AGV carrier with strong obstacle crossing function

Abstract

The invention relates to an AGV carrier with a strong obstacle crossing function, and belongs to the technical field of AGV carriers in mechanical parking equipment.The AGV carrier comprises a rack body, three sets of corner wheels are installed in the middle of the inner side of the rack body, a steering engine is installed in the left side of the rack body, and vertical driving wheels are installed on the two sides of the right end of the rack body. According to the AGV carrier with the strong obstacle crossing function, through the walking principle that one steering engine and the two vertical driving wheels are matched with the other universal driven wheels, control is easy, the walking direction, the actual deviation correcting function, the walking function and the steering function of the whole AGV carrier can be controlled only by controlling the steering angle of the steering engine, operation is convenient and fast, a plurality of supporting wheels are used for supporting, and the AGV carrier is convenient to use. And the middle part of the rack body reduces the row function, so that the position of the supporting wheel can be arranged to be closer to a stress point to a greater extent, the bending moment is reduced, the rigid strength is ensured, and the rigidity is sufficient.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV carriers in mechanical parking equipment, in particular to an AGV carrier with a strong obstacle crossing function. Background Art

[0002] Parking AGV transporter, that is, automated guided vehicle used in parking garages or parking lots, is a smart device that can automatically transport vehicles to parking spaces. Its development history reflects the application and progress of automation and intelligent technology in the field of parking.

[0003] In the 1990s, with the development of automation technology, the concept of parking AGV transporters began to be proposed in some research institutions and enterprises to solve the increasingly serious parking problem. During this period, parking AGV transporters were mostly in the experimental stage, mainly tested in a closed experimental environment, and initially demonstrated the potential of automated parking.

[0004] As an important part of the AGV transporter, the AGV drive system is responsible for the driving and steering operations of the AGV. It is generally completed by two or four horizontal servos and angle wheels.

[0005] Because of the consideration of driving power and force strength, the horizontal servo is relatively large, which makes the AGV part running under the car higher. The car needs to be used as a bracket to raise the four wheels so that the AGV carrier does not interfere with the bottom of the car. In addition, the driving wheel of the horizontal servo is relatively small and has poor obstacle crossing ability. If there is a relatively high protrusion or gap, it is easy to malfunction. Therefore, an AGV carrier with strong obstacle crossing function is proposed to solve the above problems. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an AGV transporter with strong obstacle-crossing function, which has the advantages of simple control, sufficient rigidity, strong obstacle-crossing ability, large driving force, high speed, etc., and solves the problem that the driving power and force strength require a large horizontal steering gear, which makes the AGV part running under the car higher, and the car needs to be used as a bracket to raise the four wheels so that the AGV transporter does not interfere with the bottom of the car. In addition, the driving wheel of the horizontal steering gear is small and the obstacle-crossing ability is poor. If there is a relatively high protrusion or gap, it is easy to malfunction.

[0007] In order to achieve the above-mentioned purposes of simple control, sufficient rigidity, strong obstacle crossing ability, large driving force and fast speed, the present invention provides the following technical solutions: an AGV transporter with strong obstacle crossing function, comprising a frame body, three sets of corner wheels are installed in the middle of the inner side of the frame body, a servo is installed inside the left side of the frame body, and vertical drive wheels are installed on both sides of the right end of the frame body.

[0008] Furthermore, the interior of the servo includes a rotating part and a supporting part, the rotating part is a control steering motor, the supporting part is a supporting wheel, and the output end of the control steering motor is electrically connected to the output ends of the supporting wheel and the frame body respectively.

[0009] Furthermore, the supporting wheels are two first driven wheels, and each group of the corner wheels is a group of two second driven wheels.

[0010] Furthermore, the vertical driving wheel includes a large wheel and a driving motor.

[0011] Furthermore, the two vertical driving wheels are symmetrically fixedly mounted on the end surface of the right side of the frame body.

[0012] Furthermore, the three groups of corner wheels are transversely installed inside the lower side of the frame body.

[0013] Furthermore, the output end of the corner wheel is electrically connected to the output end of the frame body, and the corner wheel can automatically change its angle according to the moving position of the frame body.

[0014] Furthermore, the lower surface of the corner wheel is in contact with the ground.

[0015] Furthermore, the two support wheels are symmetrically installed on one side of the output end of the steering control motor.

[0016] Furthermore, the sizes and models of the large wheel and the driving motor can be replaced.

[0017] Compared with the prior art, the present invention provides an AGV transporter with strong obstacle crossing function, which has the following beneficial effects:

[0018] 1. The AGV carrier with strong obstacle crossing function has a steering gear, two vertical driving wheels and the walking principle of the other universal driven wheels. It is easy to control. As long as the steering angle of the steering gear is controlled, the walking direction of the entire AGV carrier can be controlled. It has actual correction, walking and steering functions, and is easy to operate. It uses multiple supporting wheels for support, and the middle part of the frame body reduces the walking function. The position of the supporting wheels can be set closer to the stress point to the greatest extent, so that the bending moment is reduced, the rigidity is guaranteed, and the rigidity is sufficient.

[0019] 2. The AGV carrier with strong obstacle-crossing function is installed on both sides of the frame body through vertical drive wheels. In actual use, it is on the outside of the car, so there is no limit on the height. A larger wheel diameter and a higher-power drive motor can be set, which greatly enhances the obstacle-crossing and climbing capabilities, and the driving force is correspondingly increased. Moreover, the vertical drive wheel adopts a large wheel design and a larger drive motor, so that the speed can be correspondingly increased, and the running speed is faster, which solves the driving power and force strength. Therefore, the horizontal steering gear is larger, which makes the AGV part running under the car higher. The car needs to be used as a bracket to raise the four wheels so that the AGV carrier does not interfere with the bottom of the car. Moreover, the drive wheel of the horizontal steering gear is smaller and the obstacle-crossing ability is poor. If there is a relatively high protrusion or gap, it is easy to fail. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural front view of an AGV carrier with a strong obstacle crossing function according to the present invention;

[0021] Figure 2 The figure is a top view of the structure of an AGV carrier with strong obstacle crossing function according to the present invention.

[0022] In the figure: 1 steering gear, 2 corner wheels, 3 frame body, 4 vertical driving wheel. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figures 1 to 2 An AGV carrier with strong obstacle crossing function includes a frame body 3, three sets of corner wheels 2 are installed in the middle of the inner side of the frame body 3, a steering gear 1 is installed inside the left side of the frame body 3, and vertical driving wheels 4 are installed on both sides of the right end of the frame body 3.

[0025] Among them, the interior of the servo 1 includes a rotating part and a supporting part, the rotating part is a control steering motor, and the supporting part is a supporting wheel. The output end of the control steering motor is electrically connected to the output end of the supporting wheel and the frame body 3 respectively. The supporting wheel is two first driven wheels, and each group of angle wheels 2 is a group of two second driven wheels. The vertical driving wheel 4 includes a large wheel and a driving motor. The two vertical driving wheels 4 are symmetrically fixedly installed on the end surface of the right side of the frame body 3. The three groups of angle wheels 2 are horizontally installed inside the lower side of the frame body 3. The output end of the angle wheel 2 is electrically connected to the output end of the frame body 3. The angle wheel 2 can automatically change the angle according to the moving position of the frame body 3. The lower surface of the angle wheel 2 is in contact with the ground. The two supporting wheels are symmetrically installed on one side of the output end of the control steering motor. The size and model of the large wheel and the driving motor can be replaced.

[0026] In this embodiment, the supporting wheel needs to be drilled under the chassis of the vehicle in actual use, so the height is set relatively low. The corner wheel 2 will automatically change the angle with the frame body 3, which will not affect the travel of the frame body 3 and improve the supporting effect of the lower side of the frame body 3. The vertical driving wheel 4 is installed on both sides of the frame body 3 and is on the outside of the car in actual use. Therefore, the vertical driving wheel 4 is not restricted in height, and a larger wheel diameter and a higher-power driving motor will be set, thereby improving the overall obstacle-crossing ability and the driving ability.

[0027] When this embodiment is used:

[0028] The angle wheel 2 on one side of the frame body 3 controls the movement to the bottom of the vehicle chassis. The supporting wheel installed inside the frame body 3 can support the bottom of the frame body 3. The position of the supporting wheel is set closer to the stress point to reduce the bending moment and ensure the rigidity. The walking direction of the AGV carrier can be controlled, and the actual correction, walking and steering functions are performed. The steering gear 1 is equipped with a steering control motor that can freely convert the angle between the supporting wheel and the frame body 3 to achieve the effect of controlling the direction. During the movement of the frame body 3, the angle wheel 2 mainly supports the frame body 3, so that the frame body 3 forms multiple fulcrums and is close to the stress position to ensure the rigidity of the frame body 3. When the frame body 3 moves, the angle wheel 2 will change its own rotation according to the running direction of the frame body 3. , does not affect the travel of the frame body 3. When the supporting wheel of the steering gear 1 and the frame body 3 deflect at an angle and the two vertical driving wheels 4 rotate without differential speed, the deviation correction action of the AGV carrier is realized. When the supporting wheel of the steering gear 1 and the frame body 3 deflect at an angle and the two vertical driving wheels 4 rotate correspondingly at a differential speed, the turning action of the AGV carrier can be realized. When the supporting wheel of the steering gear 1 and the frame body 3 deflect by 90 degrees, one of the two vertical driving wheels 4 rotates forward and the other vertical driving wheel 4 rotates reversely to realize the rotation action of the AGV carrier. The vertical driving wheel 4 can be replaced with a larger wheel diameter and a higher-power driving motor at any time to improve the obstacle-crossing and climbing ability of the AGV carrier, and the driving force of the vertical driving wheel 4 is also increased accordingly.

[0029] The beneficial effects of the above embodiments are:

[0030] The AGV carrier with strong obstacle-crossing function has a steering gear 1, two vertical driving wheels 4 and the walking principle of the remaining universal driven wheels, and is easy to control. As long as the steering angle of the steering gear 1 is controlled, the walking direction of the entire AGV carrier can be controlled. It has actual correction, walking and steering functions, and is easy to operate. It uses multiple supporting wheels for support, and the middle part of the frame body 3 reduces the walking function. The position of the supporting wheels can be set closer to the force point to the greatest extent, so that the bending moment is reduced, the rigidity is guaranteed, and the rigidity is sufficient.

[0031] The AGV carrier with strong obstacle-crossing function is installed on both sides of the frame body 3 through the vertical driving wheels 4. In actual use, it is on the outside of the car, so there is no limit on the height. A larger wheel diameter and a higher-power driving motor can be set, which greatly enhances the obstacle-crossing ability and climbing ability, and the driving force is correspondingly increased. Moreover, the vertical driving wheel 4 adopts a large wheel design and an enlarged driving motor, so that the speed can be correspondingly improved, the running speed is faster, and the driving power and force strength are solved. Therefore, the horizontal steering gear is larger, so that the AGV part running under the car is higher, and the car needs to be used as a bracket to raise the four wheels so that the AGV carrier does not interfere with the bottom of the car. Moreover, the driving wheel of the horizontal steering gear is smaller and the obstacle-crossing ability is poor. If a relatively high protrusion or gap appears, it is easy to fail.

[0032] The installation method, connection method or setting method disclosed in this embodiment are all common mechanical connection methods, and they can be implemented as long as they can achieve their beneficial effects. In addition, the electrical components appearing in this embodiment are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer that plays a control role. Technicians in this field can control the electrical components through simple programming, and the existing disclosed power connection technology is also common knowledge in this field, so the specific structural composition and working principle will not be described in detail in this embodiment.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV carrier with strong obstacle crossing function, comprising a frame body (3), characterized in that: Three sets of angle wheels (2) are installed in the middle of the inner side of the frame body (3), a steering gear (1) is installed inside the left side of the frame body (3), and vertical driving wheels (4) are installed on both sides of the right end of the frame body (3).

2. The AGV carrier with strong obstacle crossing function according to claim 1, characterized in that: The interior of the steering gear (1) includes a rotating part and a supporting part, the rotating part is a steering control motor, the supporting part is a supporting wheel, and the output end of the steering control motor is electrically connected to the output end of the supporting wheel and the frame body (3).

3. The AGV carrier with strong obstacle crossing function according to claim 2 is characterized in that: The supporting wheels are two first driven wheels, and each group of the corner wheels (2) is a group of two second driven wheels.

4. The AGV carrier with strong obstacle crossing function according to claim 1, characterized in that: The vertical driving wheel (4) comprises a large wheel and a driving motor.

5. The AGV transporter with strong obstacle crossing function according to claim 1 is characterized in that: The two vertical driving wheels (4) are symmetrically structured and fixedly mounted on the right end surface of the frame body (3).

6. The AGV carrier with strong obstacle crossing function according to claim 1, characterized in that: The three groups of corner wheels (2) are installed transversely inside the lower side of the frame body (3).

7. The AGV carrier with strong obstacle crossing function according to claim 1, characterized in that: The output end of the corner wheel (2) is electrically connected to the output end of the frame body (3), and the angle of the corner wheel (2) can be automatically changed according to the moving position of the frame body (3).

8. The AGV transporter with strong obstacle crossing function according to claim 1, characterized in that: The lower surface of the corner wheel (2) is in contact with the ground.

9. The AGV transporter with strong obstacle crossing function according to claim 2, characterized in that: The two support wheels are symmetrically mounted on one side of the output end of the steering control motor.

10. The AGV carrier with strong obstacle crossing function according to claim 4, characterized in that: The sizes and models of the large wheel and the driving motor can be replaced.

Images