Self-propelled vehicle guiding mechanism

Abstract

The utility model belongs to the automatic material handling and transportation technical field discloses self -driving carrier guide mechanism. Self -driving carrier guide mechanism includes carrier robot and track, carrier robot includes mounting bracket, travelling wheel and hanger bar, track includes containing through cavity and bottom plate, and the bottom plate is equipped with the guide groove along the first direction extension, and the second end of hanger bar passes through the guide groove along Z axle and is connected for the carrier of load material after, two travelling wheels are respectively placed on the support part of the bottom plate located the opposite sides of guide groove, containing through cavity is equipped with the clamping groove corresponding with guide groove in, and travelling wheel can be placed in clamping groove, or one of containing through cavity and the outer circumferential surface of travelling wheel is equipped with the limiting slot corresponding with guide groove, and the other is equipped with limiting convex strip, and limiting convex strip can be placed in limiting slot, can limit guide travelling wheel along the second direction, avoids walking wheel to be stuck in the track in the moment of starting and stopping and can avoid travelling wheel to deviate or to turn around in place when passing bifurcation.

Description

Technical Field

[0001] This utility model relates to the field of automated material handling and transportation technology, and in particular to a self-driving vehicle guiding mechanism. Background Technology

[0002] Self-driving vehicle guidance mechanisms typically include vehicle robots (including self-driving robots and vehicles used to carry materials) and tracks that work together. The vehicle robots are used to carry materials and travel in straight lines, turn, and change tracks on the tracks to transport materials to various processing locations.

[0003] However, the following two problems are likely to occur during the transportation process of the above-mentioned vehicle robot and track: 1) In order to meet various transportation needs, the vehicle robot will start and stop within the track, but the moment of starting and stopping will cause the vehicle robot to shake. This shaking action can easily cause the vehicle robot's traveling wheels to swing, deviate or rotate, making the traveling wheels easy to get stuck in the track; 2) When the guide groove at the bottom of the track includes the first guide groove and the second guide groove that intersect, a fork will be formed at the intersection between the first guide groove and the second guide groove, which will cause the traveling wheels to bump and deviate or spin in place when passing through the fork. Utility Model Content

[0004] The purpose of this utility model is to provide a self-driving vehicle guiding mechanism that can limit and guide the traveling wheel along the width direction of the traveling wheel, so as to prevent the traveling wheel from swinging, deviating or rotating and getting stuck in the track at the moment of starting and stopping, and to prevent the traveling wheel from bumping and deviating or spinning in place when passing through the bifurcation of the guide groove.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Self-propelled vehicle guidance mechanism, including:

[0007] A vehicle robot includes a mounting frame, wheels, and a hanging rod. The wheels are respectively provided on opposite sides of the mounting frame, and the first end of the hanging rod is connected to the mounting frame and located between the two wheels.

[0008] The track includes a receiving cavity and a base plate. The base plate is provided with a guide groove extending along a first direction. The second end of the hanging rod moves along the Z-axis through the guide groove and is connected to a carrier for loading materials. The carrier robot, except for the carrier and part of the hanging rod, is placed in the receiving cavity. The two traveling wheels are respectively rotated and placed on the support parts of the base plate located on opposite sides of the guide groove. The first direction is parallel to the traveling direction of the carrier robot.

[0009] The cavity containing the guide groove has a corresponding slot, and the traveling wheel can be placed in the slot to limit its movement along a second direction, which is parallel to the width direction of the traveling wheel; or

[0010] One of the accommodating cavity and the outer peripheral surface of the traveling wheel is provided with a limiting groove corresponding to the guide groove, and the other is provided with a limiting protrusion. The limiting protrusion can be placed in the limiting groove to limit the traveling wheel along the second direction.

[0011] As an optional solution, the guide groove may include at least a first guide groove and a second guide groove that are intersected and connected.

[0012] The card slot includes at least a first card slot and a second card slot that are intersected and connected. The first card slot and the second card slot are respectively configured to correspond to the first guide slot and the second guide slot. The diameter of the opening of the first card slot towards the second card slot gradually increases, and / or the diameter of the opening of the second card slot towards the first card slot gradually increases; or,

[0013] The limiting groove includes at least a first limiting groove and a second limiting groove that are intersected and connected. The first limiting groove and the second limiting groove are respectively provided corresponding to the first guide groove and the second guide groove. The diameter of the opening of the first limiting groove toward the second limiting groove gradually increases, and / or the diameter of the opening of the second limiting groove toward the first limiting groove gradually increases.

[0014] Alternatively, the diameter of the opening of the first card slot facing the second card slot is the same as the diameter of the opening of the second card slot facing the first card slot; or

[0015] The diameter of the opening of the first limiting groove facing the second limiting groove is the same as the diameter of the opening of the second limiting groove facing the first limiting groove.

[0016] Alternatively, along the second direction, the width of the limiting groove is smaller than the width of the traveling wheel.

[0017] As an optional feature, the orbital also includes:

[0018] The top plate and two opposing side plates are arranged opposite and parallel to the bottom plate. The opposite ends of the side plates are respectively connected to the bottom plate and the top plate, so that the bottom plate, the top plate and the two side plates surround each other to form the receiving cavity.

[0019] As an optional solution, the slot is provided on the inner top surface of the support or the inner bottom surface of the top plate.

[0020] As an optional solution, the limiting groove is formed on the inner top surface of the support portion, and the limiting protrusion is formed on the outer peripheral surface of the traveling wheel accordingly; or

[0021] The limiting protrusion is provided on the inner top surface of the support part, and the limiting groove is provided on the outer peripheral surface of the traveling wheel.

[0022] As an optional solution, the inner side of the side plate is provided with the limiting groove, and the center position of the traveling wheel is equipped with the limiting protrusion or roller, the limiting protrusion is slidably placed in the limiting groove or the roller is rolled in the limiting groove.

[0023] As an optional solution, limit baffles are connected to the opposite two sides of the guide groove, and the limit baffles extend towards the top plate.

[0024] The beneficial effects of this utility model are:

[0025] By setting travel wheels on opposite sides of the mounting frame, the first end of the hanging rod is connected to the mounting frame and located between the two travel wheels; the second end of the hanging rod moves along the Z-axis through the guide groove on the bottom plate of the track and connects to the carrier for loading materials. The carrier robot, except for the carrier and part of the hanging rod, is placed in the receiving cavity of the track, and the two travel wheels are rotated and placed on the support parts on opposite sides of the bottom plate of the guide groove. This allows the entire carrier robot and the materials on it to move along the travel direction in the guide groove through the rotation of the travel wheels, thereby realizing the transportation of materials to various processing positions. At the same time, the travel wheels are placed in the slots corresponding to the guide grooves in the receiving cavity to limit the travel wheels along the width direction; or, a limiting groove corresponding to the guide groove is set in one of the receiving cavity and the outer circumference of the travel wheel, and a limiting protrusion is set in the other. The limiting protrusion is placed in the limiting groove to allow the travel wheels to move along the width direction. The travel wheel is limited in width; that is, the aforementioned slots or mutually cooperating limiting slots and limiting protrusions can ensure that the travel wheel is limited in width, so that the travel wheel can only move in the direction of travel. This gives the entire self-driving vehicle guiding mechanism the following advantages: 1) When the vehicle robot starts and stops in the track, the limiting effect provided by the slots or cooperating limiting slots and limiting protrusions on the travel wheel can prevent the entire vehicle robot from shaking, thereby preventing the travel wheel from swinging, deviating or rotating, and preventing the travel wheel from getting stuck in the track; 2) When the travel wheel passes through the bifurcation formed by the intersection of the first guide groove and the second guide groove, the limiting and guiding effect provided by the slots or cooperating limiting slots and limiting protrusions on the travel wheel can prevent the travel wheel from bumping and deviating or spinning in place. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the vehicle robot provided in this embodiment of the utility model;

[0027] Figure 2 This is a schematic diagram of the assembly structure between the mounting bracket and the traveling wheel (with a limiting groove) provided in this embodiment of the utility model;

[0028] Figure 3 This is a schematic diagram of the track (excluding some structures) provided in this embodiment of the utility model. Figure 1 ;

[0029] Figure 4 This is a schematic diagram of the track (excluding some structures and including a slot) provided in an embodiment of this utility model. Figure 2 ;

[0030] Figure 5 This is a schematic diagram of the track (excluding some structures and including limiting protrusions) provided in this embodiment of the utility model. Figure 3 ;

[0031] Figure 6 This is a schematic diagram of the structure of the track (excluding some structures, the guide groove includes a first guide groove and a second guide groove) provided in an embodiment of this utility model. Figure 4 ;

[0032] Figure 7 This is a top view of the trumpet-shaped structure formed between the first and second card slots provided in this embodiment of the utility model;

[0033] Figure 8 This is a schematic diagram of the track (excluding some structures and including a limiting baffle) provided in an embodiment of the present invention. Figure 5 .

[0034] In the picture:

[0035] 10-Vehicle robot; 11-Mounting frame; 12-Wheel; 13-Hanging pole; 14-Vehicle;

[0036] 20-Railway; 21-Cavity; 22-Base plate; 221-Support; 23-Guide groove; 231-First guide groove; 232-Second guide groove; 233-Bifurcation; 24-Top plate; 25-Side plate;

[0037] 31-Slot; 311-First slot; 312-Second slot; 313-Flare-shaped structure; 32-Limiting groove; 33-Limiting protrusion; 34-Limiting baffle. Detailed Implementation

[0038] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0039] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] This embodiment provides a self-driving vehicle guidance mechanism, such as Figures 1 to 3 As shown, the self-driving vehicle guiding mechanism includes a vehicle robot 10 and a track 20 that work together. The vehicle robot 10 carries materials and travels in a straight line, turns, and changes tracks on the track 20 to transport the materials to different processing positions. This self-driving vehicle guiding mechanism ensures that the traveling wheels 12 of the vehicle robot 10 will not get stuck in the track 20 during the entire material transportation process, and that the traveling wheels 12 will not deviate or spin in place at the forks of the track 20, thereby improving the stability and reliability of the entire self-driving vehicle guiding mechanism. The materials can specifically be clothing or other objects, without specific limitations.

[0043] Specifically, such as Figure 1 and Figure 2As shown, the vehicle robot 10 includes a mounting frame 11, a hanging rod 13, and the aforementioned travel wheels 12. Travel wheels 12 are respectively provided on opposite sides of the mounting frame 11. The first end of the hanging rod 13 is connected to the mounting frame 11 and located between the two travel wheels 12; Figure 3 As shown, the track 20 includes a receiving cavity 21 and a base plate 22. The base plate 22 has a guide groove 23 extending along a first direction. The second end of the hanging rod 13 moves along the Z-axis through the guide groove 23 and is connected to a carrier 14 for loading materials. The carrier robot 10, except for the carrier 14 and part of the hanging rod 13, is placed in the receiving cavity 21, and two traveling wheels 12 are respectively rotatably placed on the support parts 221 on opposite sides of the base plate 22 located in the guide groove 23. Specifically, the carrier 14 can be a clothes hanger; the first direction is parallel to the traveling direction of the carrier robot 10, and the first direction is specifically as follows: Figure 3 As shown by arrow A in the diagram.

[0044] By setting travel wheels 12 on opposite sides of the mounting frame 11, the first end of the hanging rod 13 is connected to the mounting frame 11 and located between the two travel wheels 12; the second end of the hanging rod 13 moves along the Z-axis through the guide groove 23 on the base plate 22 of the track 20 and connects to the carrier 14 for loading materials. The carrier robot 10, except for the carrier 14 and part of the hanging rod 13, is placed in the receiving cavity 21 of the track 20, and the two travel wheels 12 are rotated and placed on the support parts 221 on opposite sides of the base plate 22 located in the guide groove 23. The rotation of the travel wheels 12 can drive the entire carrier robot 10 and the materials on it to move along the travel direction in the guide groove 23, thereby realizing the transportation of materials to various processing positions. The hanging rod 13 is a hollow rod, and a wire for electrical connection is provided inside the hollow rod.

[0045] Furthermore, such as Figure 4 As shown, a slot 31 corresponding to the guide groove 23 is provided in the receiving cavity 21, and the traveling wheel 12 can be placed in the slot 31 to limit the traveling wheel 12 along the second direction; or, as Figure 2 and Figure 5 As shown, a limiting groove 32 corresponding to the guide groove 23 is provided on one of the outer peripheral surfaces of the cavity 21 and the traveling wheel 12, and a limiting protrusion 33 is provided on the other surface. The limiting protrusion 33 can be placed in the limiting groove 32 to limit the traveling wheel 12 along the second direction. The second direction is parallel to the width direction of the traveling wheel 12, and the specific details of the second direction are as follows: Figure 2 , Figure 4 and Figure 5 As shown by arrow B in the diagram.

[0046] Compared to existing technologies, the self-driving vehicle guiding mechanism in this embodiment adds a limiting and guiding function for the travel wheel 12 in the second direction. This is achieved by placing the travel wheel 12 within the receiving cavity 21 in a slot 31 corresponding to the guide groove 23, thus limiting the travel wheel 12 along its width direction. Alternatively, a limiting groove 32 corresponding to the guide groove 23 is provided on one of the receiving cavity 21 and the outer circumference of the travel wheel 12, and a limiting protrusion 33 is provided on the other. The limiting protrusion 33 is placed within the limiting groove 32, thus limiting the travel wheel 12 along its width direction. In other words, the aforementioned use of a slot 31 or a mutually cooperating limiting groove 32 and limiting protrusion 33 ensures that the travel wheel 12 is limited in its width direction, allowing it to travel only in the direction of travel. The movement of the self-driving vehicle guide mechanism provides the following advantages: 1) When the vehicle robot 10 starts and stops within the track 20, the locking groove 31 or the cooperating limiting groove 32 and limiting protrusion 33 provide a limiting effect for the traveling wheel 12, which can prevent the entire vehicle robot 10 from shaking, thereby preventing the traveling wheel 12 from swinging, deviating, or rotating, and ensuring that the traveling wheel 12 does not get stuck in the track 20; 2) When the traveling wheel 12 passes through the fork 233 formed at the intersection of the first guide groove 231 and the second guide groove 232, the limiting and guiding effect provided by the locking groove 31 or the cooperating limiting groove 32 and limiting protrusion 33 on the traveling wheel 12 can prevent the traveling wheel 12 from bumping and deviating or spinning in place.

[0047] It is worth noting that the vehicle robot 10 also includes two drive components connected to the mounting frame 11 respectively. One drive component is used to drive one travel wheel 12 to rotate. That is, during the movement of the above-mentioned hanging rod 13 changing lanes or turning, the working parameters of the two drive components can be adjusted to help ensure that the travel wheel 12 does not get stuck or spin in place. The drive components can adopt the drive structure commonly used in the prior art. The self-driving working principle of the travel wheel 12 can refer to the working principle of the vehicle robot 10 commonly used in the prior art. Here, the self-driving working principle will not be described in detail.

[0048] Furthermore, such as Figure 6 As shown, when the guide groove 23 includes at least a first guide groove 231 and a second guide groove 232 that are intersecting and connected; as Figure 7As shown, the card slot 31 includes at least a first card slot 311 and a second card slot 312 that are intersecting and connected. The first card slot 311 and the second card slot 312 are respectively corresponding to the first guide groove 231 and the second guide groove 232. The diameter of the opening of the first card slot 311 towards the second card slot 312 gradually increases, and / or the diameter of the opening of the second card slot 312 towards the first card slot 311 gradually increases, so that the openings of the intersecting and close-approaching first card slot 311 and / or the openings of the second card slot 312 are flared. A flared structure 313; or, the limiting groove 32 includes at least a first limiting groove and a second limiting groove that intersect and connect, the first limiting groove and the second limiting groove being respectively provided with the first guide groove 231 and the second guide groove 232, the diameter of the opening of the first limiting groove toward the second limiting groove gradually increasing, and / or the diameter of the opening of the second limiting groove toward the first limiting groove gradually increasing, thereby making the openings of the intersecting and close first limiting grooves and / or the openings of the second limiting grooves form a flared flared structure 313. Wherein, the flared structure 313 formed in the limiting groove 32 and the groove 31 are as follows: Figure 7 The funnel-shaped structure 313 shown is basically the same.

[0049] like Figure 6 and Figure 7 As shown, by providing a flared trumpet-shaped structure 313 at the bifurcation 233 formed at the above-mentioned intersection, the trumpet-shaped structure 313 can provide a guiding transition for the traveling wheel 12 when passing through the bifurcation 233, thereby preventing the traveling wheel 12 from jumping out of the above-mentioned slot 31 or limiting slot 32 when passing through the bifurcation 233, and thus ensuring that the traveling wheel 12 smoothly and steadily enters the next slot 31 or the next limiting slot 32 after passing through the bifurcation 233.

[0050] It is worth noting that the shape and number of the aforementioned limiting protrusions 33 correspond to the shape and number of the limiting grooves 32, respectively. That is, a horn shape corresponding to the aforementioned horn-shaped structure 313 will also be formed on the limiting protrusions 33, thereby ensuring the corresponding snap-fit ​​of the limiting protrusions 33 in the limiting grooves 32. The limiting protrusions 33 will not be described in detail here.

[0051] Furthermore, such as Figure 7 As shown, the diameter of the opening of the first slot 311 facing the second slot 312 is the same as the diameter of the opening of the second slot 312 facing the first slot 311; that is, the flared structure 313 of the opening of the first slot 311 and the flared structure 313 of the opening of the second slot 312 are aligned accordingly, thereby better ensuring that the aligned flared structure 313 provides a smoother guiding docking effect for the traveling wheel 12; or, with Figure 7Similarly, the diameter of the opening of the first limiting groove facing the second limiting groove is the same as the diameter of the opening of the second limiting groove facing the first limiting groove. That is, the flared structures 313 of the openings of the intersecting first and second limiting grooves are aligned, thus ensuring a smoother guiding and docking effect for the traveling wheel 12 through the aligned flared structures 313. Here, the specific size of the flared structure 313 is not limited and needs to be determined based on the actual working conditions and the specific guiding and transition requirements for the traveling wheel 12.

[0052] It is worth noting that, in actual operation, a flared horn-shaped structure 313 is formed only at the opening of the first intersecting and close-approaching slot 311, and no flared horn-shaped structure 313 is provided at the opening of the second intersecting and close-approaching slot 312; or, a flared horn-shaped structure 313 is formed only at the opening of the first intersecting and close-approaching limiting slot, and no flared horn-shaped structure 313 is provided at the opening of the second intersecting and close-approaching limiting slot.

[0053] Furthermore, along the second direction, the width of the slot 31 is 0.5mm to 0.8mm wider than the width of the traveling wheel 12, that is, the width of the slot 31 is slightly larger than the width of the traveling wheel 12. On the one hand, this allows the traveling wheel 12 to be placed smoothly in the slot 31, ensuring the smooth placement / removal of the traveling wheel 12 in the slot 31. On the other hand, it ensures that after the traveling wheel 12 is placed in the slot 31, the slot 31 can provide a better limiting effect for the traveling wheel 12 in the second direction.

[0054] Specifically, along the second direction, the width of the limiting groove 32 is smaller than the width of the traveling wheel 12. That is, the limiting groove 32 cannot directly accommodate the traveling wheel 12. Therefore, the limiting groove 32 needs to be engaged with the limiting protrusion 33 to ensure the limiting effect of the limiting groove 32 on the traveling wheel 12 in the second direction.

[0055] In other words, in actual operation, depending on the specific working conditions, limiting requirements and the width of the traveling wheel 12, one can choose to directly set a wider slot 31 to limit the traveling wheel 12, or set a narrower limiting slot 32 and a limiting protrusion 33 that cooperate with each other to limit the traveling wheel 12, thereby making the limiting installation of the traveling wheel 12 more flexible and convenient.

[0056] It is worth noting that the specific shapes of the aforementioned slot 31 and limiting groove 32 (corresponding to the limiting protrusion 33) are not limited here. As long as the slot 31 and limiting groove 32 are matched with the shape of the guide groove 23, it can be ensured that the traveling wheel 12 moves along the slot 31 or the limiting groove 32 while the hanging rod 13 moves along the guide groove 23.

[0057] Furthermore, such as Figures 3 to 6 As shown, the track 20 also includes a top plate 24 and two opposing side plates 25. The top plate 24 is opposite to and parallel to the bottom plate 22. The opposite ends of the side plates 25 are respectively connected to the bottom plate 22 and the top plate 24, so that the bottom plate 22, the top plate 24, and the two side plates 25 mutually enclose each other to form the aforementioned receiving cavity 21; that is, the track 20 as a whole is rectangular and long, and the receiving cavity 21 is correspondingly rectangular. Wherein, as Figure 3 and Figure 6 As shown, the top plate 24, the bottom plate 22, and the two side plates 25 can be integrally formed structures.

[0058] Specifically, such as Figure 4 As shown, the aforementioned slot 31 can be provided on the inner top surface of the support 221 or on the inner bottom surface of the top plate 24, thereby improving the flexibility and convenience of the slot 31's opening position. Here, the specific opening position of the slot 31 is not limited, as long as the slot 31 can provide a limiting function for the traveling wheel 12 without affecting the normal operation of the traveling wheel 12.

[0059] Furthermore, a limiting groove 32 can be formed on the inner top surface of the support portion 221, and correspondingly, a limiting protrusion 33 can be formed on the outer peripheral surface of the traveling wheel 12; or, as... Figure 5 As shown, a limiting protrusion 33 is provided on the inner top surface of the support part 221, such as... Figure 2 As shown, a limiting groove 32 is correspondingly provided on the outer circumferential surface of the traveling wheel 12. Figure 2 The structure shown is merely a simple illustration of the limiting groove 32 and does not represent the actual structural dimensions of the limiting groove 32; thus, it can improve the flexibility and convenience of the opening position of the limiting groove 32 / limiting protrusion 33. Here, the specific opening position of the limiting groove 32 and the limiting protrusion 33 is not limited, as long as the engagement between the limiting protrusion 33 and the limiting groove 32 can provide a limiting function for the traveling wheel 12.

[0060] Specifically, a limiting groove 32 can be provided on the inner side of the side plate 25. Correspondingly, a limiting protrusion 33 or a roller can be installed at the center position of the traveling wheel 12. The limiting protrusion 33 slides in the limiting groove 32 or the roller rolls in the limiting groove 32 to provide a limiting and guiding function for the traveling wheel 12. This can further improve the flexibility and convenience of the opening position of the limiting groove 32 and the limiting protrusion 33 (roller).

[0061] It is worth noting that since the limiting groove 32 is located on the inner side of the side plate 25, the roller can be rotated and installed at the center of the traveling wheel 12 by the rotating shaft. This enables the roller to provide a limiting and guiding function for the traveling wheel 12 while ensuring that the roller does not interfere with the rolling of the traveling wheel 12, thereby improving the working independence of the traveling wheel 12 and the roller.

[0062] Furthermore, such as Figure 8 As shown, limit baffles 34 are connected to the opposite side walls of the guide groove 23, and the limit baffles 34 extend towards the top plate 24; so that the limit baffles 34 can better provide limit guidance for the traveling wheel 12.

[0063] Specifically, when the aforementioned slot 31 is provided on the inner top surface of the support 221, the limiting baffle 34 can be provided at intervals outside the slot 31. That is, the slot 31 and the limiting baffle 34 are respectively provided on the inner top surface of the support 221. The limiting baffle 34 can provide a limiting and guiding effect for the traveling wheel 12 that jumps out of the slot 31 in case of an accident. Thus, the limiting baffle 34 can re-limit and push the traveling wheel 12 back into the slot 31, thereby ensuring the limiting stability and reliability of the traveling wheel 12 in the slot 31. In other words, the slot 31 and the limiting baffle 34 can provide a double limiting effect for the traveling wheel 12, thereby better ensuring that the traveling wheel 12 will not get stuck in the track 20 and that the traveling wheel 12 will not spin in place.

[0064] In addition, such as Figure 8 As shown, when the above-mentioned slot 31 is provided on the inner top surface of the support 221, the limiting baffle 34 can serve as a groove wall of the slot 31, so that the limiting baffle 34 and the inner side wall of the corresponding side plate 25 can form the slot 31 with each other, thereby providing a limiting and guiding function for the traveling wheel 12 through the slot 31; thus improving the setting flexibility and ease of use of the limiting baffle 34.

[0065] It is worth noting that when the aforementioned limiting groove 32 is provided on the inner top surface of the support portion 221, the mutual cooperation between the limiting baffle 34 and the limiting groove 32 is basically the same as the description of the slot 31 above. Referring to the above and combining... Figure 8 The relationship between the card slot 31 and the limiting baffle 34 can be described. Here, the setting relationship and cooperation between the limiting groove 32 / limiting protrusion 33 and the limiting baffle 34 will not be described in detail.

[0066] In this embodiment, the self-driving vehicle guiding mechanism provides a slot 31 or a mutually engaging limiting slot 32 and limiting protrusion 33 between the receiving cavity 21 of the track 20 and the traveling wheel 12 of the vehicle robot 10, so as to limit the traveling wheel 12 along the width direction. This can prevent the traveling wheel 12 from getting stuck in the track 20 due to deviation or rotation at the moment of start and stop, and can also prevent the traveling wheel 12 from spinning in place due to bumps when passing through the bifurcation 233 of the guide groove 23.

[0067] In this embodiment, the self-driving vehicle guiding mechanism provides a guiding transition for the traveling wheel 12 when it passes through the bifurcation 233 by setting corresponding horn-shaped structures 313 at the bifurcation 233 of the guide groove 23. This prevents the traveling wheel 12 from jumping out of the slot 31 or the limiting slot 32 when it passes through the bifurcation 233, and ensures that the traveling wheel 12 smoothly and steadily enters the next slot 31 or the next limiting slot 32 after passing through the bifurcation 233.

[0068] In this embodiment, the self-driving vehicle guiding mechanism improves the flexibility and convenience of the slot 31 opening position by opening a slot 31 on the inner top surface of the support part 221 or on the inner bottom surface of the top plate 24. Furthermore, only a slot 31 that matches the traveling wheel 12 needs to be set, without the need for additional snap-fit ​​structures. This simplifies the structure of the track 20 and the vehicle robot 10, avoids additional costs, and does not require changes to the original structure of the track 20 and the vehicle robot 10. As a result, the limiting and guiding of the traveling wheel 12 is simple and convenient.

[0069] The self-driving vehicle guiding mechanism in this embodiment, by setting the aforementioned limiting groove 32 and limiting protrusion 33 (roller), can improve the flexibility and convenience of the opening position of the limiting groove 32 / limiting protrusion 33 (roller); and does not require changing the original structure of the track 20 and the vehicle robot 10, thereby making the limiting guidance of the traveling wheel 12 simpler and more convenient.

[0070] In this embodiment, the self-driving vehicle guiding mechanism, by setting a limiting baffle 34, enables the limiting baffle 34 and the slot 31 (limiting slot 32) to cooperate with each other, so as to provide a double limiting effect for the traveling wheel 12, and improve the flexibility of the setting position between the limiting baffle 34 and the slot 31 (limiting slot 32).

[0071] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A self-propelled vehicle guiding mechanism, characterized in that, include: The vehicle robot (10) includes a mounting frame (11), wheels (12) and a hanging rod (13). The wheels (12) are respectively provided on opposite sides of the mounting frame (11). The first end of the hanging rod (13) is connected to the mounting frame (11) and located between the two wheels (12). The track (20) includes a cavity (21) and a base plate (22). The base plate (22) is provided with a guide groove (23) extending in a first direction. The second end of the hanging rod (13) moves through the guide groove (23) along the Z-axis and is connected to a carrier (14) for loading materials. The carrier robot (10) except for the carrier (14) and part of the hanging rod (13) is placed in the cavity (21). The two traveling wheels (12) are respectively rotated and placed on the support parts (221) on opposite sides of the guide groove (23) of the base plate (22). The first direction is parallel to the traveling direction of the carrier robot (10). The cavity (21) is provided with a slot (31) corresponding to the guide groove (23). The traveling wheel (12) can be placed in the slot (31) to limit the traveling wheel (12) along a second direction, which is parallel to the width direction of the traveling wheel (12); or One of the inner cavity (21) and the outer peripheral surface of the traveling wheel (12) is provided with a limiting groove (32) corresponding to the guide groove (23), and the other is provided with a limiting protrusion (33). The limiting protrusion (33) can be placed in the limiting groove (32) to limit the traveling wheel (12) along the second direction.

2. The self-driving vehicle guiding mechanism according to claim 1, characterized in that, When the guide groove (23) includes at least a first guide groove (231) and a second guide groove (232) that are intersected and connected; The card slot (31) includes at least a first card slot (311) and a second card slot (312) that are intersected and connected. The first card slot (311) and the second card slot (312) are respectively corresponding to the first guide slot (231) and the second guide slot (232). The diameter of the opening of the first card slot (311) towards the second card slot (312) gradually increases, and / or the diameter of the opening of the second card slot (312) towards the first card slot (311) gradually increases; or, The limiting groove (32) includes at least a first limiting groove and a second limiting groove that are connected in a cross direction. The first limiting groove and the second limiting groove are respectively provided corresponding to the first guide groove (231) and the second guide groove (232). The diameter of the opening of the first limiting groove toward the second limiting groove gradually increases, and / or the diameter of the opening of the second limiting groove toward the first limiting groove gradually increases.

3. The self-driving vehicle guiding mechanism according to claim 2, characterized in that, The diameter of the opening of the first card slot (311) facing the second card slot (312) is the same as the diameter of the opening of the second card slot (312) facing the first card slot (311); or The diameter of the opening of the first limiting groove facing the second limiting groove is the same as the diameter of the opening of the second limiting groove facing the first limiting groove.

4. The self-driving vehicle guiding mechanism according to claim 1, characterized in that, Along the second direction, the width of the limiting groove (32) is smaller than the width of the traveling wheel (12).

5. The self-driving vehicle guiding mechanism according to claim 1, characterized in that, The track (20) also includes: A top plate (24) and two opposing side plates (25) are provided. The top plate (24) is opposite to and parallel to the bottom plate (22). The opposite ends of the side plates (25) are respectively connected to the bottom plate (22) and the top plate (24), so that the bottom plate (22), the top plate (24) and the two side plates (25) surround each other to form the receiving cavity (21).

6. The self-driving vehicle guiding mechanism according to claim 5, characterized in that, The slot (31) is provided on the inner top surface of the support part (221) or the inner bottom surface of the top plate (24).

7. The self-driving vehicle guiding mechanism according to claim 5, characterized in that, The inner top surface of the support part (221) is provided with the limiting groove (32), and the outer peripheral surface of the traveling wheel (12) is provided with the limiting protrusion (33); or The inner top surface of the support part (221) is provided with the limiting protrusion (33), and the outer peripheral surface of the traveling wheel (12) is provided with the limiting groove (32).

8. The self-driving vehicle guiding mechanism according to claim 5, characterized in that, The inner side of the side plate (25) is provided with the limiting groove (32), and the center position of the traveling wheel (12) is provided with the limiting protrusion (33) or the roller. The limiting protrusion (33) slides in the limiting groove (32) or the roller rolls in the limiting groove (32).

9. The self-driving vehicle guiding mechanism according to any one of claims 5-8, characterized in that, The guide groove (23) has a limit baffle (34) connected to the opposite side walls, and the limit baffle (34) extends toward the top plate (24).

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