A heavy-load omnidirectional AGV with lifting function

Abstract

The present invention discloses a heavy-duty omnidirectional AGV with a lifting function, including a frame, a first well grid is fixedly installed inside the frame, a bogie is fixedly installed inside the bottom of the first well grid, a turntable is hinged inside the top of the bogie, a main motor is movably installed inside one end of the turntable, a steering motor is movably installed at the bottom of the other end of the turntable, a steering gear is fixedly installed at the output end of the steering motor, a transmission gear is meshed on the outside of the steering gear, an active universal wheel is movably installed at the bottom of the bogie, a second well grid is fixedly installed on both sides of the first well grid, and a battery system is fixedly installed at the bottom of the inner cavity of the second well grid. The laser anti-collision unit and the guide unit are distributed in a rectangular shape at the diagonal position of the frame, and the laser anti-collision unit and the guide unit are installed in an interval distribution. The laser anti-collision unit is a laser line sensor for monitoring and avoiding obstacles, and the automation in the transfer of goods improves the operation production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of wheeled mobile robots, and in particular relates to a heavy-load omnidirectional AGV with a lifting function. Background Art

[0002] AGV is the abbreviation of Automated Guided Vehicle, which means "automatic guided transport vehicle". An unmanned transport vehicle is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, which can travel along a specified guide path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications. It uses a rechargeable battery as its power source. Its route and behavior can generally be controlled by a computer, or its route can be established using an electromagnetic track that is attached to the floor. The unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track. AGV is characterized by wheeled movement. Compared with walking, crawling or other non-wheeled mobile robots, it has the advantages of fast action, high work efficiency, simple structure, strong controllability and good safety. As one type of AGV vehicle, the diving and lifting AGV is generally used to dive into the bottom of the cargo, lift the cargo through its own lifting device and then carry it.

[0003] For example, a small heavy-load omnidirectional AGV that can be lifted is disclosed in Chinese patent CN109019434A. The small heavy-load omnidirectional AGV that can be lifted applies a precision cycloid pinwheel reducer to the wheel module, thereby improving the load-bearing capacity and torque of the wheel and reducing the installation space occupied by the wheel, so that there is enough space in the body frame for installing the lifting mechanism. The lifting mechanism is a special double lifting mechanism with a compact structure. The lifting force obtained by the simultaneous operation of multiple support arms is large, and the lifting action is very stable. It is suitable for automation and logistics warehousing. However, there are still the following problems when using it:

[0004] 1. Since it adopts the electric jacking method, the existing multi-structure coordination in the jacking process leads to complex structure, high cost, high operation and maintenance management cost, and relatively reduced benefits.

[0005] 2. Due to the existing use of a body frame device and a wheel module, although it can flexibly turn according to the McNay master wheel, there is no wheel self-locking structure, which leads to problems such as difficulty in self-locking during use and large space occupation.

[0006] 3. Due to the existing use of lifting pallets and driven shear-type support arms, although the lifting area and lifting mass can be increased during the lifting process, the relative increase in lifting mass also causes the vehicle body to overturn easily if the center of gravity shifts, resulting in easy loss of balance due to changes in the center of gravity position of the cargo. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a heavy-load omnidirectional AGV with a lifting function, which solves the problems of complex structure, high cost, difficult self-locking, large space occupation and easy loss of balance due to changes in the center of gravity of the cargo.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a heavy-duty omnidirectional AGV with a lifting function, comprising a frame, a first grid fixedly installed inside the frame, a bogie fixedly installed inside the bottom of the first grid, a turntable hinged inside the top of the bogie, a main motor movably installed inside one end of the turntable, a steering motor movably installed at the bottom of the other end of the turntable, a steering gear fixedly installed at the output end of the steering motor, a transmission gear meshed on the outer side of the steering gear, an active universal wheel movably installed at the bottom of the bogie, second grids fixedly installed on both sides of the first grid, a battery system fixedly installed at the bottom of the inner cavity of the second grid, and a battery system fixedly installed at the bottom of the inner cavity of the second grid. A top frame is fixedly installed at the bottom, a wedge frame is fixedly installed inside the top frame, a wedge block is movably installed inside the wedge frame, a lifting motor is fixedly installed inside one side of the top frame, a rotating screw is fixedly installed on the output end of the lifting motor, a screw nut is movably installed on the end of the rotating screw away from the lifting motor, a third grid is fixedly installed inside the frame, two auxiliary wheels are hinged inside the bottom of the third grid, an auxiliary motor is fixedly installed on the bottom of the third grid, a reducer is movably installed on the output end of the auxiliary motor, a fourth grid is fixedly installed inside the frame, a fifth grid is fixedly installed inside the frame, and two electrical installation components are fixedly installed inside the fifth grid.

[0009] Preferably, the output end of the main motor is connected to the active universal wheel through a chain transmission, the bottom of the transmission gear is connected to the top of the active universal wheel through meshing transmission, and the transmission gear is movably installed inside the turntable.

[0010] Preferably, a hydraulic push rod is movably installed on the top of the wedge block, one end of the wedge block is movably connected to a lead screw nut, and the lead screw nut is movably installed inside the wedge frame.

[0011] Preferably, the auxiliary wheels, auxiliary motors and reducers are each in two sets, and are symmetrically installed inside the bottom of the third well and the fifth well, and the output end of the reducer is connected to the auxiliary wheels through a chain.

[0012] Preferably, the number of the top frame, wedge block, lifting motor, rotating screw and screw nut is three, and they are evenly distributed inside the fourth well and the third well. The fourth well and the two third wells form an isosceles triangle and are evenly distributed inside the frame.

[0013] Preferably, an operating panel is movably mounted on the outer side of the frame, and a charging brush is movably mounted on the outer side of the frame.

[0014] Preferably, two navigation units are movably installed on the outer side of the frame, and two laser anti-collision units are movably installed on the outer side of the frame.

[0015] Preferably, the two navigation units and the two laser anti-collision units are symmetrically and evenly distributed at four diagonal positions of the frame.

[0016] Preferably, the active universal wheel and the two sets of auxiliary wheels are evenly distributed at the bottom of the frame in the shape of an isosceles triangle.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. By setting a hydraulic jack, the jacking motor rotates to drive the rotation of the rotating screw. At the same time, the rotating screw moves the wedge block connected to the top under the action of the screw nut. The top of the wedge block is a plane, and a guide wheel is provided on the top plane of the wedge block. The hydraulic jack rises the hydraulic jack under the movement of the guide wheel, and the three groups of jacking structures are evenly distributed in an isosceles triangle. During the jacking process, it is easy to self-lock, not easy to slide, and the center of gravity of the goods is stabilized. At the same time, the top plane structure of the wedge block improves the stability when carrying goods.

[0019] 2. Through the turntable, the steering motor installed on one side of the turntable rotates, driving the steering gear to rotate, and driving the meshing transmission gear to rotate. The transmission gear runs through the turntable and meshes on one side of the active universal wheel mounting plate, so that the steering is driven by the rotation of the steering motor and the rotation of the active universal wheel hinged at the bottom of the turntable to achieve steering. At the same time, the main motor is driven by the chain transmission, and the rotation of the active universal wheel assists the movement, and the equipment is moved and steered smoothly. The internal rotation of the reducer is driven by the rotation of the auxiliary motor. The function of the reducer is to smoothly stop and start the force of the auxiliary motor, reducing the center movement of the goods. At the same time, the reducer drives the rotation of the auxiliary wheel through the hinged non-independent suspension differential drive, and is evenly distributed with the active universal wheel and the auxiliary wheel in an isosceles triangle, further enhancing the stability of the equipment, so that the center of gravity does not shift during the movement.

[0020] 3. By setting up the laser anti-collision unit and the guide unit, the laser anti-collision unit and the guide unit are distributed in a rectangular shape on the diagonal position of the frame, and the laser anti-collision unit and the guide unit are installed at intervals. This design ensures that the equipment can move in both directions during movement. The laser anti-collision unit is a laser line sensor used to monitor and avoid obstacles. The navigation unit plans and arranges the running route under the support of the system, so that the equipment can move freely. The flexible movement realizes the automation of the equipment in the transfer of goods and improves the operation production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a top view of the three-dimensional structure of the hidden cover plate of the present invention;

[0022] Figure 2 It is a schematic diagram of the top view structure of the hidden cover plate of the present invention;

[0023] Figure 3 It is a schematic diagram of the partial split structure of the present invention;

[0024] Figure 4 It is a schematic diagram of the rear-view hidden structure stereogram of the present invention;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the front-view hidden structure of the present invention.

[0026] In the figure: 1. frame; 2. hydraulic jack; 3. turntable; 4. main motor; 5. charging brush; 6. transmission gear; 7. steering gear; 8. navigation unit; 9. battery system; 10. operation panel; 11. laser anti-collision unit; 12. electrical installation assembly; 13. first well; 14. auxiliary wheel; 15. wedge frame; 16. wedge block; 17. jack frame; 18. steering motor; 19. bogie; 20. active universal wheel; 21. jacking motor; 22. rotating screw; 23. screw nut; 24. auxiliary motor; 25. reducer; 26. second well; 27. third well; 28. fourth well; 29. ​​fifth well. DETAILED DESCRIPTION

[0027] 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.

[0028] Embodiment 1:

[0029] See also Figure 1-5The present invention provides a technical solution: a heavy-duty omnidirectional AGV with a lifting function, comprising a frame 1, a first well 13 is fixedly installed inside the frame 1, a bogie 19 is fixedly installed inside the bottom of the first well 13, a turntable 3 is hinged inside the top of the bogie 19, a main motor 4 is movably installed inside one end of the turntable 3, a steering motor 18 is movably installed at the bottom of the other end of the turntable 3, a steering gear 7 is fixedly installed at the output end of the steering motor 18, a transmission gear 6 is meshed on the outer side of the steering gear 7, an active universal wheel 20 is movably installed at the bottom of the bogie 19, second wells 26 are fixedly installed on both sides of the first well 13, a battery system 9 is fixedly installed at the bottom of the inner cavity of the second well 26, a top frame 17 is fixedly installed at the bottom of the inner cavity of the second well 26, a wedge frame 15 is fixedly installed inside the top frame 17, a wedge block 16 is movably installed inside the wedge frame 15, a lifting motor 21 is fixedly installed inside one side of the top frame 17, and the lifting motor A rotating screw 22 is fixedly installed on the output end of 21, and a screw nut 23 is movably installed on the end of the rotating screw 22 away from the lifting motor 21. A third well 27 is fixedly installed inside the frame 1, and two auxiliary wheels 14 are hinged inside the bottom of the third well 27. An auxiliary motor 24 is fixedly installed at the bottom of the third well 27, and a reducer 25 is movably installed on the output end of the auxiliary motor 24. A fourth well 28 is fixedly installed inside the frame 1, and a fifth well 29 is fixedly installed inside the frame 1. Two electrical installation components 12 are fixedly installed inside the fifth well 29. The output end of the main motor 4 is connected to the active universal wheel 20 through a chain drive, and the bottom of the transmission gear 6 is connected to the top of the active universal wheel 20 through meshing transmission. The transmission gear 6 is movably installed inside the turntable 3, and a hydraulic push rod 2 is movably installed on the top of the wedge block 16. One end of the wedge block 16 is movably connected to the screw nut 23, and the screw nut 23 is movably installed inside the wedge frame 15.

[0030] In this embodiment, through the hydraulic jack 2, the jacking motor 21 rotates and drives the rotating screw 22 to rotate. At the same time, the rotating screw 22 moves the wedge block 16 connected to the top under the action of the screw nut 23. The top of the wedge block 16 is a plane, and a guide wheel is provided on the top plane of the wedge block 16. The hydraulic jack 2 lifts the hydraulic jack 2 under the movement of the guide wheel, and through the turntable 3, the steering motor 18 installed on one side of the turntable 3 rotates, driving the steering gear 7 to rotate, and driving the meshing transmission gear 6 to rotate. The transmission gear 6 runs through the turntable 3 and meshes on one side of the mounting plate of the active universal wheel 20, so that according to the rotation of the steering motor 18 Drive, the active universal wheel 20 hinged at the bottom of the turntable 3 rotates to achieve steering, and at the same time, the main motor 4 is driven by the chain transmission, and the rotation of the active universal wheel 20 assists the movement, and the equipment is moved and steered smoothly, and the rotation of the auxiliary motor 24 drives the internal rotation of the reducer 25. The function of the reducer 25 is to smoothly stop and start the force of the auxiliary motor 24, reduce the center movement of the goods, and at the same time, the reducer 25 drives the rotation of the auxiliary wheel 14 through the hinged non-independent suspension differential drive to achieve good and smooth movement. The function of the electrical installation component 12 is to install the auxiliary electronic installation component to make the function of the equipment more perfect.

[0031] Embodiment 2:

[0032] like Figure 1-5 As shown, on the basis of the first embodiment, the present invention provides a technical solution: the number of auxiliary wheels 14, auxiliary motors 24 and reducers 25 are all two groups, and are symmetrically installed inside the bottom of the third well 27 and the fifth well 29. The output end of the reducer 25 is connected to the auxiliary wheel 14 through a chain. The number of the top frame 17, the wedge block 16, the lifting motor 21, the rotating screw 22 and the screw nut 23 is three, and is evenly distributed inside the fourth well 28 and the second well 26. The fourth well 28 and the two second wells 26 are evenly distributed inside the frame 1 in the form of an isosceles triangle, and the active universal wheel 20 and the two groups of auxiliary wheels 14 are evenly distributed at the bottom of the frame 1 in the form of an isosceles triangle.

[0033] In this embodiment, the three groups of jacking structures are evenly distributed in the form of isosceles triangles. During the jacking process, they are easy to self-lock, not easy to slide, and the center of gravity of the goods is stabilized. At the same time, the top plane structure of the wedge block 16 improves the stability when carrying goods. The auxiliary wheel 14 is a hinged non-independent suspension differential drive rotation, and is evenly distributed in the form of an isosceles triangle with the active universal wheel 20 and the auxiliary wheel 14, further enhancing the stability of the equipment, so that the center of gravity does not shift during the movement, and the three jacking mechanisms operate simultaneously to drive the cover plate to rise and fall.

[0034] Embodiment three:

[0035] like Figure 1-5As shown, on the basis of Embodiment 1 and Embodiment 2, the present invention provides a technical solution: an operating panel 10 is movably installed on the outer side of the frame 1, a charging brush 5 is movably installed on the outer side of the frame 1, two navigation units 8 are movably installed on the outer side of the frame 1, and two laser anti-collision units 11 are movably installed on the outer side of the frame 1. The two navigation units 8 and the two laser anti-collision units 11 are symmetrically and evenly distributed on the four diagonal positions of the frame 1.

[0036] In this embodiment, the laser anti-collision unit 11 and the navigation unit 8 are arranged in a rectangular shape at the diagonal position of the frame 1, and the laser anti-collision unit 11 and the navigation unit 8 are installed at intervals. This design ensures that the equipment can move in both directions during movement. The laser anti-collision unit 11 is a laser line sensor for monitoring and avoiding obstacles. The navigation unit 8 plans and arranges the running route under the support of the system, so that the equipment can move freely. The flexible movement realizes the automation of the equipment in transferring goods and improves the operation production efficiency. , charging brush 5, when the device needs to be charged, under the command and consent of the system, other devices are deployed to fill the gap. The device that needs to be charged is moved to the charging area under the system route planning and the joint action of the laser anti-collision unit 11. After the charging brush 5 is connected to the external charger, the output end is electrically connected to the input end of the battery system 9, and the input end of the battery system 9 is electrically connected to the input end of the steering motor 18, the main motor 4, the lifting motor 21, the navigation unit 8, the laser anti-collision unit 11 and the auxiliary motor 24 through a wire to power them. The number of battery systems 9 is two and symmetrically distributed inside the frame 1.

[0037] The working principle and use process of the present invention: When the equipment is working, through the laser anti-collision unit 11 and the navigation unit 8, the laser anti-collision unit 11 and the navigation unit 8 are distributed in a rectangular shape at the diagonal position of the frame 1, and the laser anti-collision unit 11 and the navigation unit 8 are installed at intervals. This design ensures that the equipment can move in both directions during the movement process. The laser anti-collision unit 11 is a laser line sensor for monitoring and avoiding obstacles. The navigation unit 8 plans and arranges the running route under the support of the system, and the steering motor 18 installed on one side of the turntable 3 rotates to drive the steering The gear 7 rotates and drives the meshing transmission gear 6 to rotate. The transmission gear 6 passes through the turntable 3 and meshes on one side of the mounting plate of the active universal wheel 20. Thus, according to the rotation of the steering motor 18, the active universal wheel 20 hinged at the bottom of the turntable 3 rotates to achieve steering. At the same time, the main motor 4 is driven by the chain transmission, and the rotation of the active universal wheel 20 assists in moving, and the equipment is moved and steered smoothly. The auxiliary motor 24 rotates to drive the internal rotation of the reducer 25. The reducer 25 uses the force of the auxiliary motor 24 to smoothly stop and start, reducing the weight of the cargo. The center of the goods moves, and the reducer 25 drives the auxiliary wheel 14 to rotate through the hinged non-independent suspension differential drive to achieve good and smooth movement. Under the real-time monitoring of the laser anti-collision unit 11, when the goods are moved to the position where they need to be moved, the positioning is accurate, and the rotating screw 22 is driven to rotate after the jacking motor 21 rotates. At the same time, the rotating screw 22 moves the wedge block 16 connected to the top under the action of the screw nut 23. The top of the wedge block 16 is a plane, and a guide wheel is set on the top plane of the wedge block 16. The hydraulic jack 2 is lifted by the guide wheel. The three lifting mechanisms operate simultaneously to raise the cover plate, and move after the received goods are fully raised to transport the goods to the location where they need to be placed. The function of the electrical installation component 12 is to install auxiliary electronic installation components to make the function of the equipment more complete. When the equipment needs to be charged, other equipment is deployed to fill the gap under the command of the system. The equipment that needs to be charged is planned by the system route and moves to the charging area under the joint action of the laser anti-collision unit 11. After the charging brush 5 is connected to the external charger, the output end is electrically connected to the input end of the battery system 9 to provide power supplement for the battery system 9.

[0038] 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. A heavy-load omnidirectional AGV with a lifting function, comprising a frame (1), characterized in that: A first well (13) is fixedly installed inside the vehicle frame (1), a bogie (19) is fixedly installed inside the bottom of the first well (13), a turntable (3) is hinged inside the top of the bogie (19), a main motor (4) is movably installed inside one end of the turntable (3), a steering motor (18) is movably installed at the bottom of the other end of the turntable (3), a steering gear (7) is fixedly installed at the output end of the steering motor (18), a transmission gear (6) is meshed on the outer side of the steering gear (7), and an active universal wheel (20) is movably installed at the bottom of the bogie (19). ), second wells (26) are fixedly installed on both sides of the first well (13), a battery system (9) is fixedly installed at the bottom of the inner cavity of the second well (26), a top frame (17) is fixedly installed at the bottom of the inner cavity of the second well (26), a wedge frame (15) is fixedly installed inside the top frame (17), a wedge block (16) is movably installed inside the wedge frame (15), a lifting motor (21) is fixedly installed inside one side of the top frame (17), a rotating screw (22) is fixedly installed at the output end of the lifting motor (21), and the rotating screw (22) is away from the top frame A lead screw nut (23) is movably mounted on one end of the lifting motor (21); a third well (27) is fixedly mounted inside the vehicle frame (1); two auxiliary wheels (14) are hingedly mounted inside the bottom of the third well (27); an auxiliary motor (24) is fixedly mounted on the bottom of the third well (27); a reducer (25) is movably mounted on the output end of the auxiliary motor (24); a fourth well (28) is fixedly mounted inside the vehicle frame (1); a fifth well (29) is fixedly mounted inside the vehicle frame (1); two electrical installation devices are fixedly mounted inside the fifth well (29); The component (12) comprises a hydraulic push rod (2) movably mounted on the top of the wedge block (16), one end of the wedge block (16) is movably connected to a lead screw nut (23), and the lead screw nut (23) is movably mounted inside the wedge frame (15). The number of the push frame (17), the wedge block (16), the lifting motor (21), the rotating lead screw (22) and the lead screw nut (23) is three and is evenly distributed inside the fourth well grid (28) and the second well grid (26). The fourth well grid (28) and the two second well grids (26) are evenly distributed inside the vehicle frame (1) in the form of an isosceles triangle.

2. A heavy-load omnidirectional AGV with lifting function according to claim 1, characterized in that: The output end of the main motor (4) is connected to the active universal wheel (20) through a chain transmission, the bottom of the transmission gear (6) is connected to the top of the active universal wheel (20) through a meshing transmission, and the transmission gear (6) is movably installed inside the turntable (3).

3. A heavy-load omnidirectional AGV with lifting function according to claim 1, characterized in that: The auxiliary wheel (14), the auxiliary motor (24) and the reducer (25) are each provided in two sets and are symmetrically mounted inside the bottom of the third well (27) and the fifth well (29); the output end of the reducer (25) is transmission-connected to the auxiliary wheel (14) via a chain.

4. The heavy-load omnidirectional AGV with lifting function according to claim 1, characterized in that: An operating panel (10) is movably mounted on the outer side of the frame (1), and a charging brush (5) is movably mounted on the outer side of the frame (1).

5. The heavy-load omnidirectional AGV with lifting function according to claim 1, characterized in that: Two navigation units (8) are movably mounted on the outer side of the vehicle frame (1), and two laser anti-collision units (11) are movably mounted on the outer side of the vehicle frame (1).

6. A heavy-load omnidirectional AGV with lifting function according to claim 5, characterized in that: The two navigation units (8) and the two laser anti-collision units (11) are symmetrically and evenly distributed at four diagonal positions of the vehicle frame (1).

7. The heavy-load omnidirectional AGV with lifting function according to claim 3, characterized in that: The active universal wheel (20) and the two sets of auxiliary wheels (14) are evenly distributed at the bottom of the frame (1) in the form of an isosceles triangle.

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