Autonomous vehicle

Abstract

A self-propelled vehicle includes a first base plate, a second base plate, two drive wheels, a first driven wheel connecting plate, two first driven wheels, a second driven wheel connecting plate, and two second driven wheels. The second base plate is pivotally connected to the first base plate. The two drive wheels are disposed on both sides of the first base plate. The first driven wheel connecting plate is pivotally connected to the first base plate. The two first driven wheels are disposed on both sides of the first driven wheel connecting plate. The second driven wheel connecting plate is pivotally connected to the second base plate. The two second driven wheels are disposed on both sides of the second driven wheel connecting plate. The first base plate and the second base plate are rotatable relative to each other about a first axis, the first driven wheel connecting plate is rotatable relative to the first base plate about a second axis, and the second driven wheel connecting plate is rotatable relative to the second base plate about the second axis.

Description

Technical Field

[0001] This invention relates to a self-propelled vehicle, and more particularly to a self-propelled vehicle capable of stable and continuous ground-hugging operation. Prior Technology

[0002] Self-propelled vehicles (WPVs) are transportation tools used for automated object handling and have become a key focus of research in logistics automation. Currently, WPVs typically have a single-piece floor, and their drive wheels are spring-damped. Adjusting the spring force is difficult; excessive force can overload the drive wheels, causing the driven wheels to sag, while insufficient force can cause the drive wheels to spin freely. Furthermore, WPVs only have two sets of driven wheels facing each other, making them unsuitable for handling various rough terrains. Summary of the Invention

[0003] This invention provides a self-propelled vehicle that can stably and continuously operate close to the ground to solve the above-mentioned problems.

[0004] According to one embodiment, the self-propelled vehicle of the present invention includes a first base plate, a second base plate, two drive wheels, a first driven wheel connecting plate, two first driven wheels, a second driven wheel connecting plate, and two second driven wheels. The second base plate is pivotally connected to the first base plate. The two drive wheels are disposed on both sides of the first base plate. The first driven wheel connecting plate is pivotally connected to the first base plate. The two first driven wheels are disposed on both sides of the first driven wheel connecting plate. The second driven wheel connecting plate is pivotally connected to the second base plate. The two second driven wheels are disposed on both sides of the second driven wheel connecting plate. The first base plate and the second base plate are rotatable relative to each other about a first axis, the first driven wheel connecting plate is rotatable relative to the first base plate about a second axis, and the second driven wheel connecting plate is rotatable relative to the second base plate about a second axis, wherein the first axis and the second axis are perpendicular.

[0005] In one embodiment, the self-propelled vehicle further includes a lifting platform, a plurality of first swing arms, and a plurality of second swing arms. One end of each first swing arm is pivotally connected to the lifting platform, and the other end of each first swing arm is pivotally connected to the first base plate. One end of each second swing arm is pivotally connected to the lifting platform, and the other end of each second swing arm is rotatably and slidably connected to the second base plate. When the first base plate and the second base plate rotate relative to each other, the plurality of second swing arms slide relative to the second base plate, thereby keeping the lifting platform horizontal.

[0006] In one embodiment, the second base plate includes two guide rails, and one of the second swing arms is bearing disposed in one of the two guide rails, such that each of the second swing arms is rotatably and slidably connected to the second base plate.

[0007] In one embodiment, the self-propelled vehicle further includes a lifting platform drive mechanism and a transmission mechanism. The lifting platform drive mechanism is disposed on the first base plate. The transmission mechanism connects the lifting platform drive mechanism to the plurality of first swing arms. The lifting platform drive mechanism drives the transmission mechanism to rotate the plurality of first swing arms, thereby causing the lifting platform to rise and fall.

[0008] In one embodiment, the transmission mechanism includes a first transmission member, a linkage member, a second transmission member, a driven member, a connecting member, and a fixing member. The first transmission member is connected to the lifting platform drive mechanism. The linkage member is connected to the first transmission member. The second transmission member is connected to the linkage member. The driven member is connected to the second transmission member. The connecting member has a guide groove. One shaft of the driven member is movably disposed in the guide groove. The fixing member is connected to the connecting member and the plurality of first swing arms.

[0009] In one embodiment, the first base plate includes a first fixing block, the middle portion of the first driven wheel connecting plate is pivotally connected to the first fixing block, and the two first driven wheels are located on both sides of the first fixing block. The second base plate includes a second fixing block, the middle portion of the second driven wheel connecting plate is pivotally connected to the second fixing block, and the two second driven wheels are located on both sides of the second fixing block.

[0010] In one embodiment, the self-propelled vehicle further includes two first limiting members, two first elastic members, two second limiting members, and two second elastic members. The two first limiting members are disposed on the first base plate, located below the first driven wheel connecting plate, and on both sides of the first fixing block. The two first elastic members are sleeved on the two first limiting members and abut against the first driven wheel connecting plate. The two second limiting members are disposed on the second base plate, located below the second driven wheel connecting plate, and on both sides of the second fixing block. The two second elastic members are sleeved on the two second limiting members and abut against the second driven wheel connecting plate.

[0011] In one embodiment, the self-propelled vehicle further includes a two-drive mechanism, which is disposed on the first base plate and connected to the two drives.

[0012] In one embodiment, the self-propelled vehicle further includes two dust covers disposed on the first base plate and covering the two drive wheels.

[0013] In one embodiment, the two dust covers abut against the second base plate as the first base plate rotates upward, thereby limiting the angle at which the first base plate rotates upward.

[0014] In summary, when the self-propelled vehicle of the present invention operates on rough terrain, the first and second base plates can rotate relative to each other, the first driven wheel connecting plate can rotate relative to the first base plate, and the second driven wheel connecting plate can rotate relative to the second base plate, so that the two driving wheels, the two first driven wheels, and the two second driven wheels remain stably and continuously in contact with the ground as the first base plate, the second base plate, the first driven wheel connecting plate, and / or the second driven wheel connecting plate rotate. In one embodiment, when the first and second base plates rotate relative to each other, the second swing arm pivotally connected to the lifting platform can slide relative to the second base plate, so that the lifting platform can remain horizontal and not tilted on rough terrain. In addition, the lifting platform drive mechanism can drive the transmission mechanism to rotate the first swing arm, thereby driving the lifting platform to rise and fall to achieve the lifting function. When the lifting platform rises and falls, the second swing arm pivotally connected to the lifting platform can also slide relative to the second base plate, so that the lifting platform remains horizontal and not tilted. In one embodiment, the lifting platform is supported on the first base plate and the second base plate by the first swing arm and the second swing arm respectively, so that the load of the lifting platform can be evenly distributed on the first base plate and the second base plate, so that the lifting platform can be lifted and lowered smoothly.

[0015] The advantages and spirit of this invention can be further understood from the following detailed description of the invention and the accompanying drawings. Simple Explanation of the Diagram

[0016] Figure 1 is a perspective view of a self-propelled vehicle according to an embodiment of the present invention. The second image is a 3D view of the self-driving vehicle from another perspective. Figure 3 is a 3D view of some components of the self-propelled vehicle. Figure 4 is an exploded view of the first and second base plates. Figure 5 is an exploded view of the first base plate, the second base plate, the first driven wheel connecting plate, and the second driven wheel connecting plate. Figure 6 is an exploded view of some components of the self-propelled vehicle. Figure 7 shows an assembly diagram of some components of the self-propelled vehicle. Figure 8 is a 3D view of the lifting platform in motion. Figure 9 is a side view of the first and second base plates before they are rotated. Figure 10 is a side view of the second base plate after it has been rotated downwards. Figure 11 is a side view of the first base plate after it has been rotated upwards. Figure 12 is a three-dimensional view of the first driven wheel connecting plate after it has rotated. Figure 13 is a three-dimensional view of the second driven wheel connecting plate after it has rotated. Figure 14 is another 3D view of the self-driving vehicle. Implementation

[0017] Please refer to Figures 1 to 5. Figure 1 is a perspective view of the self-propelled vehicle 1 according to an embodiment of the present invention. Figure 2 is a perspective view of the self-propelled vehicle 1 from another perspective. Figure 3 is a perspective view of some components of the self-propelled vehicle 1. Figure 4 is an exploded view of the first base plate 10 and the second base plate 12. Figure 5 is an exploded view of the first base plate 10, the second base plate 12, the first driven wheel connecting plate 16, and the second driven wheel connecting plate 20.

[0018] As shown in Figures 1 to 5, the self-propelled vehicle 1 includes a first base plate 10, a second base plate 12, two drive wheels 14, a first driven wheel connecting plate 16, two first driven wheels 18, a second driven wheel connecting plate 20, and two second driven wheels 22.

[0019] The second base plate 12 is pivotally connected to the first base plate 10, allowing the first base plate 10 and the second base plate 12 to rotate relative to each other about a first axis A1. In this embodiment, the first base plate 10 may include two first pivot members 100, and the second base plate 12 may include two second pivot members 120, so as to pivotally connect the first base plate 10 and the second base plate 12 together by means of the first pivot members 100 and the second pivot members 120. In practical applications, the first pivot members 100 and the second pivot members 120 may have shaft holes and shaft portions that are pivotally connected to each other. It should be noted that the number and arrangement position of the first pivot members 100 and the second pivot members 120 can be determined according to the actual application and are not limited to the embodiment shown in the figure.

[0020] Two drive wheels 14 are disposed on both sides of the first base plate 10. In this embodiment, the self-propelled vehicle 1 may further include a two-drive wheel drive mechanism 24, disposed on the first base plate 10 and connected to the two drive wheels 14. The drive wheel drive mechanism 24 is used to drive the drive wheels 14 to rotate, thereby driving the self-propelled vehicle 1 to run on the ground. The drive wheel drive mechanism 24 may include a motor, a reducer and / or other transmission components, depending on the actual application.

[0021] The first driven wheel connecting plate 16 is pivotally connected to the first base plate 10, allowing the first driven wheel connecting plate 16 to rotate relative to the first base plate 10 about a second axis A2, wherein the first axis A1 is perpendicular to the second axis A2. In this embodiment, the first base plate 10 may include a first fixing block 102, and the middle part of the first driven wheel connecting plate 16 may be pivotally connected to the first fixing block 102. Two first driven wheels 18 are disposed on both sides of the first driven wheel connecting plate 16, that is, the two first driven wheels 18 are located on both sides of the first fixing block 102. In this embodiment, the self-propelled vehicle 1 may further include two first limiting members 26 and two first elastic members 28. The two first limiting members 26 are disposed on the first base plate 10, located below the first driven wheel connecting plate 16, and located on both sides of the first fixing block 102. The two first elastic members 28 are sleeved on the two first limiting members 26 and abut against the first driven wheel connecting plate 16. The first elastic element 28 can be a compression spring, but is not limited thereto. When the first driven wheel connecting plate 16 is in the horizontal position before rotation, the first elastic element 28 can be in a pre-compressed state.

[0022] The second driven wheel connecting plate 20 is pivotally connected to the second base plate 12, allowing the second driven wheel connecting plate 20 to rotate relative to the second base plate 12 around the second axis A2. In this embodiment, the second base plate 12 may include a second fixing block 122, and the middle part of the second driven wheel connecting plate 20 may be pivotally connected to the second fixing block 122. Two second driven wheels 22 are disposed on both sides of the second driven wheel connecting plate 20, that is, the two second driven wheels 22 are located on both sides of the second fixing block 122. In this embodiment, the self-propelled vehicle 1 may further include two second limiting members 30 and two second elastic members 32. The two second limiting members 30 are disposed on the second base plate 12, located below the second driven wheel connecting plate 20, and located on both sides of the second fixing block 122. The two second elastic members 32 are sleeved on the two second limiting members 30 and abut against the second driven wheel connecting plate 20. The second elastic member 32 may be a compression spring, but is not limited thereto. When the second driven wheel connecting plate 20 is in the horizontal position before rotation, the second elastic element 32 can be in a pre-compression state.

[0023] Please refer to Figures 6 to 8. Figure 6 is an exploded view of some components of the self-propelled vehicle 1, Figure 7 is an assembly view of some components of the self-propelled vehicle 1, and Figure 8 is a perspective view of the lifting platform 34 raised.

[0024] As shown in Figures 6 and 7, the self-propelled vehicle 1 may further include a lifting platform 34, a plurality of first swing arms 36, and a plurality of second swing arms 38. One end of each first swing arm 36 is pivotally connected to a fixed seat 340 of the lifting platform 34, and the other end of each first swing arm 36 is pivotally connected to a fixed seat 104 of the first base plate 10. In this embodiment, the self-propelled vehicle 1 may include four first swing arms 36 located on both sides of the lifting platform 34. One end of each second swing arm 38 is pivotally connected to a fixed seat 340 of the lifting platform 34, and the other end of each second swing arm 38 is rotatably and slidably connected to the second base plate 12. In this embodiment, the second base plate 12 may include two guide rails 124, and one bearing 380 of each second swing arm 38 is disposed in one of the two guide rails 124, so that each second swing arm 38 is rotatably and slidably connected to the second base plate 12. In this embodiment, the self-propelled vehicle 1 may include four second swing arms 38, located on both sides of the lifting platform 34.

[0025] In this embodiment, the self-propelled vehicle 1 may further include a lifting platform drive mechanism 40 and a transmission mechanism 42. The lifting platform drive mechanism 40 is disposed on the first base plate 10. The lifting platform drive mechanism 40 may include a motor, a reducer, and / or other transmission components, depending on the actual application. The transmission mechanism 42 connects the lifting platform drive mechanism 40 and the first swing arm 36. Therefore, the lifting platform drive mechanism 40 can drive the transmission mechanism 42 to rotate the first swing arm 36, thereby driving the lifting platform 34 to rise and fall.

[0026] In this embodiment, the transmission mechanism 42 may include a first transmission member 420, a linkage member 422, a second transmission member 424, a driven member 426, a connecting member 428, and a fixing member 430. The first transmission member 420 is connected to the lifting platform drive mechanism 40. The linkage member 422 is connected to the first transmission member 420. The second transmission member 424 is connected to the linkage member 422. The driven member 426 may be connected to the second transmission member 424 via a transmission shaft 432. The connecting member 428 may have a guide groove 4280. A shaft 4260 of the driven member 426 is movably disposed in the guide groove 4280 of the connecting member 428. The fixing member 430 is connected to the connecting member 428 and the first swing arm 36. Therefore, the lifting platform drive mechanism 40 can drive the first swing arm 36 to rotate through the linkage between the first transmission member 420, the linkage member 422, the second transmission member 424, the driven member 426, the connecting member 428, and the fixing member 430, thereby driving the lifting platform 34 to rise and fall, as shown in Figures 1 and 8. When the lifting platform 34 rises and falls, the lifting platform 34 will drive the second swing arm 38 to slide and rotate relative to the second base plate 12, so that the lifting platform 34 always remains horizontal during the lifting process.

[0027] Please refer to Figures 9 to 13. Figure 9 is a side view of the first base plate 10 and the second base plate 12 before rotation. Figure 10 is a side view of the second base plate 12 after it has rotated downwards. Figure 11 is a side view of the first base plate 10 after it has rotated upwards. Figure 12 is a perspective view of the first driven wheel connecting plate 16 after it has rotated. Figure 13 is a perspective view of the second driven wheel connecting plate 20 after it has rotated.

[0028] With the above-described structural configuration, when the self-propelled vehicle 1 is running on rough terrain, the first base plate 10 and the second base plate 12 can rotate relative to each other (as shown in Figures 10 and 11), the first driven wheel connecting plate 16 can rotate relative to the first base plate 10 (as shown in Figure 12), and the second driven wheel connecting plate 20 can rotate relative to the second base plate 12 (as shown in Figure 13), so that the two driving wheels 14, the two first driven wheels 18, and the two second driven wheels 22 remain stably and continuously in contact with the ground as the first base plate 10, the second base plate 12, the first driven wheel connecting plate 16, and / or the second driven wheel connecting plate 20 rotate. As described above, the second swing arm 38 is rotatably and slidably connected to the second base plate 12. Therefore, when the first base plate 10 and the second base plate 12 rotate relative to each other, the second swing arm 38 will slide relative to the second base plate 12 in the guide rail 124, so that the lifting platform 34 remains horizontal during the operation of the self-propelled vehicle 1. As shown in Figure 10, after the second base plate 12 rotates downward relative to the first base plate 10, the lifting platform 34 remains horizontal. As shown in Figure 11, after the first base plate 10 rotates upward relative to the second base plate 12, the lifting platform 34 remains horizontal. Furthermore, as shown in Figures 12 and 13, when the first driven wheel connecting plate 16 rotates relative to the first base plate 10 and / or the second driven wheel connecting plate 20 rotates relative to the second base plate 12, the first elastic member 28 and the second elastic member 32 can act as buffers to ensure that the first driven wheel 18 and the second driven wheel 22 run more stably on the ground. In addition, the first limiting member 26 and the second limiting member 30 can be used to limit the rotation range of the first driven wheel connecting plate 16 and the second driven wheel connecting plate 20.

[0029] Please refer to Figure 14, which is another perspective view of the self-propelled vehicle 1.

[0030] As shown in Figure 14, the self-propelled vehicle 1 may further include two dust covers 44, which are disposed on the first base plate 10 and cover the two drive wheels 14. It should be noted that, due to the perspective, Figure 14 only shows the dust cover 44 and drive wheel 14 on one side of the self-propelled vehicle 1. The dust cover 44 can abut against the second base plate 12 as the first base plate 10 rotates upward, thereby limiting the angle of upward rotation of the first base plate 10.

[0031] Generally speaking, the self-propelled vehicle 1 will also be equipped with the necessary hardware and software components for operation, such as controllers, optical lenses, laser rangefinders, batteries, applications, communication modules, etc., depending on the actual application.

[0032] In summary, when the self-propelled vehicle of the present invention operates on rough terrain, the first and second base plates can rotate relative to each other, the first driven wheel connecting plate can rotate relative to the first base plate, and the second driven wheel connecting plate can rotate relative to the second base plate, so that the two driving wheels, the two first driven wheels, and the two second driven wheels remain stably and continuously in contact with the ground as the first base plate, the second base plate, the first driven wheel connecting plate, and / or the second driven wheel connecting plate rotate. In one embodiment, when the first and second base plates rotate relative to each other, the second swing arm pivotally connected to the lifting platform can slide relative to the second base plate, so that the lifting platform can remain horizontal and not tilted on rough terrain. In addition, the lifting platform drive mechanism can drive the transmission mechanism to rotate the first swing arm, thereby driving the lifting platform to rise and fall to achieve the lifting function. When the lifting platform rises and falls, the second swing arm pivotally connected to the lifting platform can also slide relative to the second base plate, so that the lifting platform remains horizontal and not tilted. In one embodiment, the lifting platform is supported on the first base plate and the second base plate by the first swing arm and the second swing arm respectively, so that the load of the lifting platform can be evenly distributed on the first base plate and the second base plate, so that the lifting platform can be lifted and lowered smoothly. The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made in accordance with the claims of the present invention shall be covered by the present invention.

[0033] 1: Self-driving car 10: First base plate 12: Second base plate 14: Drive wheel 16: First driven wheel connecting plate 18: First driven wheel 20: Second driven wheel connecting plate 22: Second driven wheel 24: Active wheel drive mechanism 26: First limiting component 28: First elastic element 30: Second limiting component 32: Second elastic element 34: Lifting Platform 36: First swing arm 38: Second swing arm 40: Lifting platform drive mechanism 42: Transmission mechanism 44: Dust cover 100: First pivot component 102: First fixed block 104,340: Fixture 120: Second pivot component 122: Second fixed block 124: Guide rail 380: Bearing 420: First transmission component 422: Linkage component 424: Second transmission component 426: Follower 428: Connector 430: Fastener 432: Drive shaft 4280: Guide groove 4260: Shaft A1: First Axis A2: Second Axis

Claims

1. A self-propelled vehicle, comprising: a first base plate; a second base plate pivotally connected to the first base plate; two drive wheels disposed on both sides of the first base plate; a first driven wheel connecting plate pivotally connected to the first base plate; two first driven wheels disposed on both sides of the first driven wheel connecting plate; a second driven wheel connecting plate pivotally connected to the second base plate; two second driven wheels disposed on both sides of the second driven wheel connecting plate; and a lifting platform; A plurality of first swing arms, one end of each first swing arm is pivotally connected to the lifting platform, and the other end of each first swing arm is pivotally connected to the first base plate; The system includes a plurality of second swing arms, one end of which is pivotally connected to the lifting platform, and the other end of which is rotatably and slidably connected to the second base plate. The first base plate and the second base plate are rotatable relative to each other about a first axis, the first driven wheel connecting plate is rotatable relative to the first base plate about a second axis, and the second driven wheel connecting plate is rotatable relative to the second base plate about the second axis. The first axis is perpendicular to the second axis. When the first base plate and the second base plate rotate relative to each other, the plurality of second swing arms slide relative to the second base plate, thereby keeping the lifting platform horizontal.

2. The self-propelled vehicle as claimed in claim 1, wherein the second base plate includes two guide rails, and one of the second swing arms is bearing disposed in one of the two guide rails, such that each of the second swing arms is rotatably and slidably connected to the second base plate.

3. The self-propelled vehicle as described in claim 1, further comprising: a lifting platform drive mechanism disposed on the first base plate; and a transmission mechanism connecting the lifting platform drive mechanism and the plurality of first swing arms; wherein, The lifting platform drive mechanism drives the transmission mechanism to rotate the plurality of first swing arms, thereby causing the lifting platform to rise and fall.

4. The self-propelled vehicle as claimed in claim 3, wherein the transmission mechanism comprises: a first transmission member connected to the lifting platform drive mechanism; a linkage member connected to the first transmission member; a second transmission member connected to the linkage member; a driven member connected to the second transmission member; a connecting member having a guide groove, wherein a shaft of the driven member is movably disposed in the guide groove; and a fixing member connected to the connecting member and the plurality of first swing arms.

5. The self-propelled vehicle as claimed in claim 1, wherein the first base plate includes a first fixing block, the middle portion of the first driven wheel connecting plate is pivotally connected to the first fixing block, the two first driven wheels are located on both sides of the first fixing block, the second base plate includes a second fixing block, the middle portion of the second driven wheel connecting plate is pivotally connected to the second fixing block, and the two second driven wheels are located on both sides of the second fixing block.

6. The self-propelled vehicle as described in claim 5, further comprising: two first limiting members disposed on the first base plate, located below the first driven wheel connecting plate, and on both sides of the first fixing block; two first elastic members sleeved on the two first limiting members and abutting against the first driven wheel connecting plate; two second limiting members disposed on the second base plate, located below the second driven wheel connecting plate, and on both sides of the second fixing block; and two second elastic members sleeved on the two second limiting members and abutting against the second driven wheel connecting plate.

7. The self-propelled vehicle as described in claim 1 further includes a two-drive mechanism disposed on the first base plate and connected to the two drives.

8. The self-propelled vehicle as described in claim 1, further comprising two dust covers disposed on the first base plate and covering the two drive wheels.

9. The self-propelled vehicle as described in claim 8, wherein the two dust covers abut against the second base plate as the first base plate rotates upward, thereby limiting the angle of upward rotation of the first base plate.

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