CN209126850U - A running trolley and running trolley assembly - Google Patents

Abstract

This application provides a kind of transportation trolley and transportation trolley components.The transportation trolley includes: vehicle ontology；Control cabinet, the control cabinet are mounted on the vehicle ontology；Driving assembly, driving assembly are mounted in the control cabinet；Vehicle wheel component, the vehicle wheel component are mounted on vehicle ontology, and the vehicle wheel component is connect with the driving component；Guide wheel assembly, the guide wheel assembly are mounted on the vehicle ontology；Derailing detection components, the derailing detection components are mounted on the guide wheel assembly；Wherein, the driving component is for driving the vehicle wheel component to walk；The guide wheel assembly and the guide rail cooperate, so as to make the transportation trolley walk along the guide rail；The derailing detection components are able to detect whether the transportation trolley is detached from guide rail.The transportation trolley of the application realizes the independent navigation of transferring platform using guide rail, and environmental suitability is strong, at low cost, reliable and stable.

Description

A running trolley and running trolley assembly

technical field

The present application belongs to the technical field of unmanned transportation, and particularly relates to a running trolley and a running trolley assembly.

Background technique

In the prior art, most of the unmanned intelligent transfer platforms are mainly AGV (Automated Guided Vehicle) trolleys. AGV technology is mostly guided by electromagnetism or optics, which puts forward higher requirements on the working environment of the transfer platform, such as no electromagnetic interference, drastic changes in light, and so on. At the same time, the cost of related sensors is relatively high. Higher requirements are also put forward for the operation of workers in the agricultural production process. Another type of solution for unmanned intelligent transport platforms is based on SLAM (Simultaneous Localization and Mapping) technology, which also has high environmental requirements and poor robustness. Sensors such as lidar are also expensive.

The traditional unmanned intelligent transfer platform solution has defects such as high environmental requirements, expensive sensors, and difficult operation.

Therefore, a technical solution is desired to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art.

SUMMARY OF THE INVENTION

The purpose of the present application is to provide a running trolley to solve at least one of the above-mentioned drawbacks of the prior art.

The technical solution of this application is:

The application provides a running trolley, the running trolley can walk along a guide rail, and the running trolley includes:

a car body; a control box, the control box is installed on the car body; a drive assembly, the drive assembly is installed in the control box; a wheel assembly, the wheel assembly is installed on the car body, the wheel assembly connected with the drive assembly; a guide wheel assembly, the guide wheel assembly is installed on the vehicle body; a derailment detection assembly, the derailment detection assembly is installed on the guide wheel assembly; wherein, the drive assembly is used for The wheel assembly is driven to walk; the guide wheel assembly cooperates with the guide rail, so that the running trolley can travel along the guide rail; the derailment detection assembly can detect whether the running trolley detaches from the guide rail.

Preferably, the middle part of the vehicle body is hollow, and the control box is installed in the middle part of the vehicle body;

The control box has a flat surface for placing items.

Preferably, the running trolley further comprises a radio frequency identification system, and the radio frequency identification system is installed on the other surface of the control box opposite to the surface for placing the articles.

Preferably, the control box includes a control box housing and a control box cover, and the control box cover is detachably connected to the control box housing;

The drive assembly is arranged in the control box housing;

The plane for placing items is the side of the control box cover that is remote from the control box housing.

Preferably, the running trolley further comprises:

A movable enclosure assembly, the movable enclosure assembly is mounted on the vehicle body and can be rotated relative to the vehicle body, so as to have an enclosure position and a hand-pulling position, and in the enclosure position, the movable enclosure assembly can The plane for placing articles on the control box is enclosed; in the hand-pulling position, the movable fence assembly is suitable for being pulled by the user.

Preferably, the vehicle body includes:

the first beam;

a second beam, the second beam is arranged opposite to the first beam;

a third beam, one end of the third beam is connected to the first beam, and the other end is connected to the second beam;

a fourth beam, one end of the fourth beam is connected with the first beam, the other end is connected with the second beam, the fourth beam is arranged opposite to the third beam; the wheel assembly includes: a first beam A wheel, the first wheel is mounted on one end of the first beam near the third beam through a mounting bracket; a second wheel, the second wheel is mounted on the other end of the first beam through the mounting bracket; Three wheels, the third wheel is installed on one end of the third beam near the second beam through a mounting frame; a fourth wheel, the fourth wheel is installed at the end of the fourth beam near the fourth beam through a mounting frame one end of the second beam; the first wheel and the second wheel are universal wheels and/or the third wheel and the fourth wheel are universal wheels.

Preferably, the guide wheel assembly includes:

a first guide wheel bracket, one end of the first guide wheel bracket is connected with the vehicle body;

a second guide wheel bracket, one end of the second guide wheel bracket is connected to the vehicle body, and the second guide wheel bracket is arranged opposite to the first guide wheel bracket;

a first guide wheel, the first guide wheel is arranged on the first guide wheel bracket;

a second guide wheel, the second guide wheel is arranged on the second guide wheel bracket; wherein,

The first guide wheel is used in cooperation with the second guide wheel, and the first guide wheel is in contact with one side of the guide rail, and the second guide wheel is in contact with the other side of the guide rail.

Preferably, the guide wheel assembly includes:

a first guide wheel bracket, one end of the first guide wheel bracket is connected with the first beam of the vehicle body;

a second guide wheel bracket, one end of the second guide wheel bracket is connected to the first beam of the vehicle body, and the second guide wheel bracket is arranged opposite to the first guide wheel bracket;

a third guide wheel bracket, one end of the third guide wheel bracket is connected with the second beam of the vehicle body;

a fourth guide wheel bracket, one end of the fourth guide wheel bracket is connected with the second beam of the vehicle body;

a first guide wheel, the first guide wheel is arranged on the first guide wheel bracket;

a second guide wheel, the second guide wheel is arranged on the second guide wheel bracket;

a third guide wheel, the third guide wheel is arranged on the third guide wheel bracket;

a fourth guide wheel, the fourth guide wheel is arranged on the fourth guide wheel bracket;

in,

The first guide wheel is used in cooperation with the second guide wheel, and the first guide wheel is in contact with one side of the guide rail, and the second guide wheel is in contact with the other side of the guide rail;

The third guide wheel is used in cooperation with the fourth guide wheel, and the third guide wheel is in contact with one side of the guide rail, and the fourth guide wheel is in contact with the other side of the guide rail.

Preferably, the derailment prevention assembly includes:

a first sensor bracket, the first sensor bracket is connected with the first guide wheel bracket;

a second sensor bracket, the second sensor bracket is connected with the second guide wheel bracket;

a first infrared sensor, which is arranged on the first guide wheel bracket;

a second infrared sensor, the second infrared sensor is arranged on the second guide wheel bracket;

the first infrared sensor and the second infrared sensor are arranged opposite to each other;

The running trolley further includes an ultrasonic sensor, and the ultrasonic sensor is installed on the car body;

The ultrasonic sensor is used to detect whether there is an obstacle in the detection direction of the ultrasonic sensor.

The present application also provides a running trolley assembly, the running trolley assembly includes the running trolley and a guide rail as described above, the guide rail is provided with a radio frequency identification tag; the running trolley can move along the guide rail on the guide rail. run.

The running trolley of the present application has the following advantages:

1. Use the guide rail to realize the autonomous navigation of the transfer platform, with strong environmental adaptability, low cost, stability and reliability;

2. Ultrasonic sensors and infrared sensors identify the abnormal operation of the platform and take corresponding measures to improve the reliability and security of the system.

Description of drawings

FIG. 1 is a schematic structural diagram of a running trolley according to a first embodiment of the present application.

FIG. 2 is another schematic structural diagram of the running trolley shown in FIG. 1 .

FIG. 3 is a schematic structural diagram of the wheel assembly in the running cart shown in FIG. 1 .

in:

1 is the car body, 2 is the control box, 31 is the first beam, 33 is the third beam, 34 is the fourth beam, 41 is the first guide wheel bracket, 42 is the second guide wheel bracket, 51 is the first sensor bracket , 52 is the second sensor bracket, 53 is the first infrared sensor; 55 is the ultrasonic sensor; 6 is the movable enclosure assembly; 7 is the button controller assembly; 8 is the first guide wheel.

Detailed ways

In order to make the implementation purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of this application, it should be understood that the terms "center", "portrait", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "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 application and simplifying the description, rather than indicating or implying The device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application.

FIG. 1 is a schematic structural diagram of a running trolley according to a first embodiment of the present application. FIG. 2 is another schematic structural diagram of the running trolley shown in FIG. 1 . FIG. 3 is a schematic structural diagram of the wheel assembly in the running cart shown in FIG. 1 .

The running trolley shown in Fig. 1 can travel along the guide rail.

1 to 3, the running trolley includes a car body 1, a control box 2, a drive assembly wheel assembly, a guide wheel assembly and a derailment detection assembly.

Referring to the figures and 2, the control box 2 is installed on the car body 1; the drive assembly is installed in the control box; the wheel assembly is installed on the car body, and the wheel assembly is connected with the drive assembly; the guide wheel assembly is installed on the car body 1; derailment The detection component is installed on the guide wheel component; wherein, the drive component is used to drive the wheel component to travel; the guide wheel component cooperates with the guide rail, so that the running trolley can walk along the guide rail; the derailment detection component can detect whether the running trolley detaches from the guide rail.

The running trolley of the present application has the following advantages:

1. Use the guide rail to realize the autonomous navigation of the running car, with strong environmental adaptability, low cost, stability and reliability;

2. The derailment detection component can identify the abnormal operation of the running trolley and take corresponding measures to improve the reliability and safety of the system.

1 and 2, in this embodiment, the center of the vehicle body is hollow, and the control box 2 is installed in the center of the vehicle body 1; the control box 2 has a flat surface for placing items.

With this structure, the control box can be used as a carrying platform, which can prevent some items from being checked. It can be understood that the articles can also be connected to the running trolley by ropes or the like, so as to be transported by dragging.

In this embodiment, the running trolley further includes a radio frequency identification system, and the radio frequency identification system is installed on the other side of the control box that is opposite to the side for placing objects. Muscle building radio frequency identification system, when the corresponding guide rail has a radio frequency identification tag, the user can know the running position and running status of the running trolley.

In this embodiment, the control box includes a control box shell and a control box cover, the control box cover and the control box shell are connected in a detachable manner; the control box shell is provided with a drive assembly; the plane for placing items is all the surface of the control box cover away from the control box housing.

Referring to FIG. 1 and FIG. 2, in this embodiment, the running trolley further includes a movable enclosure assembly 6 and a button controller assembly 7. The movable enclosure assembly is mounted on the vehicle body and can rotate relative to the vehicle body, thereby having an enclosure. The position and the hand-pulling position, in the enclosing position, the movable fence assembly can enclose the plane of the control box for placing the items; in the hand-pulling position, the movable fence assembly is suitable for the user to pull by hand; the key controller assembly Installed on the associated movable enclosure assembly 6 .

With this structure, in the enclosure position, the movable enclosure assembly can prevent items from falling. In the hand-pulling position, in fact, the movable enclosure assembly stands up (the position in FIG. 1 ). At this time, it is convenient for the user to pull and press the upper button controller assembly.

In this embodiment, the movable enclosure assembly is connected to the vehicle body by means of hinges.

It can be understood that, in an alternative embodiment, the running trolley further includes an electric cylinder, the electric cylinder is mounted on the vehicle body, the piston rod of the electric cylinder is connected with the movable enclosure assembly, and the movable enclosure can be controlled by the expansion and contraction of the electric cylinder. The components are switched between the fence position and the hand-pull position.

Referring to FIG. 1 , in this embodiment, the vehicle body includes a first beam 31, a second beam, a third beam 33 and a fourth beam 34, the second beam and the first beam 31 are arranged opposite to each other; The first beam 31 is connected, and the other end is connected with the second beam; one end of the fourth beam 34 is connected with the first beam 31, the other end is connected with the second beam, and the fourth beam 34 is arranged opposite to the third beam 33;

The wheel assembly includes a first wheel, a second wheel, a third wheel and a fourth wheel. The first wheel is mounted on one end of the first beam near the third beam through a mounting bracket; the second wheel is mounted on the first beam through the mounting bracket. The other end; the third wheel is installed at one end of the third beam near the second beam through the mounting frame; the fourth wheel is installed at one end of the fourth beam near the second beam through the mounting frame; the first wheel and the second wheel are 10,000 The steering wheel and/or the third wheel and the fourth wheel are universal wheels.

By setting the universal wheel, it is convenient for the running trolley of the present application to change the direction.

Referring to FIG. 1, in this embodiment, the guide wheel assembly includes a first guide wheel support, a second guide wheel support, a third guide wheel support, a fourth guide wheel support, a first guide wheel, a second guide wheel, and a third guide wheel. wheel and the fourth guide wheel, of which,

One end of the first guide wheel bracket is connected with the first beam of the vehicle body;

One end of the second guide wheel bracket is connected with the first beam of the vehicle body, and the second guide wheel bracket is arranged opposite to the first guide wheel bracket;

One end of the third guide wheel bracket is connected to the second beam of the vehicle body,

One end of the fourth guide wheel bracket is connected with the second beam of the vehicle body;

The first guide wheel is arranged on the first guide wheel bracket;

The second guide wheel is arranged on the second guide wheel bracket;

The third guide wheel is arranged on the third guide wheel bracket;

the fourth guide wheel is arranged on the fourth guide wheel bracket;

Wherein, the first guide wheel is used in conjunction with the second guide wheel, and the first guide wheel is in contact with one side of the guide rail, and the second guide wheel is in contact with the other side of the guide rail;

The third guide wheel is used in cooperation with the fourth guide wheel, and the third guide wheel is in contact with one side of the guide rail, and the fourth guide wheel is in contact with the other side of the guide rail.

Referring to FIG. 3 , in this embodiment, the first guide wheel bracket and the second guide wheel bracket are connected through a connecting frame, and are connected with the vehicle body through the connecting frame.

In an alternative embodiment, referring to FIG. 3 , in this embodiment, the guide wheel assembly includes a first guide wheel support 41 , a second guide wheel support 42 , a first guide wheel 8 and a second guide wheel, the first guide wheel One end of the wheel support 41 is connected with the vehicle body 1; one end of the second guide wheel support 42 is connected with the vehicle body 1, and the second guide wheel support (42) is arranged opposite to the first guide wheel support 41; the first guide wheel is arranged on the on the first guide wheel support; the second guide wheel is arranged on the second guide wheel support; wherein, the first guide wheel and the second guide wheel are used together, and the first guide wheel is in contact with one side of the guide rail, and the second guide wheel Make contact with the other side of the rail.

In this way, the trolley can be driven along the track through the cooperation of the first guide wheel and the second guide wheel.

Referring to FIG. 3 , in this embodiment, the derailment detection assembly includes: a first sensor bracket 51 , a second sensor bracket 52 , a first infrared sensor 53 and a second infrared sensor 54 , the first sensor bracket 51 and the first sensor bracket 51 The guide wheel support 41 is connected; the second sensor support 52 is connected with the second guide wheel support 42; the first infrared sensor 53 is arranged on the first guide wheel support 41; the second infrared sensor 54 is arranged on the second guide wheel support 42; The first infrared sensor 53 is disposed opposite to the second infrared sensor 54 .

Whether the first infrared sensor and the second infrared sensor receive signals from each other or the two separately receive signals from each other to determine whether to go off the track.

Referring to FIG. 1 , in this embodiment, the running trolley further includes an ultrasonic sensor 55 , which is installed on the vehicle body; the ultrasonic sensor is used to detect whether there is an obstacle in the detection direction of the ultrasonic sensor. In this embodiment, the number of ultrasonic sensors is four. It can be understood that the number and location of the ultrasonic sensors can be determined as required. For example, the number of ultrasonic sensors is 2, 3, 5 or other numbers.

The present application also provides a running trolley assembly, the running trolley assembly includes the running trolley and a guide rail as described above, the guide rail is provided with a radio frequency identification tag; the running trolley can run on the guide rail along the guide rail.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (10)

1. A running carriage capable of running along a guide rail, the running carriage comprising:

a vehicle body (1);

the control box (2), the said control box (2) is installed on said car body (1);

a drive assembly mounted within the control box;

the wheel assembly is arranged on the vehicle body and is connected with the driving assembly;

a guide wheel assembly mounted on the vehicle body (1);

a derailment detection assembly mounted on the guide wheel assembly; wherein,

the driving assembly is used for driving the wheel assembly to walk;

the guide wheel assembly is matched with the guide rail, so that the running trolley can run along the guide rail;

the derailment detection assembly can detect whether the running trolley is separated from the guide rail.

2. The running trolley according to claim 1, characterized in that the trolley body is hollow in the middle, and the control box (2) is mounted in the middle of the trolley body (1);

the control box (2) is provided with a plane for placing articles.

3. The running carriage according to claim 2, characterized in that it further comprises an rfid system mounted on the other face of the control box opposite to the face on which the articles are placed.

4. The running cart of claim 2, wherein the control box comprises a control box housing and a control box cover, the control box cover being removably connected to the control box housing;

the driving assembly is arranged in the control box shell;

the plane for placing the articles is the surface of the control box cover far away from the control box shell.

5. The running carriage according to claim 2, characterized in that it further comprises:

the movable enclosure assembly (6) is mounted on the vehicle body and can rotate relative to the vehicle body, so that the movable enclosure assembly has an enclosure position and a hand-pulling position, and in the enclosure position, the movable enclosure assembly can enclose a plane of the control box for placing articles; in the hand-pulling position, the movable fence component is suitable for being pulled by a user;

and the key controller component (7) is installed on the movable enclosure component (6).

6. The running cart of claim 2, wherein the cart body comprises:

a first beam (31);

a second beam disposed opposite to the first beam (31);

a third beam (33), one end of the third beam (33) being connected to the first beam (31) and the other end being connected to the second beam;

a fourth beam (34), one end of the fourth beam (34) is connected with the first beam (31), the other end is connected with the second beam, and the fourth beam (34) and the third beam (33) are oppositely arranged;

the wheel assembly includes:

the first wheel is mounted at one end, close to the third beam, of the first beam through a mounting frame;

the second wheel is mounted at the other end of the first beam through a mounting frame;

the third wheel is mounted at one end, close to the second beam, of the third beam through a mounting frame;

the fourth wheel is mounted at one end, close to the second beam, of the fourth beam through a mounting frame;

the first wheel and the second wheel are universal wheels and/or the third wheel and the fourth wheel are universal wheels.

7. The running carriage as claimed in claim 2, wherein the guide wheel assembly comprises:

a first idler bracket (41), one end of the first idler bracket (41) being connected with the vehicle body (1);

a second idler bracket (42), one end of the second idler bracket (42) being connected to the vehicle body (1), and the second idler bracket (42) being disposed opposite to the first idler bracket (41);

a first guide wheel (8) disposed on the first guide wheel bracket;

a second guide wheel disposed on the second guide wheel bracket; wherein,

the first guide wheel is matched with the second guide wheel for use, the first guide wheel is in contact with one side of the guide rail, and the second guide wheel is in contact with the other side of the guide rail.

8. The running carriage as claimed in claim 6, wherein the guide wheel assembly comprises:

one end of the first guide wheel bracket is connected with a first beam of the vehicle body;

one end of the second guide wheel bracket is connected with the first beam of the vehicle body, and the second guide wheel bracket is arranged opposite to the first guide wheel bracket;

one end of the third guide wheel bracket is connected with the second beam of the vehicle body;

one end of the fourth guide wheel bracket is connected with the second beam of the vehicle body;

a first guide wheel disposed on the first guide wheel bracket;

a second guide wheel disposed on the second guide wheel bracket;

a third guide wheel disposed on the third guide wheel bracket;

a fourth guide wheel disposed on the fourth guide wheel bracket;

wherein,

the first guide wheel is matched with the second guide wheel for use, the first guide wheel is in contact with one side of the guide rail, and the second guide wheel is in contact with the other side of the guide rail;

the third guide wheel is matched with the fourth guide wheel for use, the third guide wheel is in contact with one side of the guide rail, and the fourth guide wheel is in contact with the other side of the guide rail.

9. The running carriage as claimed in claim 7, wherein the derailment detection assembly comprises:

a first sensor bracket (51), the first sensor bracket (51) connected with the first idler bracket (41);

a second sensor bracket (52), the second sensor bracket (52) coupled to the second idler bracket (42);

a first infrared sensor (53), the first infrared sensor (53) disposed on the first idler carriage (41);

a second infrared sensor (54), the second infrared sensor (54) disposed on the second idler carriage (42);

the first infrared sensor (53) is arranged opposite to the second infrared sensor (54);

the operation trolley further comprises an ultrasonic sensor, and the ultrasonic sensor is arranged on the trolley body;

the ultrasonic sensor is used for detecting whether an obstacle exists in the detection direction of the ultrasonic sensor.

10. A running carriage assembly, characterized in that the running carriage assembly comprises a running carriage according to any one of claims 1 to 9 and a rail, the rail being provided with a radio frequency identification tag; the running carriage can run on the guide rail along the guide rail.