Double-wheel drive self-propelled trolley

Abstract

The utility model discloses a double-wheel drive self-propelled trolley, which relates to the field of tool car design and comprises a base, and universal wheels are fixedly mounted at four ends of the bottom side of the base; hub motors are installed on the front side and the rear side of the middle of the base, and the bottom sides of the hub motors abut against the ground. Two motor drivers are fixedly mounted in the base; the motor drivers are electrically connected with the hub motors in a one-to-one correspondence manner; a battery, a PLC main board and a motor driving board are fixedly installed in the base, the battery supplies power to the motor driving board through the PLC main board, and the motor driver is electrically connected and installed on the motor driving board; an FRID reader is embedded in the bottom side of the base, the FRID reader is electrically connected with the PLC mainboard, a starting point IC card and a terminal point IC card which are directly fixed on the ground are further arranged, and the FRID reader performs wireless reading when being close to the starting point IC card or the terminal point IC card; the double wheels are used for driving the trolley to move and turn, the stability is high when the whole trolley moves at a high speed, and automatic obstacle avoidance can be achieved.

Description

Technical Field

[0001] The utility model relates to the field of tool cart design, and particularly relates to a two-wheel drive self-propelled cart. Background Art

[0002] At present, during the overhaul of factory equipment, workers generally need to carry a lot of special tools. The existing carrying method is usually to place the special tools on a tool cart, and the worker pushes the tool cart forward. After reaching the designated position, the tool cart is stopped, and the worker takes the special tools from the tool cart to carry out the overhaul work.

[0003] However, when the equipment is large, the worker usually has to observe the equipment first. After the observation is completed, the worker returns to the place where the tool cart is placed, and then pushes the tool cart to the position that needs to be overhauled. In addition, manual repeated pushing of the tool cart is required to change to different positions. Such a processing method causes the worker to be distracted and waste time in operating the tool cart, and the work efficiency is low.

[0004] In the prior art, there is a two-wheel remote control solution that can control the movement and turning of the cart. However, there is currently no solution to apply this technology to a tool cart. When applying it to a tool cart, not only the stability of the whole vehicle during high-speed movement needs to be considered, but also whether the cart will collide with operators, pets, equipment and other items. In addition, for convenient use, it is also necessary to consider how the cart follows the operator for movement. At the same time, the activity area of the cart in the workshop also needs to be considered to prevent the cart from leaving the workshop together with the operator. Therefore, it is necessary to design a two-wheel drive self-propelled cart to solve this technical problem. Content of the Utility Model

[0005] The utility model provides a technical solution that can solve the above problems to overcome the above situations.

[0006] A two-wheel drive self-propelled cart includes a base. Universal wheels are fixedly installed at the four ends of the bottom side of the base; hub motors are installed on the front and rear sides in the middle of the base, and the bottom sides of the hub motors are against the ground; two motor drivers are fixedly installed in the base, and the motor drivers are electrically connected to the hub motors one by one; a battery, a PLC main board and a motor drive board are fixedly installed in the base. The battery supplies power to the motor drive board through the PLC main board, and the motor drivers are electrically connected and installed on the motor drive board; an FRID reader is inlaid and installed on the bottom side of the base, and the FRID reader is electrically connected to the PLC main board. There are also a starting IC card and an ending IC card directly fixed on the ground, and the FRID reader performs wireless reading when approaching the starting IC card or the ending IC card.

[0007] Further: A voltage stabilizer power module, a PLC controller, and a terminal block are inlaid and installed on the PLC main board, and the battery supplies power to the PLC controller through the terminal block and the voltage stabilizer power module.

[0008] Further: Four-way radar sensors and offset sensors are inlaid and installed on the motor drive board, and the PLC main board supplies power to the motor driver through the four-way radar sensors and the offset sensors.

[0009] Further: A tool rack is fixedly installed on the upper side of the base, and a number of evenly arranged obstacle avoidance radars are fixedly installed on the outer periphery of the tool rack. The obstacle avoidance radars are electrically connected to the four-way radar sensors.

[0010] Further: A human body radar detector is fixedly installed on the tool rack, and the human body radar detector is electrically connected to the PLC main board.

[0011] Further: A base station positioning module is fixedly installed in the middle of the upper side of the tool rack, and the base station positioning module is electrically connected to the PLC main board.

[0012] Further: A number of support columns are fixedly installed on the outer periphery of the bottom sides of the PLC main board and the motor drive board, and the bottom ends of the support columns are fixedly installed in the base through bolts.

[0013] Further: The PLC main board and the motor drive board are respectively separated from the bottom side in the base by a number of support columns.

[0014] Further: A protective cover plate is fixedly installed on the top side of the base.

[0015] Compared with the prior art, the beneficial effects of the present utility model are:

[0016] 1. First, a starting line and an ending line are pasted on the ground of the workshop, and the starting IC card and the ending IC card are respectively fixed at the starting line and the ending line, which can be used to limit the activity range of the trolley. When the trolley passes through the starting line or the ending line, the FRID reader will read the starting IC card or the ending IC card, and then judge the real-time position of the trolley to prevent the trolley from walking out of the workshop by itself.

[0017] 2. Hub motors are arranged on the front and back sides in the middle of the base. The movement and turning of the trolley can be realized by controlling the two hub motors. At the same time, it can cooperate with the four universal wheels at the bottom of the base to realize the stable movement of the trolley, and it is not easy to roll over during rapid movement.

[0018] 3. The PLC main board and the motor drive board are used to control the operation of the motor driver, thereby effectively driving the hub motor. The automatic following movement of the trolley can be realized, and various sensors can also be set on the PLC main board and the motor drive board to sense the real-time state of the trolley, thereby facilitating the control of the trolley.

[0019] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a schematic structural diagram of the present utility model;

[0022] Figure 2 is a schematic bottom view structural diagram of the present utility model;

[0023] Figure 3 is a schematic front view structural diagram of the present utility model;

[0024] Figure 4 is a schematic left view structural diagram of the present utility model;

[0025] Figure 5 is a schematic right view structural diagram of the present utility model;

[0026] Figure 6 is a schematic structural diagram of the present utility model when passing through the start IC card or the end IC card;

[0027] Figure 7 is a schematic structural diagram of the present utility model when the protective cover plate of the base is opened;

[0028] Figure 8 is a schematic module structural diagram of the control mode of the present utility model.

[0029] As shown in the figure: 1. Base; 2. Universal wheel; 3. Hub motor; 4. Motor driver; 5. Battery; 6. PLC main board; 7. Motor drive board; 8. FRID reader; 9. Starting point IC card; 10. End point IC card; 11. Voltage stabilizing power supply module; 12. PLC controller; 13. Terminal block; 14. Four-way radar sensor; 15. Offset sensor; 16. Tool rack; 17. Obstacle avoidance radar; 18. Human body radar detector; 19. Base station positioning module; 20. Support column; 21. Protective cover plate. Detailed implementation mode

[0030] The technical solutions of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments.

[0031] The components of the embodiments of the present utility model usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the claimed present utility model, but merely represents the selected embodiments of the present utility model.

[0032] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.

[0033] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0035] Such as Figure 1-8As shown in the figure, a two-wheel drive self-propelled vehicle of the utility model includes a base 1. Four ends of the bottom side of the base 1 are fixedly installed with universal wheels 2. Wheel hub motors 3 are installed on the front and rear sides of the middle of the base 1, and the bottom sides of the wheel hub motors 3 are in contact with the ground. Two motor drivers 4 are fixedly installed in the base 1, and the motor drivers 4 are electrically connected to the wheel hub motors 3 one by one. A battery 5, a PLC main board 6 and a motor drive board 7 are fixedly installed in the base 1. The battery 5 supplies power to the motor drive board 7 through the PLC main board 6, and the motor drivers 4 are electrically connected and installed on the motor drive board 7. An FRID reader 8 is inlaid and installed on the bottom side of the base 1. The FRID reader 8 is electrically connected to the PLC main board 6. A starting point IC card 9 and an end point IC card 10 directly fixed on the ground are also provided. The FRID reader 8 performs wireless reading when approaching the starting point IC card 9 or the end point IC card 10.

[0036] The principle is as follows: First, a starting line and an end line are pasted on the ground of the workshop, and the starting point IC card 9 and the end point IC card 10 are respectively fixed at the starting line and the end line, which can be used to limit the activity range of the vehicle. When the vehicle passes through the starting line or the end line, the FRID reader 8 will read the starting point IC card 9 or the end point IC card 10, and then judge the real-time position of the vehicle to prevent the vehicle from leaving the workshop by itself. Wheel hub motors 3 are arranged on the front and rear sides of the middle of the base 1. The movement and turning of the vehicle can be realized by controlling the two wheel hub motors 3. At the same time, it can cooperate with the four universal wheels 2 at the bottom of the base 1 to realize the stable movement of the vehicle, and it is not easy to roll over during rapid movement. The PLC main board 6 and the motor drive board 7 are used to control the operation of the motor driver 4, and then effectively drive the wheel hub motor 3, which can realize the automatic following movement of the vehicle. Various sensors can also be set on the PLC main board 6 and the motor drive board 7 to sense the real-time state of the vehicle, which is convenient for controlling the vehicle.

[0037] Furthermore: A voltage stabilizing power supply module 11, a PLC controller 12 and a wiring terminal 13 are inlaid and installed on the PLC main board 6. The battery 5 supplies power to the PLC controller 12 through the wiring terminal 13 and the voltage stabilizing power supply module 11. The voltage stabilizing power supply module 11 can stabilize the output voltage of the battery 5, thereby preventing the PLC controller 12 from being damaged and ensuring the stable operation of the PLC controller 12.

[0038] Furthermore: A four-way radar sensor 14 and an offset sensor 15 are inlaid and installed on the motor drive board 7. The PLC main board 6 supplies power to the motor driver 4 through the four-way radar sensor 14 and the offset sensor 15. The four-way radar sensor 14 can be used to detect the distance between the vehicle and objects to avoid collisions, and the offset sensor 15 can prevent the vehicle from running off track and realize precise following.

[0039] Further: A tool rack 16 is fixedly installed on the upper side of the base 1, and a number of evenly arranged obstacle avoidance radars 17 are fixedly installed on the outer periphery of the tool rack 16. The obstacle avoidance radars 17 are electrically connected to the four-way radar sensor 14. The obstacle avoidance radars 17 can sense the distance between the four sides of the trolley and surrounding objects and transmit the sensed signals to the four-way radar sensor 14, thereby preventing the trolley from colliding with objects.

[0040] Further: A human body radar detector 18 is fixedly installed on the tool rack 16, and the human body radar detector 18 is electrically connected to the PLC main board 6. It can measure the distance between the operator and the trolley, thereby achieving the effect of automatic following.

[0041] Further: A base station positioning module 19 is fixedly installed in the middle of the upper side of the tool rack 16, and the base station positioning module 19 is electrically connected to the PLC main board 6. The base station positioning module 19 monitors the position of the trolley in real time, facilitating resetting and use.

[0042] Further: A number of support columns 20 are fixedly installed on the outer periphery of the bottom sides of the PLC main board 6 and the motor drive board 7. The bottom ends of the support columns 20 are fixedly installed in the base 1 through bolts. The PLC main board 6 and the motor drive board 7 are respectively separated from the bottom side in the base 1 by a number of support columns 20. It can support the PLC main board 6 and the motor drive board 7, thereby preventing the PLC main board 6 and the motor drive board 7 from being damaged.

[0043] Further: A protective cover plate 21 is fixedly installed on the top side of the base 1. It can play an effective protective role and at the same time make the whole trolley more flat and beautiful.

[0044] The utility model can be used in cooperation with remote control. It can be set as a positioning bracelet to be worn on the hand or set as a belt to be worn around the waist. The base station positioning module 19 can set the sensing range with the remote control. After the remote control leaves the set range, it will control the hub motor 3 to drive the tool cart to move and move to find the middle of the base station positioning module 19 by the remote control. The starting point and the end point can be identified through RFID. At the same time, obstacle avoidance radars 17 are provided on the outer periphery, and the sensing range can be set as needed to avoid collisions with obstacles and people. At the same time, a human body radar detector 18 is also provided. When a person approaches the tool cart, it can be set as needed to make the tool cart automatically stop moving, thereby facilitating the personnel to pick up and place tools and other items on the tool cart.

[0045] This embodiment does not make any formal restrictions on the shape, material, structure, etc. of the utility model. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the utility model all belong to the protection scope of the technical solution of the utility model.

Claims

1. A two-wheel drive self-propelled trolley, comprising a base, and universal wheels are fixedly installed at four ends of the bottom side of the base; characterized in that: Wheel hub motors are installed on both the front and rear sides of the middle of the base, and the bottom sides of the wheel hub motors abut against the ground; Two motor drivers are fixedly installed in the base, and the motor drivers are electrically connected to the wheel hub motors one by one; A battery, a PLC main board and a motor drive board are fixedly installed in the base, the battery supplies power to the motor drive board through the PLC main board, and the motor driver is electrically connected and installed on the motor drive board; An FRID reader is inlaid and installed on the bottom side of the base, the FRID reader is electrically connected to the PLC main board, and a starting point IC card and an end point IC card directly fixed on the ground are also provided, and the FRID reader performs wireless reading when approaching the starting point IC card or the end point IC card.

2. The two-wheel drive self-propelled trolley according to claim 1, characterized in that: A voltage stabilizing power supply module, a PLC controller and a wiring terminal are inlaid and installed on the PLC main board, and the battery supplies power to the PLC controller through the wiring terminal and the voltage stabilizing power supply module.

3. A two-wheel drive self-propelled trolley according to any one of claims 1 or 2, characterized in that: A four-way radar sensor and an offset sensor are inlaid and installed on the motor drive board, and the PLC main board supplies power to the motor driver through the four-way radar sensor and the offset sensor.

4. The dual-wheel drive self-propelled trolley according to claim 3, characterized in that: A tool rack is fixedly installed on the upper side of the base, and a plurality of evenly arranged obstacle avoidance radars are fixedly installed on the outer periphery of the tool rack, and the obstacle avoidance radars are electrically connected to the four-way radar sensor.

5. A two-wheel drive self-propelled trolley according to claim 4, characterized in that: A human body radar detector is fixedly installed on the tool rack, and the human body radar detector is electrically connected to the PLC main board.

6. A two-wheel drive self-propelled trolley according to claim 4, characterized in that: A base station positioning module is fixedly installed in the middle of the upper side of the tool rack, and the base station positioning module is electrically connected to the PLC main board.

7. A two-wheel drive self-propelled vehicle according to claim 1, characterized in that: A plurality of support columns are fixedly installed on the outer peripheries of the bottom sides of the PLC main board and the motor drive board, and the bottom ends of the support columns are fixedly installed in the base through bolts.

8. A two-wheel drive self-propelled trolley according to claim 7, characterized in that: The PLC main board and the motor drive board are respectively spaced up and down from the bottom side in the base by a plurality of support columns.

9. A two-wheel drive self-propelled vehicle according to any one of claims 7 or 8, characterized in that: A protective cover plate is fixedly installed on the top side of the base.

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