CN213974233U - Omnidirectional movement's heavily loaded transfer car (buggy) - Google Patents
Omnidirectional movement's heavily loaded transfer car (buggy) Download PDFInfo
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- CN213974233U CN213974233U CN202022897337.0U CN202022897337U CN213974233U CN 213974233 U CN213974233 U CN 213974233U CN 202022897337 U CN202022897337 U CN 202022897337U CN 213974233 U CN213974233 U CN 213974233U
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Abstract
The utility model discloses a heavy load transfer car (buggy) of omnidirectional movement, which comprises a vehicle rack, the frame lower part is equipped with the wheelset, the wheelset is including turning to the wheel carrier and walking wheel, and the walking wheel is installed in turning to the wheel carrier and turning to the wheel carrier internal rotation, still including the solid of revolution, the drive that are used for connecting to turn to wheel carrier and frame to turn to the wheel carrier pivoted and turn to actuating mechanism, turn to the wheel carrier through the actuating mechanism drive and rotate, wheelset turns to and has the controllability, nimble operation when can realizing the dolly heavy load, make the dolly motion more nimble, positioning accuracy is high, can realize dolly original place operation.
Description
Technical Field
The utility model belongs to the technical field of the commodity circulation transportation technique and specifically relates to a heavy load transfer car (buggy) of omnidirectional movement.
Background
In recent years, the intelligent unmanned transportation technology is more and more mature, the automatic navigation transfer vehicle is applied to the industries of E-commerce logistics sorting, automobiles and the like, is not influenced by space fields and logistics channels, realizes efficient, economical and flexible unmanned transportation, and is limited by loads in large-scale equipment production workshops, and the automatic navigation transfer vehicle is less in application because the load of the automatic navigation transfer vehicle is generally not more than 10 tons. Along with the development of intelligent factories, the manufacturing industry has more and more requirements on intelligent equipment, and the application scale of heavy-load intelligent transfer vehicles is increased.
The existing manufacturers use a plurality of wheel sets for supporting in order to increase the load of the automatic navigation transfer trolley, use universal wheels for bearing at four corners, drive the wheels to run by two sets of steering drive wheels in the middle, the universal wheels are unpowered to steer, the flexibility is poor, especially when the longitudinal movement of the heavy-duty trolley is changed into the transverse movement, the friction resistance between the universal wheels and the ground is large, the steering is not beneficial, and the positioning precision is difficult to control during the automatic navigation.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve above-mentioned problem, provide an omnidirectional movement's heavily carry transfer car (buggy), the wheelset is all power steering, and the angle is controllable, turns to in a flexible way, and response speed is fast.
The utility model provides a technical scheme that its technical problem adopted is:
the omni-directional moving heavy-load transfer trolley comprises a trolley frame, wherein the lower part of the trolley frame is provided with a wheel set, the wheel set comprises a steering wheel frame and a traveling wheel, the traveling wheel is installed in the steering wheel frame and rotates in the steering wheel frame, the omni-directional moving heavy-load transfer trolley further comprises a revolving body used for connecting the steering wheel frame and the trolley frame, and a steering driving mechanism used for driving the steering wheel frame to rotate.
Further, the outer ring of the revolving body is connected with the frame, and the inner ring of the revolving body is connected with the steering wheel frame.
Furthermore, the steering driving mechanism comprises a steering motor, the steering motor is arranged on the steering wheel carrier, and an output shaft of the steering motor is connected with the outer ring of the revolving body.
Furthermore, a rack is arranged on the outer cylindrical surface of the outer ring of the revolving body, and a steering gear is arranged on an output shaft of the steering motor and meshed with the rack.
Furthermore, a walking driving mechanism for driving the walking wheels to rotate is arranged in the steering wheel carrier.
Further, the walking driving mechanism comprises a walking driving motor, the walking driving motor is installed in the steering wheel frame, a walking driving gear is arranged at the output end of the walking driving motor, a walking driven gear is arranged on the walking rotating shaft, and the walking driving gear is meshed with the walking driven gear.
Furthermore, an angle detection encoder for detecting the rotation angle of the steering wheel frame is arranged at the upper end of the steering wheel frame.
Further, the lower end of the angle detection encoder is connected with the steering wheel frame, a connecting plate is arranged at the upper end of the angle detection encoder, and the end part of the connecting plate is connected with the outer ring of the revolving body.
Furthermore, the front end and the rear end of the frame are respectively provided with a mechanical anti-collision cross rod for protecting the frame, the periphery of the frame is provided with a navigator and a safety scanner for realizing automatic walking of the trolley, the front end and the rear end of the frame are respectively provided with a steering warning lamp, and the side face of the frame is provided with an emergency stop button.
Furthermore, a battery for providing trolley walking power and an electric control cabinet for controlling the trolley to walk and steer are arranged in the frame.
The utility model has the advantages that:
1. the utility model discloses a frame, the frame lower part is equipped with the wheelset, the wheelset is including turning to wheel carrier and walking wheel, and the walking wheel is installed in turning to the wheel carrier and turning to the wheel carrier internal rotation, still including the solid of revolution, the drive that are used for connecting to turn to wheel carrier and frame to the actuating mechanism that turns to wheel carrier pivoted, turns to the wheel carrier rotation through the actuating mechanism drive, and the wheelset turns to and has the controllability, and nimble operation when can realizing the dolly heavy load makes the dolly motion more nimble, and positioning accuracy is high, can realize dolly original place operation.
2. The utility model discloses be equipped with the angle detection encoder that is used for detecting steering wheel carrier turned angle in steering wheel carrier upper end, the angle detects the encoder lower extreme and is connected with the steering wheel carrier, and angle detection encoder upper end is equipped with the connecting plate, and the connecting plate tip is connected with the solid of revolution outer lane. The steering motor adjusts the rotation angle in real time, the wheel set is used for over-travel alarm, the response speed of the wheel set is high, the positioning precision is high, and the wheel set can rotate to a specific angle according to the running mode of the trolley.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a bottom view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic view of the wheel set structure of the present invention;
FIG. 5 is a front view of the wheel assembly of the present invention;
fig. 6 is a sectional view of the wheel set of the present invention.
In the figure: the device comprises a frame 1, a wheel set 2, a steering wheel frame 3, a walking wheel 4, a revolving body 5, a steering motor 6, a rack 7, a steering gear 8, a walking driving motor 9, a walking driving gear 10, a walking driven gear 11, a control electric cabinet 12, an angle detection encoder 13, a connecting plate 14, a mechanical anti-collision cross rod 15, a safety scanner 16, a steering warning lamp 17 and an emergency stop button 18.
Detailed Description
In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
For convenience of description, a coordinate system is now defined as shown in fig. 1.
As shown in fig. 1, 2 and 4, an omni-directional moving heavy-load transfer vehicle comprises a vehicle frame 1, wherein the lower part of the vehicle frame 1 is provided with four wheel sets 2, the wheel sets 2 are supported on two sides, the supporting surface is large, the load capacity is improved, the wheel sets 2 comprise a steering wheel frame 3 and traveling wheels 4, the traveling wheels 4 are arranged in the steering wheel frame 3 and rotate in the steering wheel frame 3, the omni-directional moving heavy-load transfer vehicle also comprises a revolving body 5 for connecting the steering wheel frame 3 and the vehicle frame 1, and a steering driving mechanism for driving the steering wheel frame 3 to rotate, and the driving mechanism corresponds to the wheel sets 2 one by one. The steering wheel frame 3 is driven to rotate by the driving mechanism, the wheel set steering has controllability, the trolley can flexibly run when in heavy load, the trolley can more flexibly move, the positioning precision is high, and the trolley can run in situ.
As shown in fig. 1 and 3, the outer ring of the revolving unit 5 is bolted to the lower part of the frame 1, and the inner ring of the revolving unit 5 is bolted to the steering wheel frame 3.
As shown in fig. 4 to 6, the steering driving mechanism includes a steering motor 6, and the steering motor 6 is provided with a speed reducer in cooperation, which is prior art and not described herein too much, the steering motor 6 is installed on the steering wheel frame 3, and an output shaft of the steering motor 6 is connected with an outer ring of the revolving body 5. A rack 7 is arranged on the outer cylindrical surface of the outer ring of the revolving body 5, a steering gear 8 is arranged on an output shaft of the steering motor 6, the steering gear 8 is in key connection with the output shaft of the steering motor 6, the steering gear 8 is meshed with the rack 7, the steering motor 6 drives the gear to rotate, and the steering wheel carrier 3 is driven to rotate through the meshing of the steering gear 8 and the rack 7. In this embodiment, the traveling wheels are driven to rotate by means of gear engagement, and also can be directly driven by a motor reducer or driven by a belt, which is easily thought by those skilled in the art and will not be described in detail herein.
As shown in fig. 4 to 6, a travel driving mechanism for driving the travel wheels 4 to rotate is provided in the bogie 3. The walking driving mechanism comprises a walking driving motor 9, the walking driving motor 9 is installed in the steering wheel frame 3, a walking driving gear 10 is arranged at the output end of the walking driving motor 9, a walking driven gear 11 is arranged on a rotating shaft of the walking wheel 4, the walking driving gear 10 is meshed with the walking driven gear 11, and the walking driving motor 9 drives the walking wheel 4 to rotate through the walking driving gear 10 and the walking driven gear 11. In this embodiment, the traveling wheels are driven to rotate by means of gear engagement, and also can be directly driven by a motor reducer or driven by a belt, which is easily thought by those skilled in the art and will not be described in detail herein.
As shown in fig. 4 and 6, an angle detecting encoder 13 for detecting the rotation angle of the steering wheel frame 3 is provided at the upper end of the steering wheel frame 3. The lower end of the angle detection encoder 13 is connected with the steering wheel frame 3, the axis of the angle detection encoder 13 is overlapped with the axis of the revolving body 5, the upper end of the angle detection encoder 13 is provided with a connecting plate 14, and the end part of the connecting plate 14 is connected with the outer ring of the revolving body 5. The angle detection encoder 13 adjusts the rotation angle of the steering motor 6 in real time, the wheel set is in over-travel alarm, the response speed of the wheel set is high, the positioning precision is high, and the wheel set can rotate to a specific angle according to the running mode of the trolley.
As shown in fig. 1 and 3, the front and rear ends of the frame 1 are provided with mechanical anti-collision cross bars 15 for protecting the frame, the periphery of the frame 1 is provided with a navigator and a safety scanner 16 for realizing the automatic walking of the trolley, the front and rear ends of the frame 1 are provided with steering warning lamps 17, and the side surface of the frame 1 is provided with an emergency stop button 18, so that the safe and reliable automatic running of the transfer trolley is ensured.
As shown in fig. 1 and 3, a battery 19 for providing trolley walking power and a control electric cabinet 12 for controlling the trolley to walk and turn are arranged in the frame 1, the trolley walking power and a control system are provided, and the transfer trolley can realize automatic navigation transportation capability.
In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (10)
1. The omni-directional moving heavy-load transfer trolley comprises a trolley frame (1), wherein the lower part of the trolley frame (1) is provided with a wheel set (2), the wheel set (2) comprises a steering wheel frame (3) and a traveling wheel (4), and the traveling wheel (4) is installed in the steering wheel frame (3) and rotates in the steering wheel frame (3), and the omni-directional moving heavy-load transfer trolley is characterized by further comprising a revolving body (5) for connecting the steering wheel frame (3) and the trolley frame (1) and a steering driving mechanism for driving the steering wheel frame (3) to rotate.
2. An omni-directional mobile heavy-duty transfer vehicle according to claim 1, wherein the outer ring of the revolving body (5) is connected with the frame (1), and the inner ring of the revolving body (5) is connected with the bogie frame (3).
3. The omni-directional mobile heavy-duty transport vehicle according to claim 1, wherein said steering driving mechanism comprises a steering motor (6), the steering motor (6) is mounted on the steering wheel frame (3), and the output end of the steering motor (6) is engaged with the outer ring of the revolving body (5).
4. An omnidirectional moving heavy-duty transfer vehicle according to claim 3, wherein said revolving body (5) is provided with a rack (7) on the outer cylindrical surface of the outer ring, and the steering motor (6) is provided with a steering gear (8) on the output shaft, the steering gear (8) being engaged with the rack (7).
5. An omnidirectional movement heavy duty transport vehicle according to claim 1, wherein said bogie frame (3) is provided with a traveling driving mechanism for driving the traveling wheels (4) to rotate.
6. The omni-directional mobile heavy-duty transfer vehicle according to claim 5, wherein the traveling driving mechanism comprises a traveling driving motor (9), the traveling driving motor (9) is installed in the steering wheel frame (3), a traveling driving gear (10) is provided at an output end of the traveling driving motor (9), a traveling driven gear (11) is provided on a rotating shaft of the traveling wheel (4), and the traveling driving gear (10) is engaged with the traveling driven gear (11).
7. An omni-directional traveling heavy duty truck according to claim 1, wherein the steering wheel frame (3) is provided at its upper end with an angle detecting encoder (13) for detecting the rotation angle of the steering wheel frame (3).
8. An omnidirectional moving heavy-duty transport vehicle according to claim 7, wherein said angle detecting encoder (13) is connected at its lower end to said bogie frame (3), and a connecting plate (14) is provided at the upper end of said angle detecting encoder (13), and the end of said connecting plate (14) is connected to the outer ring of said rotary body (5).
9. The omni-directional mobile heavy-duty transfer vehicle according to claim 1, characterized in that the front and rear ends of the vehicle frame (1) are provided with mechanical anti-collision cross bars (15) for protecting the vehicle frame, the periphery of the vehicle frame (1) is provided with a navigator and a safety scanner (16) for realizing the automatic walking of the trolley, the front and rear ends of the vehicle frame (1) are provided with steering warning lamps (17), and the side surface of the vehicle frame (1) is provided with an emergency stop button (18).
10. The omni-directional mobile heavy duty transport vehicle according to claim 1, wherein the vehicle frame (1) is internally provided with a battery (19) for providing the power for the traveling of the vehicle and a control electric cabinet (12) for controlling the traveling and steering of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022897337.0U CN213974233U (en) | 2020-12-03 | 2020-12-03 | Omnidirectional movement's heavily loaded transfer car (buggy) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022897337.0U CN213974233U (en) | 2020-12-03 | 2020-12-03 | Omnidirectional movement's heavily loaded transfer car (buggy) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213974233U true CN213974233U (en) | 2021-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022897337.0U Active CN213974233U (en) | 2020-12-03 | 2020-12-03 | Omnidirectional movement's heavily loaded transfer car (buggy) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213974233U (en) |
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2020
- 2020-12-03 CN CN202022897337.0U patent/CN213974233U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Omnidirectional moving heavy load transfer vehicle Effective date of registration: 20220516 Granted publication date: 20210817 Pledgee: Jinan Rural Commercial Bank Co.,Ltd. Changqing sub branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2022980005593 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230606 Granted publication date: 20210817 Pledgee: Jinan Rural Commercial Bank Co.,Ltd. Changqing sub branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2022980005593 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A fully mobile heavy-duty transfer vehicle Effective date of registration: 20230719 Granted publication date: 20210817 Pledgee: Jinan Rural Commercial Bank Co.,Ltd. Changqing sub branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2023980048996 |