Automatic carrier

Abstract

The utility model provides an automatic carrier. The automatic carrying vehicle comprises a vehicle body, a carrier and a plurality of driving steering devices, and the vehicle body is provided with wheels; the carrier is arranged on the vehicle body and used for supporting materials to be carried. The multiple driving steering devices are arranged at the front end and the rear end of the vehicle body at intervals in the running direction. Each driving steering device comprises a driving axle, a steering axle, a power supply part and two steering knuckles. Wherein the power supply part is in driving connection with the driving axle, the driving axle is arranged at the bottom of the vehicle body, the two ends of the driving axle are respectively provided with a steering knuckle used for being in transmission connection with the wheels, the steering knuckles are in transmission connection with the driving axle, and the two ends of the steering axle are respectively hinged to the two steering knuckles so as to drive the two wheels located on the same driving axle to steer.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned vehicle technical field, especially a kind of automatic carrier for intelligent parking system. BACKGROUND

[0002] Automated Guided Vehicle (AGV) is a kind of unmanned vehicle that can automatically travel along the route. AGV can automatically transport materials, reduce manual handling and control, and has been widely used in logistics warehouse management, factory production workshop and flexible assembly line, port and airport cargo transport, intelligent multi-level garage and other fields.

[0003] In the application scenario of intelligent garage parking, AGV can be used to carry vehicles to dynamically allocated parking spaces. When parking, the vehicle is parked at the pointing location, and after the driver gets off, AGV can automatically carry and park the vehicle. When picking up the car, the driver can drive away after inputting the license plate or performing face recognition.

[0004] In the traditional design of parking AGV, common driving methods include rudder wheel, differential wheel and Mac wheel. However, these methods have speed limit, resulting in low carrying efficiency, which is difficult to meet the demand of long-distance carrying, especially in large garage and other occasions. And the use environment is also relatively harsh, and the flatness of the road is high. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide an automatic carrier that can meet long-distance transportation and adapt to harsh environments.

[0006] To solve the above technical problems, the utility model adopts the following technical scheme:

[0007] The application provides an automatic carrier, which comprises a vehicle body, a load carrier and a plurality of drive steering devices. The vehicle body is provided with wheels. The load carrier is arranged on the vehicle body to support the material to be carried. The plurality of drive steering devices are arranged on the front and rear ends of the vehicle body along the driving direction. The drive steering device comprises a drive axle, a steering axle, a power supply part and two steering joints. The power supply part is drivingly connected with the drive axle. The drive axle is arranged at the bottom of the vehicle body. The two ends of the drive axle are respectively provided with steering joints for driving connection with the wheels. The steering joints are drivingly connected with the drive axle. The two ends of the steering axle are respectively hingedly connected with the two steering joints to drive the two wheels on the same drive axle to steer.

[0008] In one embodiment of the application, the axis direction of the output end of the power supply part is parallel to the axial direction of the drive axle.

[0009] In one embodiment of the present application, the drive axle comprises a drive axle housing, a main reducer, a differential and two drive shafts, wherein the drive axle housing is an internally hollow shaft structure, the differential is accommodated at a middle position inside the drive axle housing, the two drive shafts extend to axial two ends inside the drive axle housing respectively and are each axially connected with the differential, the differential is connected with an output end of the power supply through the main reducer, and an end of the drive shaft away from the differential is connected with a hub of a wheel through a knuckle.

[0010] In one embodiment of the present application, the power supply is located outside the drive axle, wherein the power supply comprises a motor, an output end of the motor is connected with an input end of the main reducer, and an output end of the main reducer is connected with the differential.

[0011] In one embodiment of the present application, the half shaft part of the axial two ends of the drive axle housing is of a circular cross section, and a diameter of a middle part of the drive axle housing is greater than a diameter of the half shaft part.

[0012] In one embodiment of the present application, the drive steering device further comprises at least two knuckle arms, wherein one end of the knuckle arm is hinged with an axial end of the steering axle, and the other end is connected with the knuckle.

[0013] In one embodiment of the present application, the steering axle is internally provided with a ball screw type drive steering assembly, and the steering axle is parallel and spaced apart from the drive axle.

[0014] In one embodiment of the present application, the carrier is a comb tooth type support and comprises at least a front support and a rear support arranged on the vehicle body in a spaced apart manner.

[0015] In one embodiment of the present application, the automatic carrier further comprises a stop device arranged on the vehicle body, the stop device is arranged corresponding to the carrier and is not lower than the carrier, and the stop device fixes the material on the vehicle body by abutting against a surface of the material to be carried.

[0016] In one embodiment of the present application, the drive steering device further comprises a plurality of leaf spring assemblies, and the plurality of leaf spring assemblies are symmetrically arranged on axial two ends of the drive axle.

[0017] From the above technical solution, the present application at least has the following advantages and positive effects:

[0018] Compared with the traditional AGV driving structure, the "double driving and double steering" structure combined with the front and rear arranged driving axle and steering axle improves the walking speed and heavy load capacity of the AGV, and the powerful driving force can also easily realize long-distance carrying task. And the structure design also considers the stability and safety of the AGV in actual application. Through optimizing power distribution and steering control, the AGV can still maintain good driving stability under heavy load, reduce driving deviation caused by load change, and improve the passing capacity of the carrying vehicle in complex terrain such as slope, ditch and obstacle. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the isometric exploded schematic view of the automatic carrying vehicle in an embodiment of the utility model.

[0020] Figure 2 is the top view of the automatic carrying vehicle of Figure 1 .

[0021] Figure 3 is the front view of the automatic carrying vehicle of Figure 1 .

[0022] Figure 4 is the schematic view of the driving and steering device in an embodiment of the utility model.

[0023] Figure 5 is the top view of the driving and steering device of Figure 4 .

[0024] Figure 6 is the front view of the driving and steering device of Figure 4 .

[0025] Figure 7 is the A-A cross-sectional view of Figure 6 .

[0026] The following is the explanation of the reference signs:

[0027] 10, vehicle body; 11, wheel; 13, hub; 15, brake;

[0028] 20, object carrier; 21, front support; 23, rear support;

[0029] 30, driving and steering device; 31, driving axle; 311, driving axle housing; 312, differential; 313, main reducer; 314, transmission shaft; 33, steering axle; 331, steering axle housing; 35, power supply part; 36, steering knuckle; 37, steering knuckle arm; 38, universal coupling;

[0030] 41, leaf spring assembly; 43, fastener; 45, stop device; 46, cover plate. DETAILED DESCRIPTION

[0031] The typical embodiments embodying the features and advantages of the present application will be described in detail in the following description. It should be understood that the present application can have various changes on different embodiments, which do not deviate from the scope of the present application, and the description and drawings in essence are used for description, not to limit the present application.

[0032] In the description of the present application, it should be understood that in the embodiments shown in the drawings, the indication of direction or position relationship (such as up, down, left, right, front and back, etc.) is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation. When these elements are in the position shown in the drawings, these descriptions are appropriate. If the position of these elements changes, the indication of these directions also changes accordingly.

[0033] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0034] The "double drive and double steering" structure of the front and rear driving axle combined with the steering axle adopted by the automatic carrier vehicle in the present application can improve the walking speed of the AGV, improve the ability of the equipment to pass through the ditch, the dam and climb the slope, easily realize long-distance transportation of the equipment, and also easily adapt to outdoor harsh environments. At the same time, the front and rear steering power mechanisms can easily realize lane changing, precise posture adjustment and the like of the equipment, and the flexibility is also superior to that of the conventional unmanned AGV trolley.

[0035] In the application scenario of the automatic parking system, the automatic carrier vehicle in the present application is a parking AGV.

[0036] Please refer to Figures 1 to 3 , the automatic carrier vehicle includes a vehicle body 10, and a load carrier 20 and two driving and steering devices 30 arranged on the vehicle body 10. In the following, the driving direction of the automatic carrier vehicle in Figure 1 is indicated as the front-rear direction in the present embodiment, and the direction perpendicular to the driving direction is indicated as the left-right direction in the present embodiment.

[0037] The carrier 20 is a comb-shaped support for supporting various vehicles to be transported. The comb-shaped support has a comb-like shape with multiple tooth gaps. The working mode of the comb-shaped AGV is that the vehicle is parked on the comb-shaped support on the AGV, and the comb-shaped support is moved up and down relative to the AGV to realize the cross displacement of the comb-shaped support, thereby realizing the transportation and transfer of the vehicle.

[0038] As shown in Figure 2 , the carrier 20 at least includes a front support 21 and a rear support 23 arranged at intervals on the front and rear sides of the vehicle body 10. The front support 21 and the rear support 23 are respectively used to support the front wheels and the rear wheels of the vehicle to be transported.

[0039] As shown in Figure 3 , two driving steering devices 30 are arranged at intervals on the front and rear ends of the vehicle body 10 in the running direction, so that the AGV can realize double driving and double steering.

[0040] Please refer to Figures 4 to 7 , the driving steering device 30 includes a drive axle 31, a steering axle 33, a power supply part 35, two steering knuckles 36 and two steering knuckle arms 37. Among them, the drive axle 31 is arranged at the bottom of the vehicle body 10, the power supply part 35 is drivingly connected with the drive axle 31, and the two ends of the drive axle 31 are respectively provided with steering knuckles 36 for driving connection with the wheels 11. The steering knuckles 36 are drivingly connected with the drive axle 31, and the two ends of the steering axle 33 are respectively hingedly connected with the two steering knuckles 36 to drive the two wheels 11 located on the same drive axle 31 to steer.

[0041] As shown in Figure 4 , the two steering knuckles 36 are respectively arranged on the left and right wheels 11 in the same axial direction of the vehicle body 10. The main function of the steering knuckle 36 is to connect the drive axle 31 with the hub 13 of the wheel 11, and allow the wheel 11 to rotate left and right within a certain range. In addition, the steering knuckle 36 also bears various forces and torques from the wheel 11, and needs to have high strength and durability. The hub 13 is located at the center of the wheel 11, and is closely connected with the wheel 11 and jointly bears the weight of the vehicle. The hub 13 transmits the weight and torque borne by the drive axle 31 and the steering knuckle 36 to the wheel 11, and allows the wheel 11 to rotate freely during running.

[0042] As shown in Figure 5 , the drive axle 31 as a component for driving the wheel 11 to rotate mainly includes a drive axle housing 311, a differential 312, a main reducer 313 and two transmission shafts 314.

[0043] The drive axle housing 311 is the main structure of the entire drive axle 31, which is designed as a hollow transverse shaft with high strength and rigidity, so that the drive axle 31 can bear the weight from the vehicle body 10 and disperse the weight to the wheels 11, ensuring the stability of the AGV driving. The half shaft portions at the axial ends of the drive axle housing 311 are circular in cross section, facilitating connection with the hubs 13 of the wheels 11. The middle portion of the drive axle housing 311 has a larger diameter than the half shaft portions, for accommodating the differential 312.

[0044] The differential 312 is accommodated in the middle of the drive axle housing 311. The differential 312 is used to connect the left and right drive shafts 314, allowing the wheels 11 on both sides to rotate at different angular velocities while transmitting torque, so that the front and rear drive wheels 11 can produce differential action when the vehicle turns or drives on uneven road surfaces.

[0045] The main reducer 313 is located on the outside of the drive axle housing 311 and corresponds to the differential 312. The main reducer 313 is used to connect the differential 312 and the power supply part 35. The main function of the main reducer 313 is to change the power transmission direction of the power supply part 35, reduce the rotational speed to increase the output torque, and reasonably distribute the power to the left and right wheels 11 on the same axial direction through the differential 312, ensuring the smooth driving of the vehicle when turning.

[0046] The two drive shafts 314 extend into the half shaft portions at the axial ends of the drive axle housing 311 and are each axially connected to the differential 312. The end of the drive shaft 314 away from the differential 312 is tightly connected to the hub 13 of the wheel 11 through the steering knuckle 36, so that the power is efficiently transmitted from the differential 312 to the wheel 11, realizing the driving of the vehicle.

[0047] As shown in Figure 7 The power supply part 35 is the power source of the drive axle 31. The power supply part 35 is located on the outside of the drive axle 31 and is arranged at the middle position of the drive axle 31. This external design not only simplifies the structure of the drive axle 31, but also improves the efficiency and reliability of power transmission. Moreover, the axis direction of the output end of the power supply part 35 is parallel to the axial direction of the drive axle 31, ensuring the smoothness and stability of power transmission.

[0048] Specifically, the power supply part 35 includes a motor. The output end of the motor is connected with the input end of the main reducer 313, and the output end of the main reducer 313 is connected with the input end of the differential 312, so as to realize accurate control and efficient transmission of power. The two output ends of the differential 312 are connected with the two transmission shafts 314 in the axial direction, respectively. The end of the transmission shaft 314 away from the differential 312 extends from the end flange of the drive axle housing 311, and is connected with the universal joint 38 built in the steering knuckle 36 and the universal joint fixed on the wheel hub 13 of the wheel 11, so as to realize power output to the wheel hub 13.

[0049] In addition, the wheel hub 13 of the wheel 11 is provided with a drum brake 15. In operation, the two output ends of the steering axle 33 are connected with the input ends of the brakes 15, respectively, and the output ends of the brakes 15 are connected with the wheel hubs 13, so as to realize steering control, brake control and power output of the left and right wheels 11.

[0050] As shown in Figure 5 The steering axle 33 is an important part for realizing steering of the AGV. The two axial ends of the steering axle 33 are connected with the steering knuckles 36 of the left and right wheels 11 through the steering knuckle arms 37, so that the motion of the steering axle 33 itself can be transmitted to the steering knuckles 36 through the steering knuckle arms 37, so as to realize steering of the left and right wheels 11 of the vehicle.

[0051] The front and rear wheels 11 of the parking AGV in the embodiment are provided with the steering axle 33, so that the AGV can not only steer flexibly when moving forward, but also realize the same flexibility when moving backward. The design of steering in front and rear can not only fine-tune the position of the vehicle body, but also perform complex backward operation, which improves the operation flexibility of the AGV in a small area, so that it can easily cope with various complex parking environments. Therefore, compared with the conventional unmanned AGV car, the parking AGV in the embodiment has obvious advantages in flexibility, and brings more convenient and efficient parking experience.

[0052] The steering axle 33 includes a steering axle housing 331 and a highly integrated ball screw type driving steering assembly built in the steering axle housing 331. The ball screw type driving steering assembly is in Figure 5The steering axle 33, not visible in the foreground, mainly comprises a bidirectional output shaft motor, a left ball screw mechanism, and a right ball screw mechanism. The working principle of the ball screw is based on the helical transmission principle, using the rolling of balls between the screw and the nut to convert linear motion into rotational motion. In the steering axle 33, the ball screw-driven steering assembly utilizes this principle, using the bidirectional output shaft motor to drive the left and right ball screw mechanisms to achieve steering actions on the left and right sides respectively. When the motor rotates, it drives the screw to rotate, which in turn pushes the nut to perform linear motion through the rolling of the balls. This linear motion is converted into the steering angle required by the steering mechanism, thus achieving vehicle steering.

[0053] The specific installation operation is as follows: a bidirectional output shaft motor is centrally located in the steering axle housing 331, with its two axial output ends connected to the input ends of the left and right ball screw mechanisms, respectively. The output end of the left ball screw mechanism, furthest from the motor, is connected to the steering knuckle arm 37 located on the left wheel 11, and the output end of the right ball screw mechanism is connected to the steering knuckle arm 37 located on the right wheel 11. The left and right ball screw mechanisms are configured to synchronously extend and retract in opposite directions. The steering knuckle arm 37, also known as a trapezoidal arm, has one end hinged to the output end of the steering axle 33 via a ball joint, and the other end connected to the outer wall of the steering knuckle 36, thereby transmitting the extension and retraction motion generated by the steering axle 33 to the steering knuckle 36 to achieve the steering function.

[0054] In this embodiment, the steering axle 33 and the power supply unit 35 are respectively arranged on opposite sides of the drive axle 31, forming a coordinated layout. Figure 3 As shown, in the drive steering device 30 at the rear wheels of the AGV, the power supply unit 35 is located behind the drive axle 31, while the steering axle 33 is arranged oppositely in front of the drive axle 31. The drive steering device 30 at the front wheels of the AGV is symmetrically arranged with the device at the rear wheels. Based on this symmetry, in the drive steering device 30 at the front wheels, the power supply unit 35 is located in front of the drive axle 31, while the steering axle 33 is arranged oppositely behind the drive axle 31, which facilitates overall design and manufacturing. In some other embodiments, depending on the adjustment of the AGV model design, the drive steering devices 30 of the front and rear wheels of the AGV can be asymmetrically arranged to adapt to different design requirements and space constraints.

[0055] In this embodiment, the steering axle 33 also exhibits a similar transverse shaft structure to the drive axle 31. However, unlike the drive axle 31, the diameter of the steering axle 33 is significantly smaller. This design makes the steering axle 33 more compact and smaller in overall structure, thus simplifying the structure of the entire drive steering device 30 and reducing the overall weight to some extent.

[0056] As Figure 1 The driving steering device 30 further comprises a plurality of leaf spring assemblies 41, as shown in the figure. The leaf spring assemblies 41 serve as elastic elements, have good impact resistance, and can effectively absorb the impact from the uneven road surface, thereby prolonging the service life of the AGV.

[0057] The plurality of leaf spring assemblies 41 are arranged in pairs, and each pair is symmetrically arranged on the axial ends of the driving axle 31. In the installation, one end of the leaf spring assembly 41 is connected to the driving axle 31 through a U-shaped bolt or other fastener 43, and the other end is connected to the lifting lug seat on the vehicle body 10 through a lifting lug, a pin shaft or other components. This connection not only ensures the stability and reliability of the leaf spring when it is under load, but also allows the leaf spring to deform elastically to some extent, thereby more effectively absorbing and relieving the impact force from the road surface.

[0058] The AGV further comprises a plurality of stop devices 45 and a plurality of cover plates 46 arranged on the vehicle body 10.

[0059] The stop devices 45 are used to prevent the vehicle to be transported placed on the vehicle body 10 from sliding sideways, especially when the AGV is turning or driving at high speed. The stop devices 45 include front stop devices and rear stop devices, wherein the front stop devices 45 are arranged at designated positions of the comb-tooth front support 21, and the rear stop devices 45 are arranged at designated positions of the comb-tooth rear support 23. The stop devices 45 are arranged slightly higher than the loading rack 20, so that the stop devices 45 can fix the vehicle to be transported on the vehicle body 10 by abutting against the surface of the vehicle placed on the loading rack 20.

[0060] The cover plates 46 are arranged above the stop devices 45, sealing the stop devices 45 on the vehicle body 10, avoiding the exposure of the stop devices 45 to rain and sunlight, adapting to the outdoor harsh environment, and prolonging the service life of the stop devices 45.

[0061] Although the present application has been described with reference to several exemplary embodiments, it should be understood that the terms used are illustrative and exemplary, rather than limiting. Since the present application can be embodied in many different forms without departing from the spirit or essential characteristics thereof, it should be understood that the above-described embodiments are not limited to any of the foregoing details, but rather are to be broadly interpreted within the spirit and scope of the appended claims, and all changes and modifications that fall within the metes and bounds of the claims, or equivalents of such metes and bounds, are intended to be embraced by the claims.

Claims

1. An automated guided vehicle, characterized by The automatic carrier comprises: a vehicle body provided with wheels; a carrier arranged on the vehicle body for supporting materials to be carried; and a plurality of drive steering devices arranged at the front and rear ends of the vehicle body in the running direction, the drive steering device comprising a drive axle, a steering axle, a power supply unit and two steering knuckles, wherein the power supply unit is drivingly connected with the drive axle, the drive axle is arranged at the bottom of the vehicle body, the two ends of the drive axle are respectively provided with steering knuckles for driving connection with the wheels, the steering knuckles are drivingly connected with the drive axle, and the two ends of the steering axle are respectively hingedly connected with the two steering knuckles to drive the two wheels on the same drive axle to steer.

2. The automated carrier of claim 1, wherein, The axis direction of the output end of the power supply unit is parallel to the axial direction of the drive axle.

3. The automated carrier of claim 2, wherein, The drive axle comprises a drive axle housing, a main reducer, a differential and two transmission shafts, wherein the drive axle housing is an internally hollow shaft structure, the differential is accommodated at the middle position inside the drive axle housing, the two transmission shafts are respectively extended to the axial two ends inside the drive axle housing and are each axially connected with the differential, the differential is connected with the output end of the power supply unit through the main reducer, and the end of the transmission shaft away from the differential is connected with the hub of the wheel through the steering knuckle.

4. The automated carrier of claim 3, wherein, The power supply unit is located outside the drive axle, wherein the power supply unit comprises a motor, the output end of the motor is connected with the input end of the main reducer, and the output end of the main reducer is connected with the differential.

5. The automated carrier of claim 3, wherein, The half shaft portions at the axial two ends of the drive axle housing are circular in cross section, and the diameter of the middle portion of the drive axle housing is greater than the diameter of the half shaft portions.

6. The automated carrier of claim 1, wherein, The drive steering device further comprises at least two steering knuckle arms, wherein one end of the steering knuckle arm is hingedly connected with the axial end of the steering axle, and the other end is connected with the steering knuckle.

7. The automated carrier of claim 1, wherein, The steering axle is internally provided with a ball screw type drive steering assembly, and the steering axle is parallel to the drive axle.

8. The automated carrier of claim 1, wherein, The carrier is a comb tooth type support comprising at least a front support and a rear support arranged on the vehicle body.

9. The automated carrier of claim 1, wherein, The automatic carrier further comprises a stop device arranged on the vehicle body, the stop device is arranged corresponding to the carrier and is not lower than the carrier, and the stop device fixes the materials to be carried on the vehicle body by abutting against the surface of the materials.

10. The automated carrier of claim 1, wherein, The drive steering device further comprises a plurality of leaf spring assemblies, and the plurality of leaf spring assemblies are symmetrically arranged at the axial two ends of the drive axle.

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