CN207029362U - Automatical pilot transportation vehicle - Google Patents
Automatical pilot transportation vehicle Download PDFInfo
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- CN207029362U CN207029362U CN201720805953.4U CN201720805953U CN207029362U CN 207029362 U CN207029362 U CN 207029362U CN 201720805953 U CN201720805953 U CN 201720805953U CN 207029362 U CN207029362 U CN 207029362U
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- vehicle frame
- driven pulley
- interior
- driving wheel
- hinge
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Abstract
The utility model discloses a kind of automatical pilot transportation vehicle, the outer vehicle frame being located at including interior vehicle frame and lid on interior vehicle frame, outer vehicle frame is provided with the first driven pulley, interior vehicle frame is provided with the second driven pulley, driving wheel is provided between the first driven pulley and the second driven pulley, with outer vehicle frame by stud connection, hinge is arranged between driving wheel and the second driven pulley interior vehicle frame.Technical solutions of the utility model are connected by way of using hinge between interior vehicle frame and outer vehicle frame, interior vehicle frame and outer vehicle frame are relatively rotated, hinge is arranged between the second driven pulley and driving wheel being connected with interior vehicle frame simultaneously, when having load on outer vehicle frame, pair the first driven pulley being connected with outer vehicle frame can be divided into and to the downward pressure of hinge by loading downward pressure, and pressure downward to the second driven pulley and driving wheel respectively can be divided into the downward pressure of hinge, so that driving wheel can produce pressure but not excessive to ground, so as to reach the non-slip effect of automatical pilot transportation vehicle driving wheel.
Description
Technical field
Robot field is the utility model is related to, more particularly to a kind of automatical pilot transportation vehicle.
Background technology
With the development of society, automatical pilot transportation vehicle is more and more assembled or the field such as logistics is used, automatically
Guide transport lorry drives driven pulley to realize the motion of automatical pilot transportation vehicle generally by driving wheel, and existing homing guidance
The wheel of transport vehicle is rigidly connected on vehicle body, when road surface of the vehicle body Jing Guo out-of-flatness or the load excessive being subject to, driving
Easily there is situation about skidding in wheel.
Utility model content
Main purpose of the present utility model is to propose a kind of automatical pilot transportation vehicle, it is intended to solves automatical pilot transportation vehicle drive
The problem of driving wheel skids.
To achieve the above object, the utility model proposes a kind of automatical pilot transportation vehicle, including interior vehicle frame and lid be located at
Outer vehicle frame on the interior vehicle frame, one end of the outer vehicle frame are provided with the first driven pulley, the interior vehicle frame away from described first from
One end of driving wheel is provided with the second driven pulley, is provided with and the interior vehicle frame between first driven pulley and second driven pulley
The driving wheel being fixedly connected, the interior vehicle frame are arranged on the driving wheel with the outer vehicle frame by stud connection, the hinge
Between second driven pulley, and the centerline axis parallel of the central axis of the hinge and the driving wheel.
Preferably, the automatical pilot transportation vehicle also includes being arranged on the interior vehicle frame for producing the driving wheel
Give birth to the pressure regulating mechanism of pressure.
Preferably, the pressure regulating mechanism is the pressure for being arranged on the one end of the interior vehicle frame away from second driven pulley
Power part.
Preferably, the pressure piece is stage clip, and described stage clip one end is connected with the interior vehicle frame, the other end and the outer car
Frame connects, and the telescopic direction of the stage clip is vertical with the axial direction of the hinge.
Preferably, lead is equipped with the stage clip, the one side of the outer vehicle frame towards the interior vehicle frame is provided with limit
Position hole, described lead one end is hinged with the interior vehicle frame, and the other end is stretched into the spacing hole, and with the spacing interporal lacuna
Coordinate.
Preferably, the pressure regulating mechanism is the drawing that one end connects the interior vehicle frame, the other end connects the outer vehicle frame
Spring, and the extension spring is arranged between the hinge and second driven pulley, and the telescopic direction of the extension spring and the hinge
The axial direction of axle is vertical.
Preferably, the pressure piece is the balancing weight being pressed on the interior vehicle frame.
Preferably, the automatical pilot transportation vehicle includes two driving wheels, and two driving wheels set up separately described
The both sides of interior vehicle frame, the position of corresponding two driving wheels is separately provided for driving the driving on the interior vehicle frame
The motor of wheel, reducing gear is provided between the output shaft of the motor and the driving wheel.
Preferably, first driven pulley is the universal wheel being fixedly connected with the outer vehicle frame；Second driven pulley is
The universal wheel being fixedly connected with the interior vehicle frame.
Preferably, the one end of the outer vehicle frame away from second driven pulley is provided with installing plate, and the installing plate is arranged on
Between the interior frame end and the outer frame end, and first driven pulley is arranged on the installing plate.
Technical solutions of the utility model are connected by way of using hinge between interior vehicle frame and outer vehicle frame so that interior car
Frame and outer vehicle frame can relatively rotate, while between hinge is arranged on into the second driven pulley and driving wheel being connected with interior vehicle frame,
When having load on outer vehicle frame, pair the first driven pulley being connected with outer vehicle frame and downward to hinge can be divided into by loading downward pressure
Pressure, and pressure downward to the second driven pulley and driving wheel respectively can be divided into the downward pressure of hinge so that driving
Wheel can produce pressure but not excessive to ground, so as to reach the non-slip effect of automatical pilot transportation vehicle driving wheel.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to the structure shown in these accompanying drawings.
Fig. 1 is the exploded perspective view for the automatical pilot transportation vehicle that the utility model embodiment provides；
Fig. 2 is the structural representation after vehicle frame except the automatical pilot transportation vehicle that the utility model embodiment provides is gone；
The automatical pilot transportation vehicle that Fig. 3 provides for the utility model embodiment looks up schematic perspective view.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 100 | Interior vehicle frame | 200 | Outer vehicle frame |
| 210 | Installing plate | 300 | First driven pulley |
| 400 | Second driven pulley | 500 | Driving wheel |
| 600 | Hinge | 700 | Pressure regulating mechanism |
| 710 | Stage clip | 720 | Lead |
| 800 | Motor | 900 | Reducing gear |
Realization, functional characteristics and the advantage of the utility model purpose will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belong to the scope of the utility model protection.
If it is to be appreciated that related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction be only used for explain it is relative between each part under a certain particular pose (as shown in drawings)
Position relationship, motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.
If, should " first ", " the in addition, relate to the description of " first ", " second " etc. in the utility model embodiment
Two " etc. description is only used for describing purpose, and it is not intended that instruction or implying its relative importance or implicit indicating meaning
The quantity of the technical characteristic shown.Thus, " first " is defined, the feature of " second " can express or implicitly include at least one
Individual this feature.In addition, the technical scheme between each embodiment can be combined with each other, but must be with ordinary skill
Personnel can be implemented as basis, and this technical side is will be understood that when the combination appearance of technical scheme is conflicting or can not realize
The combination of case is not present, also not within the protection domain of the requires of the utility model.
The utility model proposes a kind of automatical pilot transportation vehicle.
In the utility model embodiment, as shown in Figure 1, Figure 2 and Figure 3, the automatical pilot transportation vehicle includes interior vehicle frame 100
The outer vehicle frame 200 being located at lid on interior vehicle frame 100, one end of outer vehicle frame 200 are provided with the first driven pulley 300, and interior vehicle frame 100 is remote
One end of first driven pulley 300 is provided with the second driven pulley 400, between the first driven pulley 300 and the second driven pulley 400 be provided with
The driving wheel 500 that interior vehicle frame 100 is fixedly connected, interior vehicle frame 100 are connected with outer vehicle frame 200 by hinge 600, and hinge 600 is set
Between the driven pulley 400 of driving wheel 500 and second, and the centerline axis parallel of the central axis of hinge 600 and driving wheel 500.
Automatical pilot transportation vehicle belongs to wheeled mobile robot category, and the participation without staff is that can be achieved to object or goods
Carry function.In actual application, automatical pilot transportation vehicle can include the outer vehicle frame 200 and use for direct bearing load
In the interior vehicle frame 100 for installing various relevant control components, outer vehicle frame 200 and interior vehicle frame 100 are connected by hinge 600 so that
It can be relatively rotated between outer vehicle frame 200 and interior vehicle frame 100, while it is driven in one end of outer vehicle frame 200 to be fixedly connected with first
Wheel 300, when load is directly pressed on outer vehicle frame 200, outer vehicle frame 200 is certain because the gravity for bearing to load can produce downwards
Pressure, because outer vehicle frame 200 is connected with the first driven pulley 300 and hinge 600 respectively, then lower pressure meeting caused by outer vehicle frame 200
Two downward partial pressures are divided into by the first driven pulley 300 and hinge 600 respectively.
First driven pulley 300 is directly to be contacted with ground or workbench, therefore the partial pressure at the first driven pulley 300
It can be applied directly on ground or platform.Hinge 600 is to connect outer vehicle frame 200 and interior vehicle frame 100, therefore another partial pressure meeting
It is applied to by hinge 600 on interior vehicle frame 100, the second driven pulley 400 and driving wheel 500 is fixedly connected with interior vehicle frame 100, by
The position between the second driven pulley 400 and driving wheel 500 is arranged in hinge 600, therefore interior vehicle frame is applied to by hinge 600
100 partial pressure can be divided into partial pressure downward to the second driven pulley 400 and driving wheel 500 respectively so that the second driven pulley 400
There can be certain lower pressure to ground or platform respectively with driving wheel 500, and then realize so that driving wheel 500 is to ground
Pressure but not excessive can be produced, so as to reach the non-slip effect of the driving wheel 500 of automatical pilot transportation vehicle.
In order that obtaining, automatical pilot transportation vehicle is more stable in the process of moving, and outer vehicle frame 200 is away from the second driven pulley 400
One end be provided with installing plate 210, installing plate 210 is arranged between the end of interior vehicle frame 100 and the end of outer vehicle frame 200, and
One driven pulley 300 is arranged at installing plate 210.First driven pulley 300 and the second driven pulley 400 are provided in driving wheel 500
Both sides, to realize the balance to vehicle, because the first driven pulley 300 is arranged on outer vehicle frame 200, the second driven pulley 400 is set
On interior vehicle frame 100, and outer vehicle frame 200 is to cover to be located above interior vehicle frame 100, in order to there is enough spaces first driven
Wheel 300, installing plate 210 is arranged on the position between the end of outer vehicle frame 200 and the end of interior vehicle frame 100 so that first is driven
Wheel 300 will not interfere in operation process with interior vehicle frame 100.
In actual application, the main function of hinge 600 is vehicle frame 100 and while outer vehicle frame 200 in connection, interior
Vehicle frame 100 and outer vehicle frame 200 can be that rotating shaft relatively rotates with hinge 600, thus hinge 600 be preferably straight pin, it is movable
Bolt etc..
Technical solutions of the utility model are connected by way of using hinge 600 between interior vehicle frame 100 and outer vehicle frame 200
Connect so that interior vehicle frame 100 and outer vehicle frame 200 can be relatively rotated, while hinge 600 is arranged on into what is be connected with interior vehicle frame 100
Between second driven pulley 400 and driving wheel 500, when having load on outer vehicle frame 200, load downward pressure can be divided into pair with it is outer
The first driven pulley 300 that vehicle frame 200 connects and to the downward pressure of hinge 600, and can be divided into the downward pressure of hinge 600
The pressure downward to the second driven pulley 400 and driving wheel 500 respectively so that driving wheel 500 ground can be produced pressure but not
It is excessive, so as to reach the non-slip effect of the driving wheel 500 of automatical pilot transportation vehicle.
Further, referring to Figures 1 and 2, do not beaten in order that obtaining automatical pilot transportation vehicle driving wheel 500 in operation
Sliding effect is more preferable, and automatical pilot transportation vehicle also includes being arranged on interior vehicle frame 100 for producing driving wheel 500 lower pressure
Pressure regulating mechanism 700.In actual application, because of Uneven road or the position relationship placed may be loaded,
Cause the component downward to driving wheel 500 may be too small or without pressure, and then cause driving wheel 500 to upwarp and beat
Sliding situation occurs, and in order to avoid the above situation occurs, being set preferably on interior vehicle frame 100 can produce necessarily to driving wheel 500
Lower pressure pressure regulating mechanism 700 so that driving wheel 500 still contacts in the case where not obtaining partial pressure with ground,
So that driving wheel 500 has enough lower pressure to ground, it is achieved thereby that the function that driving wheel 500 will not skid.
Alternatively, pressure regulating mechanism 700 is the pressure for being arranged on the one end of interior vehicle frame 100 away from the second driven pulley 400
Part.The pressure piece is mainly used in producing downward pressure to the interior vehicle frame 100 where driving wheel 500, prevents driving wheel 500 from leaving
Ground and skid.In actual application, pressure piece can be set according to actual conditions, such as can be to be pressed on interior vehicle frame 100
On balancing weight, between counterweight or internal vehicle frame 100 and outer vehicle frame 200 have spring of pressure etc., or design side
Just, the battery location of automatical pilot transportation vehicle is arranged on the position.
Preferably, reference picture 3, in the present embodiment, pressure piece are stage clip 710, and the one end of stage clip 710 connects with interior vehicle frame 100
Connect, the other end is connected with outer vehicle frame 200, and the telescopic direction of stage clip 710 is vertical with the axial direction of hinge 600.Stage clip 710 occurs
Pressure can be produced after deformation, stage clip 710 is arranged between interior vehicle frame 100 and outer vehicle frame 200 so that stage clip 710 is to interior vehicle frame
100 and outer vehicle frame produce certain pressure, when driving wheel 500 upwarps, stage clip 710 can to the interior vehicle frame at driving wheel 500
100 produce downward pressure so that driving wheel 500 is without departing from ground, to realize the non-slip function of driving wheel 500.
Further, referring to Figures 1 and 2, it is equipped with lead 720 in stage clip 710, outer vehicle frame 200 is towards interior vehicle frame
100 one side is provided with spacing hole (not shown), and the one end of lead 720 is be hinged with interior vehicle frame 100, and the other end stretches into the spacing hole
It is interior, and coordinate with the spacing interporal lacuna.Automatical pilot transportation vehicle is in operation, due to Uneven road, interior vehicle frame 100 and outer
May be produced relative rotation between vehicle frame 200, be directed to post 720 and be arranged to be hinged with interior vehicle frame 100, lead 720 with it is outer
Spacing interporal lacuna on vehicle frame 200 coordinates, to adapt to the rotation between interior vehicle frame 100 and outer vehicle frame 200, simultaneously because lead
720 are connected between interior vehicle frame 100 and outer vehicle frame 200 so that the connection between interior vehicle frame 100 and outer vehicle frame 200 is more firm.
Alternatively, pressure regulating mechanism 700 is vehicle frame 100 in the connection of one end, and the other end connects the extension spring of outer vehicle frame 200,
And extension spring is arranged between the driven pulley 400 of hinge 600 and second, and the telescopic direction of extension spring and the axial direction of hinge 600 hang down
Directly.Second driven pulley 400 and driving wheel 500 set up separately in the both sides of hinge 600, when hinge 600 is by downward pressure, now
Equivalent to fulcrum, the pressure suffered by hinge 600 can be assigned on the second driven pulley 400 and driving wheel 500 hinge 600, in order to
Prevent driving wheel 500 from upwarping skidding, extension spring can be set between the driven pulley 400 of hinge 600 and second so that extension spring is pointed to cut with scissors
Interior vehicle frame between the driven pulley 400 of axle 600 and second produces upward pulling force, under the point action of hinge 600, can give and drive
The downward pressure of driving wheel 500 so that driving wheel 500 is pressed on the ground, and the phenomenon without skidding occurs.
Further, reference picture 1, Fig. 2 and Fig. 3, automatical pilot transportation vehicle include two driving wheels 500, two driving wheels
500 set up separately in the both sides of interior vehicle frame 100, and the part of corresponding two driving wheels 500 is respectively provided with driving on interior vehicle frame 100
The motor 800 of driving wheel 500, reducing gear 900 is provided between the output shaft and driving wheel 500 of motor 800.Set
Two driving wheels 500 and the motor 800 for controlling two driving wheels 500 respectively, so that the speed control of two driving wheels 500
System can be separate, controls the speed of two driving wheels 500 inconsistent by two motors 800, is led automatically with realizing
Draw the turning of transport vehicle or the function such as turn around.
Further, the first driven pulley 300 is the universal wheel that is fixedly connected with outer vehicle frame 200, the second driven pulley 400 be with
The universal wheel that interior vehicle frame 100 is fixedly connected.The effect of universal wheel be can in the horizontal plane 360 degree rotation so that homing guidance
Transport vehicle is more convenient in operation process, is more easy to mobile steering etc..In actual application, the outer He of vehicle frame 200 is arranged on
The quantity for the universal wheel being arranged on interior vehicle frame 100 can such as can be that two universal wheels set up separately outside depending on actual conditions
On vehicle frame 200 and interior vehicle frame 100 or multiple universal wheels are uniformly arranged on outer vehicle frame 200 and interior vehicle frame 100, as long as energy
The balance of vehicle frame 100 and outer vehicle frame 200 in guarantee.In the present embodiment, including four universal wheels set up separately in outer vehicle frame 200
On interior vehicle frame 100.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model,
Every equivalent structure under utility model of the present utility model design, made using the utility model specification and accompanying drawing content
Conversion, or directly/be used in other related technical areas indirectly and be included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of automatical pilot transportation vehicle, including interior vehicle frame and lid are located at the outer vehicle frame on the interior vehicle frame, it is characterised in that institute
The one end for stating outer vehicle frame is provided with the first driven pulley, and it is driven that the one end of the interior vehicle frame away from first driven pulley is provided with second
Wheel, the driving wheel being fixedly connected with the interior vehicle frame is provided between first driven pulley and second driven pulley, it is described
With the outer vehicle frame by stud connection, the hinge is arranged between the driving wheel and second driven pulley interior vehicle frame,
And the centerline axis parallel of the central axis of the hinge and the driving wheel.
2. automatical pilot transportation vehicle as claimed in claim 1, it is characterised in that the automatical pilot transportation vehicle also includes setting
For the pressure regulating mechanism to pressure under driving wheel generation on the interior vehicle frame.
3. automatical pilot transportation vehicle as claimed in claim 2, it is characterised in that the pressure regulating mechanism is described to be arranged on
The pressure piece of the one end of interior vehicle frame away from second driven pulley.
4. automatical pilot transportation vehicle as claimed in claim 3, it is characterised in that the pressure piece is stage clip, the stage clip one
End is connected with the interior vehicle frame, and the other end is connected with the outer vehicle frame, the telescopic direction of the stage clip and the axial direction of the hinge
Direction is vertical.
5. automatical pilot transportation vehicle as claimed in claim 4, it is characterised in that lead, institute are equipped with the stage clip
The one side for stating outer vehicle frame towards the interior vehicle frame is provided with spacing hole, and described lead one end is hinged with the interior vehicle frame, the other end
Stretch into the spacing hole, and coordinate with the spacing interporal lacuna.
6. automatical pilot transportation vehicle as claimed in claim 2, it is characterised in that the pressure regulating mechanism connects institute for one end
The extension spring of interior vehicle frame, the other end connection outer vehicle frame is stated, and the extension spring is arranged on the hinge and second driven pulley
Between, and the telescopic direction of the extension spring is vertical with the axial direction of the hinge.
7. automatical pilot transportation vehicle as claimed in claim 3, it is characterised in that the pressure piece is to be pressed on the interior vehicle frame
On balancing weight.
8. the automatical pilot transportation vehicle as described in claim 1 to 7 any one, it is characterised in that the homing guidance transport
Car includes two driving wheels, and two driving wheels set up separately in the both sides of the interior vehicle frame, corresponding on the interior vehicle frame
The position of two driving wheels is separately provided for driving the motor of the driving wheel, the output of the motor
Reducing gear is provided between axle and the driving wheel.
9. the automatical pilot transportation vehicle as described in claim 1 to 7 any one, it is characterised in that first driven pulley is
The universal wheel being fixedly connected with the outer vehicle frame；Second driven pulley is the universal wheel being fixedly connected with the interior vehicle frame.
10. the automatical pilot transportation vehicle as described in claim 1 to 7 any one, it is characterised in that the outer vehicle frame is away from institute
The one end for stating the second driven pulley is provided with installing plate, the installing plate be arranged on the interior frame end and the outer frame end it
Between, and first driven pulley is arranged on the installing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720805953.4U CN207029362U (en) | 2017-07-05 | 2017-07-05 | Automatical pilot transportation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720805953.4U CN207029362U (en) | 2017-07-05 | 2017-07-05 | Automatical pilot transportation vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207029362U true CN207029362U (en) | 2018-02-23 |
Family
ID=61466559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720805953.4U Active CN207029362U (en) | 2017-07-05 | 2017-07-05 | Automatical pilot transportation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207029362U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3800113A1 (en) * | 2019-10-01 | 2021-04-07 | Mobile Industrial Robots A/S | Mobile robot with adjustable traction weights |
-
2017
- 2017-07-05 CN CN201720805953.4U patent/CN207029362U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3800113A1 (en) * | 2019-10-01 | 2021-04-07 | Mobile Industrial Robots A/S | Mobile robot with adjustable traction weights |
| WO2021063864A1 (en) * | 2019-10-01 | 2021-04-08 | Mobile Industrial Robots A/S | Mobile robot with adjustable traction weights |
| CN114466787A (en) * | 2019-10-01 | 2022-05-10 | 莫比奥工业机器人有限公司 | Mobile robot with adjustable traction counterweight |
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