CN107264304A - One kind can collaborative floor truck - Google Patents
One kind can collaborative floor truck Download PDFInfo
- Publication number
- CN107264304A CN107264304A CN201710328744.XA CN201710328744A CN107264304A CN 107264304 A CN107264304 A CN 107264304A CN 201710328744 A CN201710328744 A CN 201710328744A CN 107264304 A CN107264304 A CN 107264304A
- Authority
- CN
- China
- Prior art keywords
- floor truck
- article carrying
- carrying platform
- car body
- rotational support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/16—Single-axle vehicles
-
- 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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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Can collaborative floor truck the present invention relates to one kind.Including more than one floor truck；Each floor truck includes car body, walking mechanism and rotational support mechanism；Car body is flat bottom plate；Walking mechanism includes power supply box, a pair of drive mechanisms and pair of wheels；Drive mechanism includes the servomotor and reduction box being sequentially connected；Rotational support mechanism is located in the top of car body, rotational support mechanism and installs article carrying platform, and handled thing is directly placed on article carrying platform.Can cooperatively floor truck include two floor trucks when, a side bottom of article carrying platform is connected to the rotational support mechanism of a floor truck, and another side bottom of article carrying platform is connected to the rotational support mechanism of another floor truck.The present invention can realize that omnidirectional turns, and no radius of turn is adapted to various complicated carrying spaces；Convenient for collecting of the present invention, storage floor space is small.
Description
Technical field
The invention belongs to floor truck technical field, and in particular to one kind can collaborative floor truck.
Background technology
Requirement more and more higher with factory to automatic technology, the fast development of logistic industry, factory and logistic industry
Increasingly pay attention to improving the handling efficiency of article and mitigating workman's working strength, for the carrying of object in these scenes,
The mode typically taken uses conveyer belt, the mode such as automatic guided vehicle.Although these mode of transport are carried to a certain extent
The high automatization level of production and logistics, improves production efficiency, alleviates labor strength, but its shortcoming is also aobvious
And be clear to, such as conveyer belt, the route of automatic guided vehicle is fixed, route adjustment trouble, and flexibility degree is not high, lifting capacity
It is fixed, the production adaptability to changes of enterprise is reduced, is unfavorable for competition of the enterprise in modern production.And it is upper for current market
It is mainly made up of car body, dynamical system and universal wheel for capable automatic guided vehicle, and dynamical system is arranged on car body, car
The bottom of body is provided with four wheels, and four wheels are distributed in four corners of car body, drives car body to transport by dynamical system
It is dynamic.However, the car body volume of such automatic guided vehicle is big, radius of turn is big, and complicated, function is single, and spreading performance is low,
It is unfavorable for follow-up exploitation, repairs also inconvenient.
The content of the invention
In order to realize flexibility degree height, the not small haulage equipment of used time floor space, the present invention provides one kind and can cooperated
The floor truck of formula.
It is a kind of cooperatively to include the floor truck of more than one by floor truck；
Each floor truck includes car body, walking mechanism and rotational support mechanism；
The car body 6 is flat bottom plate；
The walking mechanism includes power supply box 5, a pair of drive mechanisms and pair of wheels 1；The power supply box 5 is located at the top of car body 6
Portion；Pair of wheels 1 is located at the two bottom sides of car body 6, and is connected respectively corresponding drive mechanism；
The rotational support mechanism is located at the top of car body 6, and positioned at the top of power supply box 5；
The drive mechanism includes the servomotor 4 and reduction box 3 being sequentially connected, and the output shaft of reduction box 3 is connected to wheel 1,
Servomotor 4 is connected to power supply box 5 by wire；
In use, installing article carrying platform 13 in the rotational support mechanism of the floor truck of described more than one, handled thing is direct
It is placed on article carrying platform 13.
The technical scheme further limited is as follows：
The reduction box 3 is gear reduction box, and the output shaft of reduction box 3 is connected to wheel 1 by axle flange 2.
The support platform 10 is provided with the boss that raises up, correspond to therewith article carrying platform 13 on provided with being engaged
Groove, article carrying platform 13 and support platform 10 are mutually fitting to connection by groove with boss.
The rotational support mechanism includes top plate 9 and support platform 10, and the bottom of top plate 9 passes through four upright poles 8
It is connected to the top of bottom plate 6；Connected between top plate 9 and support platform 10 by bearing, support platform 10 is realized with respect to top plate 9 to be turned
It is dynamic.
The top of top plate 9, which is provided with bearing block, bearing block, is provided with taper roll bearing, and the bottom of support platform 10, which is provided with, to be turned
Axle, passes through rotating shaft and the interference fit of taper roll bearing so that support platform 10 realizes free rotation relative to top plate 9.
The servomotor 4 is direct current brushless servo motor, and power 450W, rated speed are 3000 revs/min.
The reduction box is planetary reduction gear, speed reducing ratio 1：10.
The power supply box 5 is lithium battery, output voltage 48v.
Including two floor trucks, in use, a side bottom of article carrying platform 13 is connected to the rotation of a floor truck
Supporting mechanism, another side bottom of article carrying platform 13 is connected to the rotational support mechanism of another floor truck.
The advantageous effects of the present invention are embodied in the following aspects：
1. the monomer floor truck of the two-wheeled of the present invention can realize that omnidirectional turns, no radius of turn is adapted to various multiple
Miscellaneous carrying space.
2. the floor truck of the present invention can the cooperation of many cars, be adapted to all kinds or types of goods, and can be according to goods
Volume, weight, flexibly from cooperation quantity.
3. the floor truck car body of the present invention is chimeric with article carrying platform simple, directly article carrying platform can be taken down after use,
Convenient for collecting, storage floor space is small.
4. the floor truck overall structure of the present invention is simple, mutually symmetrical structure, reliable operation, cost is relatively low, is easy to
Safeguard.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is that bicycle is mounted with the schematic elevation view after article carrying platform.
Fig. 3 is that bicycle is mounted with the schematic side view after article carrying platform.
Fig. 4 is the schematic side view of two cars cooperation loading.
The view of turning when Fig. 5 is the cooperation loading of two cars.
Fig. 6 is the schematic side view of three cars cooperation loading.
Sequence number in upper figure：Wheel 1, axle flange 2, gear reduction box 3, servomotor 4, power supply box 5, car body 6, gear-box
Support 7, pole 8, top plate 9, support platform 10, taper roll bearing 11, latch 12, article carrying platform 13.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is further described by embodiment.
Embodiment 1
Referring to Fig. 1, one kind cooperatively can include a floor truck by floor truck.Bicycle maximum load ability is 200kg,
The maximum speed of travel is 17KM/h, and bicycle three-dimensional is height 0.5m, width 0.4m, length 0.8m.Wheel is that 8 inches of magnesium are closed
Golden light-weight alloy hub, 12 inches of low-voltage vacuum rubber tyres.
Floor truck includes car body, walking mechanism and rotational support mechanism.
Car body 6 is flat bottom plate.
Walking mechanism includes power supply box 5, a pair of drive mechanisms and pair of wheels 1.Power supply box 5 is lithium battery, output voltage
48V, is installed on the top of car body 6.Pair of wheels 1 is located at the two bottom sides of car body 6, and is connected respectively corresponding driving
Mechanism.
Drive mechanism includes the servomotor 4 and reduction box 3 being sequentially connected, and servomotor 4 is direct current brushless servo motor,
Power 450W, rated speed are 3000 revs/min, with 20 incremental optical-electricity encoders；Reduction box 3 is planetary reduction gear,
Speed reducing ratio 1：10.The output shaft of reduction box 3 is connected to wheel 1 by axle flange 2, and servomotor 4 is connected to electricity by wire
Source case 5；Servomotor 4 and reduction box 3 are arranged on the bottom of car body 6.
Rotational support mechanism is located at the top of car body 6, and positioned at the top of power supply box 5.Rotational support mechanism includes top plate 9
With support platform 10, the bottom of top plate 9 is connected to the top of bottom plate 6 by four upright poles 8；Top plate 9 and support platform
Connected between 10 by bearing, the top of top plate 9, which is provided with bearing block, bearing block, is provided with taper roll bearing, support is flat
The bottom of platform 10 is provided with rotating shaft, passes through rotating shaft and the interference fit of taper roll bearing so that support platform 10 is relative with top
Plate 9 realizes free rotation.
Referring to Fig. 2 and Fig. 3, article carrying platform 13 is installed in the support platform 10 of the rotational support mechanism of floor truck；By
Fig. 1 is visible, and support platform 10 is provided with the boss that raises up, correspond to therewith article carrying platform 13 on offer what is be engaged
Groove, article carrying platform 13 and support platform 10 are mutually fitting to connection by groove with boss.Handled thing is directly placed at loading and put down
It can be transported on platform 13.During bicycle independent work, plugging latch makes mutually revolve between support platform 10 and top plate 9
Turn.
The article carrying platform that the present embodiment is used is smaller, it is adaptable to deliver weight volume less, weight is held floor truck
Weight in the range of load.When floor truck is turned, omnidirectional's turning directly can be carried out using two wheel guide robot, and can accomplish without turning half
Footpath.
Embodiment 2
Referring to Fig. 4, cooperatively it can include two floor trucks by floor truck, in use, the side bottom connection of article carrying platform 13
The rotational support mechanism of a floor truck, another side bottom of article carrying platform 13 is connected to the rotation of another floor truck
Supporting mechanism.
Other structures be the same as Example 1.
Two floor truck cooperations can keep whole system stable.Because of structural advantage, omnidirectional still can be achieved and turns, nothing
Radius of turn.The article carrying platform that this state is used is larger, can transport some larger, heavier objects.
Referring to Fig. 5, two floor trucks carry out a kind of turn condition during cooperation carry an object, two floor truck phases
Certain angle is respectively rotated to article carrying platform 13, turning is cooperated, the demand of various radiuss of turn is suitable for.
Embodiment 3
Referring to Fig. 6, cooperatively three floor trucks can be included by floor truck.Its mounting means is assisted with basic running status with two cars
Make that motion state is similar, the article carrying platform that this state is used is bigger, it is adaptable to carry some weights that the cooperation of two cars can not also be carried
Thing.
Claims (9)
1. one kind can collaborative floor truck, it is characterised in that：Including more than one floor truck；
Each floor truck includes car body, walking mechanism and rotational support mechanism；
The car body（6）For flat bottom plate；
The walking mechanism includes power supply box（5）, a pair of drive mechanisms and pair of wheels（1）；The power supply box（5）Located at car body
（6）Top；Pair of wheels（1）Positioned at car body（6）Two bottom sides, and be connected respectively corresponding drive mechanism；
The rotational support mechanism is located at car body（6）Top, and positioned at power supply box（5）Top；
The drive mechanism includes the servomotor being sequentially connected（4）And reduction box（3）, reduction box（3）Output shaft be connected to
Wheel（1）, servomotor（4）Power supply box is connected to by wire（5）；
In use, installing article carrying platform in the rotational support mechanism of the floor truck of described more than one（13）, handled thing is straight
Connect and be placed on article carrying platform（13）It is upper.
2. one kind according to claim 1 can collaborative floor truck, it is characterised in that：The reduction box（3）For gear
Reduction box, reduction box（3）Output shaft pass through axle flange（2）It is connected to wheel（1）.
3. one kind according to claim 1 can collaborative floor truck, it is characterised in that：The rotational support mechanism includes
Top plate（9）And support platform（10）, top plate（9）Bottom pass through four upright poles（8）It is connected to bottom plate（6）Top；
Top plate（9）And support platform（10）Between connected by bearing, support platform（10）With respect to top plate（9）Realize and rotate.
4. one kind according to claim 3 can collaborative floor truck, it is characterised in that：Top plate（9）Top be provided with axle
Taper roll bearing, support platform are provided with bearing, bearing block（10）Bottom be provided with rotating shaft, pass through rotating shaft and taper roller axle
The interference fit held so that support platform（10）Relative and top plate（9）Realization is freely rotated.
5. one kind according to claim 1 can collaborative floor truck, it is characterised in that：The support platform（10）On set
Have the boss raised up, correspond to therewith article carrying platform（13）Provided with the groove being engaged, article carrying platform（13）And branch
Support platform（10）Mutually it is fitting to connection with boss by groove.
6. one kind according to claim 1 can collaborative floor truck, it is characterised in that：The servomotor（4）To be straight
Brushless servo motor is flowed, power 450W, rated speed are 3000 revs/min.
7. one kind according to claim 1 can collaborative floor truck, it is characterised in that：The reduction box is planetary reduction gear
Device, speed reducing ratio 1：10.
8. one kind according to claim 1 can collaborative floor truck, it is characterised in that：The power supply box（5）For lithium electricity
Pond, output voltage 48v.
9. can collaborative floor truck according to the described one kind of any one of claim 1-8, it is characterised in that：It is small including two carryings
Car, in use, article carrying platform（13）A side bottom be connected to the rotational support mechanism of a floor truck, article carrying platform（13）
Another side bottom be connected to the rotational support mechanism of another floor truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328744.XA CN107264304B (en) | 2017-05-11 | 2017-05-11 | Can collaborative formula floor truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328744.XA CN107264304B (en) | 2017-05-11 | 2017-05-11 | Can collaborative formula floor truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107264304A true CN107264304A (en) | 2017-10-20 |
| CN107264304B CN107264304B (en) | 2019-12-10 |
Family
ID=60074155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710328744.XA Active CN107264304B (en) | 2017-05-11 | 2017-05-11 | Can collaborative formula floor truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107264304B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845924A (en) * | 2020-07-31 | 2020-10-30 | 马鞍山迈若斯机器人科技有限公司 | Robot interactive collaboration method and device |
| CN113439250A (en) * | 2019-02-20 | 2021-09-24 | 日本电产株式会社 | Carrying system and carrying vehicle |
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| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN105467902A (en) * | 2016-01-14 | 2016-04-06 | 贵州大学 | Multiple intelligent small car cooperation controlling device based on ZigBee |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人***有限公司 | Automatic guiding transport vehicle |
| CN206050684U (en) * | 2016-09-07 | 2017-03-29 | 苏州牧星智能科技有限公司 | Storage robot rotation lifting body and storage robot |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
-
2017
- 2017-05-11 CN CN201710328744.XA patent/CN107264304B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN105467902A (en) * | 2016-01-14 | 2016-04-06 | 贵州大学 | Multiple intelligent small car cooperation controlling device based on ZigBee |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人***有限公司 | Automatic guiding transport vehicle |
| CN206050684U (en) * | 2016-09-07 | 2017-03-29 | 苏州牧星智能科技有限公司 | Storage robot rotation lifting body and storage robot |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113439250A (en) * | 2019-02-20 | 2021-09-24 | 日本电产株式会社 | Carrying system and carrying vehicle |
| CN111845924A (en) * | 2020-07-31 | 2020-10-30 | 马鞍山迈若斯机器人科技有限公司 | Robot interactive collaboration method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107264304B (en) | 2019-12-10 |
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