连接多个滚轮342，而处理模块35可以控制多个滚轮342正转或反转的设计，将可以让相关人员更容易地将待移载物移动至承载平台34上，或者，更容易地将待移载物由承载平台34上移下。在实际应用中，各个滚轮342的外围可以是具有一弹性缓冲结构(例如是PU材质的结构)，借此，可避免待移载物于多个滚轮342上移动时，被多个所述滚轮342刮伤。
在不同的实施例中，各个活动组件33可以是不包含前述齿轮331、链条332及固定构件333，而各活动组件33也可以是包含有至少一滑轨组(图未示)，各滑轨组包含至少一滑轨(图未示)及至少一滑块(图未示)，滑轨可以是设置于支撑结构31中，滑块则是固定于承载平台34，而承载平台34能通过滑块相对于滑轨移动，并据以相对于底座30向上或向下移动。
处理模块35可以是包含电路板、微处理器等，处理模块35主要用来控制驱动模块32的动作。控制组件36电性连接处理模块35，控制组件36用以可插拔地与无人车1的一电连接座12(如图5所示)相连接。控制组件36与无人车1的电连接座12相连接时，无人车1的一处理装置13(如图5所示)将能通过控制组件36与处理模块35电性连接。在实际应用中，电连接座12例如可以是具有USB规格、Type-C规格等。
供电组件37电性连接处理模块35，供电组件37用以可插拔地与无人车1的一电连接座14(如图5所示)相连接。供电组件37与无人车1的电连接座14相连接时，无人车1的一电池15(如图5所示)将通过供电组件37，提供电力给驱动模块32及处理模块35；也就是说，处理模块35及驱动模块32运作所需的电力能通过供电组件37由无人车1的电池15取得。
依上所述，当承载机构3通过控制组件36及供电组件37与无人车1相连接时，无人车1的电池15将提供电力至驱动模块32及处理模块35，且无人车1的处理装置13(如图5所示)能通过控制组件36控制处理模块35，据以控制承载平台34相对于底座30向上或向下移动。
具体来说，控制组件36可以是包含一电线361及一电连接插头362，电线361的一端与处理模块35连接，电线361的另一端设置有电连接插头362，电连接插头362用以插设于无人车1的电连接座12；供电组件37包含一电线371及一电连接插头372，电线371的一端与处理模块35连接，电线371的另一端设置有电连接插头372，电连接插头372用以插设于无人车1的另一电连接座14。关于控制组件36所包含的电线361的数量、电连接插头362的形式、供电组件37所包含的电线371的数量、电连接插头372的形式等，皆可依据需求变化，于此不加以限制。
本发明的承载机构3的驱动模块32及处理模块35，是通过供电组件37，而由无人车1取得电力，因此，本发明的承载机构3本身可以是不设置有大容量的电池，而承载机构3整体的重量相对较轻。另外，本发明的承载机构3的处理模块35是通过控制组件36与 无人车1的处理装置13电性连接，因此，相关人员可以轻易地通过无人车1一并控制设置于无人车1上的承载机构3的驱动模块32动作，而相关人员无需分开控制无人车1及承载机构3。具体来说，无人车1的移动路线本来就是通过远程控制的方式进行，因此，当本发明的承载机构3通过控制组件36与无人车1的处理装置13电性连接时，相关人员可以同时传递用来控制无人车1运作的信号及用来控制承载机构3运作的信号。在实际应用场景中，厂房中会设置有数十台甚至数百台无人车1，因此，若是无人车1没有与设置于其上的承载机构3电性连接，则相关人员必须额外设计一套系统，来判断各个无人车1是与哪一个承载机构3相连接，如此，将明显增加厂房建置的成本。
请一并参阅图5至图7，图5为无人车的示意图，图6及图7显示为本发明的承载机构设置于无人车的示意图。无人车1可以包含：一本体10、前述连接机构11、前述电连接座12、前述处理装置13、前述电连接座14及前述电池15。本体10内设置有活动轮16、处理装置13及电池15等。处理装置13电性连接多个活动轮16及电池15，电池15用以提供处理装置13运作所需的电力，处理装置13用以控制多个活动轮16动作，以使无人车1前进、后退或旋转。
连接机构11包含一连接平板111，连接平板111固定于本体10，连接平板111具有多个固定结构1111，多个固定结构1111用以辅助承载机构3固定于本体10。具体来说，各个固定结构1111可以是锁孔，承载机构3则可以是利用多个螺丝，与连接平板111的多个固定结构1111相互配合，据以使承载机构3可拆卸地固定于连接平板111。关于连接平板111的外型及尺寸，可以是依据承载机构3的外型及尺寸设计，不以图中所示为限。多个固定结构1111的外型、数量、样式，同样不以图中所示为限。于此所指的连接机构11主要是用来使承载机构3可拆卸地与本体10相互连接，因此，在实际应用中，任何可以用来使承载机构3可拆卸地与本体10相互连接的机构、装置、组件等，皆属于此所指的连接机构11可应用的范围。
在具体的实施中，无人车1可以是仅包含单一个电池15，而所述电池15是同时供应无人车1运作时所需的电能、承载机构3的驱动模块32及处理模块35运作时所需的电能。在不同的实施例中，无人车1也可以是包含两个或两个以上的电池15，其中一个电池15主要用来提供无人车1运作时所需的电能，另一个电池15则可以是主要作为提供承载机构3的驱动模块32运作时所需的电能。在具体的实施中，处理装置13能监控电池15的电量，且处理装置13能于电池15的电量低于一预定电量时，停止电池15通过供电组件 37供电给驱动模块32，借此，避免无人车1无法移动至充电站。关于无人车1取得电力的方式，可以是依据需求为接触式或是无线充电式，于此不加以限制。
在实际应用中，无人车1的处理装置13还可以接收来自外部处理设备(例如服务器、计算机、智能型手机等)所传递的一移载信息，且处理装置13能依据所述移载信息，控制无人车1移动至一预定位置，当处理装置13依据所述移载信息控制无人车1移载至所述预定位置时，处理装置13将可以通过控制组件36控制驱动模块32运作。其中，在处理装置13判断无人车1已经移载至预定位置之前，处理装置13可以是先不使电池15通过供电组件37给电至驱动模块32，但不以此为限。
如图7所示，值得一提的，通过使驱动模块32设置于支撑结构31相反于底座30的一端的设计，将可以大幅降低承载平台34用来承载待移载物的位置与地面G的高度H，据以让相关人员能相对轻松地将待移载物搬至承载平台34上。
综上所述，本发明的承载机构通过底座的固定结构等设计，让用户可以轻易地依据实际需求，将承载机构安装于无人车上；本发明的承载机构通过控制组件及供电组件的设计，让香菇人员可以轻易地使承载机构由无人车的电池取得电力，且相关人员可以通过无人车的处理装置控制承载机构的处理模块及驱动模块，而相关人员将无需额外利用其他系统来控制承载机构；本发明的承载机构通过支撑结构，以及使驱动模块设置于支撑结构相反于底座的一端的设计，让相关人员可以相对轻松地将待移载物搬到承载平台上。
以上所述仅为本发明的较佳可行实施例，非因此局限本发明的专利范围，故凡运用本发明说明书及附图内容所做的等效技术变化，均包含于本发明的保护范围内。

Claims (8)

  1. 一种用于无人车的承载机构，其特征在于，所述用于无人车的承载机构适以安装于一无人车，所述承载机构包含：
    一底座，其具有多个固定结构，多个所述固定结构用以可拆卸地与所述无人车的一连接机构相互固定；
    至少一支撑结构，其一端固定于所述底座；
    一承载平台，其与所述支撑结构相连接，所述承载平台用以承载一待移载物；
    一驱动模块，其设置于所述支撑结构相反于所述底座的一端；
    一处理模块，其电性连接所述驱动模块；
    多个活动组件，其与所述驱动模块及所述承载平台相连接，而所述驱动模块能被所述处理模块控制，以带动多个所述活动组件动作，据以使所述承载平台相对于所述支撑结构向远离或靠近所述底座的方向移动；
    一控制组件，其电性连接所述处理模块，所述控制组件用以可插拔地与所述无人车的一处理装置电性连接；
    一供电组件，其电性连接所述处理模块，所述供电组件用以可插拔地与所述无人车的一电池电性连接；
    其中，所述处理模块及所述驱动模块运作所需的电力能通过所述供电组件由所述无人车的所述电池取得，所述处理模块能通过所述控制组件与所述无人车的所述处理装置电性连接，而所述无人车的所述处理装置能据以通过所述处理模块控制所述承载平台相对于所述底座向上或向下移动。
  2. 依据权利要求1所述的用于无人车的承载机构，其特征在于，所述承载平台包含多个滚轮，所述驱动模块还电性连接多个所述滚轮，所述处理模块能控制所述驱动模块，以使多个所述滚轮正转或反转。
  3. 依据权利要求2所述的用于无人车的承载机构，其特征在于，各个所述滚轮的外围具有一弹性缓冲结构。
  4. 依据权利要求1所述的用于无人车的承载机构，其特征在于，所述用于无人车的承载机构包含两个所述支撑结构，各个所述支撑结构具有一通道，所述承载平台包含多个辅助轮，所述承载平台通过多个所述活动组件相对于所述底座移动时，多个所述辅助轮能对应沿两个所述通道移动。
  5. 依据权利要求1所述的用于无人车的承载机构，其特征在于，各个所述活动组件包含两个齿轮、一链条及两个固定构件，其中一个所述齿轮固定于所述底座，另一个所述齿轮与所述驱动模块连接，两个所述固定构件设置于所述承载平台的上下两侧，所述链条与两个所述齿轮相互咬合，且所述链条的两端与两个所述固定构件相连接。
  6. 依据权利要求1所述的用于无人车的承载机构，其特征在于，所述用于无人车的承载机构还包含多个锁固组件，多个所述锁固组件用以与多个所述固定结构相互配合，以固定于所述无人车的所述连接机构上。
  7. 依据权利要求1所述的用于无人车的承载机构，其特征在于，所述控制组件包含一电线及一电连接插头，所述电线的一端与所述处理模块连接，所述电线的另一端设置有所述电连接插头，所述电连接插头用以插设于所述无人车的一电连接座。
  8. 依据权利要求1所述的用于无人车的承载机构，其特征在于，所述供电组件包含一电线及一电连接插头，所述电线的一端与所述处理模块连接，所述电线的另一端设置有所述电连接插头，所述电连接插头用以插设于所述无人车的一电连接座。
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JP2015139284A (ja) * 2014-01-22 2015-07-30 住友重機械工業株式会社 作業車両用の電力変換装置および作業車両
CN207381448U (zh) * 2017-10-23 2018-05-18 江苏金坛大迈汽车工程研究院有限公司 一种便于装拆电池支撑装置
JP6535182B2 (ja) * 2015-02-27 2019-06-26 平田機工株式会社 台車装置及び作業システム
CN211107141U (zh) * 2019-12-24 2020-07-28 郑州中智辉昂智能科技有限公司 一种agv智能小车
CN211918860U (zh) * 2020-03-16 2020-11-13 沈阳艾立特自动化工程有限公司 一种带有多层可拆装货架的agv小车

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JP2015139284A (ja) * 2014-01-22 2015-07-30 住友重機械工業株式会社 作業車両用の電力変換装置および作業車両
JP6535182B2 (ja) * 2015-02-27 2019-06-26 平田機工株式会社 台車装置及び作業システム
CN207381448U (zh) * 2017-10-23 2018-05-18 江苏金坛大迈汽车工程研究院有限公司 一种便于装拆电池支撑装置
CN211107141U (zh) * 2019-12-24 2020-07-28 郑州中智辉昂智能科技有限公司 一种agv智能小车
CN211918860U (zh) * 2020-03-16 2020-11-13 沈阳艾立特自动化工程有限公司 一种带有多层可拆装货架的agv小车

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