An obstacle-crossing AGV vehicle

Abstract

The present invention discloses an obstacle-crossing AGV, comprising a frame, a front wheel assembly, a rear wheel assembly, and a motor assembly, all of which are mounted on the frame. The at least two rear wheels included in the rear wheel assembly are connected via a rear connecting shaft, and the motor of the motor assembly can drive the rear connecting shaft to rotate. The frame is also equipped with a first auxiliary adjustment assembly and a first auxiliary wheel assembly located between the front wheel assembly and the rear wheel assembly and close to the front wheel assembly. The frame is also equipped with a second auxiliary adjustment assembly and a second auxiliary wheel assembly located to the right of the rear wheel assembly and close to the rear wheel assembly. The at least two first auxiliary wheels included in the first auxiliary wheel assembly are connected via a first auxiliary connecting shaft, and the at least two second auxiliary wheels included in the second auxiliary wheel assembly are connected via a second auxiliary connecting shaft. A belt is connected between the rear connecting shaft and the second auxiliary connecting shaft. This enables the AGV to cross obstacles and improves the obstacle-crossing performance of the AGV.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, and in particular to an obstacle-crossing AGV trolley. Background Art

[0002] Currently, AGVs are designed with a relatively low chassis and small wheels to account for the center of gravity. This creates a risk of getting stuck when passing through elevator doors. This is because the relative height difference between the elevator car and the outside edge is not fixed when the elevator stops at each floor; it can be positive or negative. When the car height exceeds the outside edge, the wheels may become stuck. Existing AGVs are primarily rear-wheel drive. When the front wheels of an AGV encounter an obstacle, the front wheels will spin, preventing the AGV from surmounting the obstacle and affecting its normal operation. Furthermore, even after the front wheels of the AGV have passed an obstacle, the rear wheels of the AGV still face the risk of being unable to surmount the obstacle. Summary of the Invention

[0003] In order to solve the technical problems existing in the background technology, the present invention proposes an obstacle-crossing AGV vehicle.

[0004] The AGV of claim 1, wherein the at least two rear wheels of the rear wheel assembly are connected via a rear connecting shaft, and the motor of the motor assembly can drive the rear connecting shaft to rotate. The frame is further provided with a first auxiliary adjustment assembly and a first auxiliary wheel assembly located between the front wheel assembly and the rear wheel assembly and close to the front wheel assembly. The frame is further provided with a second auxiliary adjustment assembly and a second auxiliary wheel assembly located on the right side of the rear wheel assembly and close to the rear wheel assembly. The at least two first auxiliary wheels included in the first auxiliary wheel assembly are connected via a first auxiliary connecting shaft, and the at least two second auxiliary wheels included in the second auxiliary wheel assembly are connected via a second auxiliary connecting shaft, and a belt is connected between the rear connecting shaft and the second auxiliary connecting shaft; the first auxiliary adjustment assembly can drive the first auxiliary wheel assembly to shift, and the second auxiliary adjustment assembly can drive the second auxiliary wheel assembly to shift, so as to achieve the following three state switching:

[0005] State switching 1: The first auxiliary wheel assembly moves downward until the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, and the second auxiliary wheel assembly keeps the lower edge of the second auxiliary wheel higher than the lower edge of the rear wheel;

[0006] State switching 2: the second auxiliary wheel assembly moves downward until the lower edge of the second auxiliary wheel is lower than the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is increased until the belt is tightened and the lower edge of the front wheel is higher than the lower edge of the rear wheel;

[0007] State transition 3: The second auxiliary wheel assembly ascends until the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced to the point where the belt is loose. The first auxiliary wheel assembly ascends until the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel.

[0008] Preferably, when the front wheel encounters an obstacle, the first auxiliary wheel assembly and the second auxiliary wheel assembly complete state switching 1.

[0009] Preferably, when the front wheel passes through an obstacle and the rear wheel is blocked by an obstacle, the first auxiliary wheel assembly and the second auxiliary wheel assembly complete state switching 2.

[0010] Preferably, when both the front wheel and the rear wheel pass through an obstacle, the first auxiliary wheel assembly and the second auxiliary wheel assembly complete state switching 3 .

[0011] Preferably, the diameters of the first auxiliary wheel, the second auxiliary wheel, the front wheel, and the rear wheel are all equal.

[0012] Preferably, the first auxiliary adjustment assembly and the second auxiliary adjustment assembly both include a drive motor, a fixing frame, a screw, a sleeve, and a mounting frame. The fixing frame is fixedly mounted on the frame through a mounting hole. The drive motor is fixedly mounted on the fixing frame. The drive motor is transmission-connected to the screw. The screw is engaged with a sleeve matching the screw. The mounting frame is fixed on the sleeve. The mounting frame is used to connect to the first auxiliary wheel assembly or the second auxiliary wheel assembly. The mounting frame moves up or down synchronously with the first auxiliary wheel assembly or the second auxiliary wheel assembly.

[0013] Preferably, the second auxiliary wheel assembly is moved upward or downward relative to the rear wheel via a first sliding groove provided on the frame.

[0014] Preferably, the first auxiliary wheel assembly is moved upward or downward relative to the front through a second sliding groove provided on the frame.

[0015] In the obstacle-crossing AGV proposed in the present invention, when the front wheel encounters an obstacle and the rear wheel is blocked, the first auxiliary wheel assembly descends until the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, allowing the front wheel to break away from the bottom surface and contact the obstacle. The motor of the motor assembly then drives the rear linkage shaft to rotate, completing the front wheel's crossing. When the front wheel encounters an obstacle and the rear wheel is blocked, the second auxiliary wheel assembly descends until the lower edge of the second auxiliary wheel is lower than the lower edge of the rear wheel, allowing the rear wheel to break away from the bottom surface and contact the obstacle. The second auxiliary wheel contacts the bottom surface to support the AGV. The motor of the motor assembly drives the rear linkage shaft to rotate, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is increased until the belt is tightened. A belt is connected between the rear linkage shaft and the second auxiliary linkage shaft. The rotation of the rear linkage shaft drives the second auxiliary linkage shaft through the belt, causing the AGV to move in the direction of the front wheel, achieving the rear wheel crossing. When both the front and rear wheels pass an obstacle, the second auxiliary wheel assembly moves upward until its lower edge is higher than or flush with the lower edge of the rear wheel, reducing the distance between the rear linkage shaft and the second auxiliary linkage shaft to the point where the belt is loose. The first auxiliary wheel assembly then moves upward until its lower edge is higher than or flush with the lower edge of the front wheel. This enables the AGV to overcome obstacles and improves its obstacle-crossing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the prior art of an obstacle-crossing AGV proposed by the present invention;

[0017] Figure 2 This is a structural schematic diagram of the obstacle-crossing AGV proposed by the present invention in normal use;

[0018] Figure 3 This is a structural diagram of the state switching 1 of an obstacle-crossing AGV proposed by the present invention;

[0019] Figure 4 This is a structural diagram of the state switching 2 of an obstacle-crossing AGV proposed by the present invention;

[0020] Figure 5 This is a structural schematic diagram of an auxiliary adjustment component of an obstacle-crossing AGV proposed by the present invention;

[0021] Figure 6 This is a schematic diagram of the three-dimensional structure of the auxiliary adjustment component of the obstacle-crossing AGV proposed by the present invention.

[0022] Legend:

[0023] 1. Frame; 2. Rear wheel assembly; 3. Front wheel assembly; 4. Belt; 5. Second auxiliary wheel assembly; 6. First slide; 7. Second slide; 8. First auxiliary wheel assembly; 9. Drive motor; 10. Screw; 11. Sleeve; 12. Mounting bracket; 13. Fixed bracket; 1301. Mounting hole. DETAILED DESCRIPTION

[0024] Reference Figure 1-6 The present invention proposes an obstacle-crossing AGV vehicle, comprising a frame 1, a front wheel assembly 2, a rear wheel assembly 3 and a motor assembly, all of which are mounted on the frame 1. The at least two rear wheels included in the rear wheel assembly 3 are linked by a rear connecting shaft, and the motor of the motor assembly can drive the rear connecting shaft to rotate. The frame 1 is also provided with a first auxiliary adjustment assembly and a first auxiliary wheel assembly 8 located between the front wheel assembly 2 and the rear wheel assembly 3 and close to the front wheel assembly 2. The frame 1 is also provided with a second auxiliary adjustment assembly and a second auxiliary wheel assembly 5 located on the right side of the rear wheel assembly 3 and close to the rear wheel assembly 3. The at least two first auxiliary wheels included in the first auxiliary wheel assembly 8 are linked by a first auxiliary connecting shaft, and the at least two second auxiliary wheels included in the second auxiliary wheel assembly 5 are linked by a second auxiliary connecting shaft. A belt 4 is connected between the rear connecting shaft and the second auxiliary connecting shaft; the first auxiliary adjustment assembly can drive the first auxiliary wheel assembly 8 to shift, and the second auxiliary adjustment assembly can drive the second auxiliary wheel assembly 5 to shift, so as to realize the following three state switching:

[0025] State switching 1: the first auxiliary wheel assembly 8 descends until the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, and the second auxiliary wheel assembly 5 keeps the lower edge of the second auxiliary wheel higher than the lower edge of the rear wheel.

[0026] In this embodiment, when the front wheel encounters an obstacle, the first auxiliary wheel assembly 8 and the second auxiliary wheel assembly 5 complete state switching 1. The first auxiliary wheel assembly 8 descends until the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, allowing the front wheel to break away from the bottom surface and contact the obstacle. The motor of the motor assembly then drives the rear linkage shaft to rotate, completing the front wheel's crossing.

[0027] State switching 2: The second auxiliary wheel assembly 5 moves downward until the lower edge of the second auxiliary wheel is lower than the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is increased until the belt 4 is tightened and the lower edge of the front wheel is higher than the lower edge of the rear wheel.

[0028] In this embodiment, when the front wheel encounters an obstacle and the rear wheel encounters an obstacle, the first auxiliary wheel assembly 8 and the second auxiliary wheel assembly 5 complete state transition 2. The second auxiliary wheel assembly 5 descends until the lower edge of the second auxiliary wheel is lower than the lower edge of the rear wheel, allowing the rear wheel to clear the bottom surface and contact the obstacle. The second auxiliary wheel contacts the bottom surface, providing support for the AGV. The motor in the motor assembly drives the rear linkage shaft to rotate, increasing the relative distance between the rear linkage shaft and the second auxiliary linkage shaft until the belt 4 is tightened. Belt 4 is connected between the rear linkage shaft and the second auxiliary linkage shaft. Rotation of the rear linkage shaft drives the second auxiliary linkage shaft through belt 4, causing the AGV to move in the direction of the front wheels, achieving rear wheel straddling.

[0029] State Transition 3: The second auxiliary wheel assembly 5 ascends until its lower edge is higher than or flush with the lower edge of the rear wheel, and the relative distance between the rear connecting shaft and the second auxiliary connecting shaft is reduced to a point where the belt 4 is loose. The first auxiliary wheel assembly 8 ascends until its lower edge is higher than or flush with the lower edge of the front wheel.

[0030] In this embodiment, when both the front and rear wheels pass an obstacle, the first auxiliary wheel assembly 8 and the second auxiliary wheel assembly 5 complete state transition 3. When the second auxiliary wheel assembly 5 ascends until the lower edge of the second auxiliary wheel is above the lower edge of the rear wheel, and the first auxiliary wheel assembly 8 ascends until the lower edge of the first auxiliary wheel is above the lower edge of the front wheel, the AGV operates normally supported by the front and rear wheels. When the second auxiliary wheel assembly 5 ascends until the lower edge of the second auxiliary wheel is flush with the lower edge of the rear wheel, and the first auxiliary wheel assembly 8 ascends until the lower edge of the first auxiliary wheel is flush with the lower edge of the front wheel, the first and second auxiliary wheels, the front and rear wheels jointly support the AGV, improving its stability.

[0031] In this embodiment, the belt 4 is in a loose state and does not affect the normal travel of the AGV.

[0032] Specifically, such as Figure 2 As shown, the diameters of the first auxiliary wheel, the second auxiliary wheel, the front wheel, and the rear wheel are all equal.

[0033] Specifically, such as Figure 5 and Figure 6 As shown, both the first auxiliary adjustment assembly and the second auxiliary adjustment assembly include a drive motor 9, a fixing frame 13, a screw 10, a sleeve 11, and a mounting frame 12. The fixing frame 13 is fixedly mounted on the vehicle frame 1 through the mounting hole 1301. The drive motor 9 is fixedly mounted on the fixing frame 13. The drive motor 9 is transmission-connected to the screw 10. The screw 10 is meshed with a sleeve 11 that matches the screw 10. The mounting frame 12 is fixed to the sleeve 11. The mounting frame 12 is used to connect to the first auxiliary wheel assembly 8 or the second auxiliary wheel assembly 5. The mounting frame 12 moves up or down synchronously with the first auxiliary wheel assembly 8 or the second auxiliary wheel assembly 5.

[0034] In this embodiment, the drive motor 9 drives the screw 10 to rotate. During the rotation of the screw 10, the screw 10 engages and rotates with the sleeve 11, converting the rotation into linear motion, so that the mounting frame 12 can be adjusted in the vertical direction, thereby achieving the synchronous upward or downward movement of the first auxiliary wheel assembly 8 or the second auxiliary wheel assembly 5.

[0035] Specifically, such as Figure 2-4 As shown, the second auxiliary wheel assembly 5 can move upward or downward relative to the rear wheel through a first sliding groove 6 provided on the frame 1 .

[0036] In this embodiment, the purpose is to achieve the upward or downward adjustment limit of the second auxiliary wheel assembly 5 and improve the stability of the adjustment.

[0037] Specifically, such as Figure 2-4 As shown, the first auxiliary wheel assembly 8 is moved upward or downward relative to the front through the second sliding groove 7 provided on the frame 1 .

[0038] In this embodiment, the purpose is to achieve the upward or downward adjustment limit of the first auxiliary wheel assembly 8 and improve the stability of the adjustment.

[0039] During the specific operation of the obstacle-crossing AGV of this embodiment, when the front wheel encounters an obstacle and the rear wheel is blocked, the first auxiliary wheel assembly 8 descends until the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, allowing the front wheel to clear the bottom surface and contact the obstacle. The motor of the motor assembly then drives the rear linkage shaft to rotate, completing the front wheel's crossing. When the front wheel encounters an obstacle and the rear wheel encounters an obstacle, the second auxiliary wheel assembly 5 descends until the lower edge of the second auxiliary wheel is lower than the lower edge of the rear wheel, allowing the rear wheel to clear the bottom surface and contact the obstacle. The second auxiliary wheel contacts the bottom surface to support the AGV. The motor of the motor assembly drives the rear linkage shaft to rotate, expanding the relative distance between the rear linkage shaft and the second auxiliary linkage shaft until the belt 4 is tightened. The belt 4 is connected between the rear linkage shaft and the second auxiliary linkage shaft. The rotation of the rear linkage shaft drives the second auxiliary linkage shaft through the belt 4, causing the AGV to move in the direction of the front wheel, achieving the rear wheel crossing. When both the front and rear wheels pass an obstacle, the second auxiliary wheel assembly 5 moves upward until the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, and the relative distance between the rear connecting shaft and the second auxiliary connecting shaft is reduced to the point where the belt 4 is loose. The first auxiliary wheel assembly 8 moves upward until the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel.

[0040] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An obstacle-crossing AGV vehicle, comprising a vehicle frame (1), a front wheel assembly (2), a rear wheel assembly (3) and a motor assembly all mounted on the vehicle frame (1), wherein at least two rear wheels included in the rear wheel assembly (3) are connected via a rear connecting shaft, and a motor of the motor assembly can drive the rear connecting shaft to rotate, characterized in that: The frame (1) is also provided with a first auxiliary adjustment component and a first auxiliary wheel component (8) located between the front wheel component (2) and the rear wheel component (3) and close to the front wheel component (2). The frame (1) is also provided with a second auxiliary adjustment component and a second auxiliary wheel component (5) located on the right side of the rear wheel component (3) and close to the rear wheel component (3). The at least two first auxiliary wheels included in the first auxiliary wheel component (8) are linked by a first auxiliary linkage shaft, and the at least two second auxiliary wheels included in the second auxiliary wheel component (5) are linked by a second auxiliary linkage shaft. A belt (4) is connected between the rear linkage shaft and the second auxiliary linkage shaft. The first auxiliary adjustment component can drive the first auxiliary wheel component (8) to shift, and the second auxiliary adjustment component can drive the second auxiliary wheel component (5) to shift, so as to realize the following three state switching: State switching 1: the first auxiliary wheel assembly (8) moves downward until the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, and the second auxiliary wheel assembly (5) keeps the lower edge of the second auxiliary wheel higher than the lower edge of the rear wheel; State switching 2: the second auxiliary wheel assembly (5) moves downward until the lower edge of the second auxiliary wheel is lower than the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is expanded until the belt (4) is tightened and the lower edge of the front wheel is higher than the lower edge of the rear wheel; State switching 3: the second auxiliary wheel assembly (5) moves upward until the lower edge of the second auxiliary wheel is higher than the lower edge of the rear wheel or is flush with the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced until the belt (4) is loosened, and the first auxiliary wheel assembly (8) moves upward until the lower edge of the first auxiliary wheel is higher than the lower edge of the front wheel or is flush with the lower edge of the front wheel.

2. The obstacle-crossing AGV according to claim 1, characterized in that: When the front wheel encounters an obstacle, the first auxiliary wheel assembly (8) and the second auxiliary wheel assembly (5) complete state switching 1.

3. The obstacle-crossing AGV according to claim 1, characterized in that: When the front wheel passes through an obstacle and the rear wheel is blocked by an obstacle, the first auxiliary wheel assembly (8) and the second auxiliary wheel assembly (5) complete state switching 2.

4. The obstacle-crossing AGV according to claim 1, characterized in that: When both the front wheel and the rear wheel pass through an obstacle, the first auxiliary wheel assembly (8) and the second auxiliary wheel assembly (5) complete state switching 3.

5. The obstacle-crossing AGV according to claim 1, characterized in that: The diameters of the first auxiliary wheel, the second auxiliary wheel, the front wheel, and the rear wheel are all equal.

6. The obstacle-crossing AGV according to claim 1, characterized in that: The first auxiliary adjustment assembly and the second auxiliary adjustment assembly both comprise a drive motor (9), a fixing frame (13), a screw (10), a sleeve (11), and a mounting frame (12); the fixing frame (13) is fixedly mounted on the vehicle frame (1) through a mounting hole (1301); the drive motor (9) is fixedly mounted on the fixing frame (13); the drive motor (9) is connected to the screw (10) in a transmission manner; the screw (10) is meshed with a sleeve (11) matching the screw (10); the sleeve (11) is fixed with the mounting frame (12); the mounting frame (12) is used to connect to the first auxiliary wheel assembly (8) or the second auxiliary wheel assembly (5); the mounting frame (12) moves upward or downward synchronously with the first auxiliary wheel assembly (8) or the second auxiliary wheel assembly (5).

7. The obstacle-crossing AGV according to claim 1, characterized in that: The second auxiliary wheel assembly (5) is able to move upward or downward relative to the rear wheel via a first sliding groove (6) provided on the vehicle frame (1).

8. The obstacle-crossing AGV according to claim 1, characterized in that: The first auxiliary wheel assembly (8) is moved upward or downward relative to the front wheel via a second sliding groove (7) provided on the vehicle frame (1).

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