An AGV with adaptive obstacle crossing function

Abstract

The present invention discloses an AGV trolley with adaptive obstacle crossing, comprising a frame, a front wheel assembly, a rear wheel assembly and a motor assembly all mounted on the frame, the at least two front wheels included in the front wheel assembly being linked by a front connecting shaft, the motor of the motor assembly being able to drive the front connecting shaft to rotate, and characterized in that the frame is also equipped with an auxiliary adjustment assembly and an auxiliary wheel assembly located between the front wheel assembly and the rear wheel assembly and close to the front wheel assembly, the at least two auxiliary wheels included in the auxiliary wheel assembly being linked by an auxiliary connecting shaft, a belt being connected between the front connecting shaft and the auxiliary connecting shaft, and the auxiliary adjustment assembly being able to drive the auxiliary wheel assembly to shift, so as to achieve the following two state switching. The AGV trolley is able to adaptively cross obstacles, thereby avoiding the risk of the AGV trolley being stuck, and thus improving the performance of the AGV trolley.

Description

Technical Field

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

[0002] Currently, AGVs are designed with a low chassis and small wheels to account for their center of gravity. This creates a risk of them getting stuck when passing through elevator doors. This is because the height difference between the elevator car and the outside edge varies when the elevator stops at each floor, sometimes positive and sometimes negative. When the car exceeds the outside edge, the wheels can get stuck. Existing AGVs are primarily rear-wheel drive. When an AGV gets stuck, the front wheels spin, preventing it from crossing the row, impacting its normal operation. Summary of the Invention

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

[0004] The present invention proposes an AGV with adaptive obstacle-spanning capability, comprising a frame, a front wheel assembly, a rear wheel assembly, and a motor assembly, all of which are mounted on the frame; at least two front wheels included in the front wheel assembly are linked via a front linkage shaft; a motor of the motor assembly can drive the front linkage shaft to rotate; and the frame is further provided with an auxiliary adjustment assembly and an auxiliary wheel assembly located between the front wheel assembly and the rear wheel assembly and close to the front wheel assembly; at least two auxiliary wheels included in the auxiliary wheel assembly are linked via an auxiliary linkage shaft; a belt is connected between the front linkage shaft and the auxiliary linkage shaft; the auxiliary adjustment assembly can drive the auxiliary wheel assembly to shift, so as to achieve the following two state switching;

[0005] State switching 1: the auxiliary wheel assembly moves downward until the lower edge of the auxiliary wheel is lower than the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is expanded until the belt is tightened;

[0006] State switching 2: the auxiliary wheel assembly moves upward until the lower edge of the auxiliary wheel is higher than or flush with the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is reduced until the belt is loose.

[0007] Preferably, the auxiliary adjustment assembly specifically includes 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 auxiliary wheel assembly and move up or down synchronously with the auxiliary wheel assembly.

[0008] Preferably, the diameters of the auxiliary wheels, the front wheels, and the rear wheels are equal in pairs.

[0009] Preferably, the auxiliary wheel assembly is moved upward or downward via a slide groove provided on the frame.

[0010] Preferably, the belt is connected between the front connecting shaft and the auxiliary connecting shaft. When the auxiliary wheel assembly descends until the lower edge of the auxiliary wheel is lower than the lower edge of the front wheel, and the relative distance between the front connecting shaft and the auxiliary connecting shaft is expanded to the point where the belt is tightened, the front connecting shaft is transmission-connected to the auxiliary connecting shaft through the belt.

[0011] Preferably, the frame is also equipped with a rear wheel auxiliary component acting on the rear wheel and an auxiliary rear wheel adjustment component located on the right side of the rear wheel component. The at least two auxiliary wheels included in the rear wheel auxiliary component are connected by an auxiliary connecting shaft. When the rear wheel auxiliary component descends until the lower edge of the auxiliary wheel is lower than the lower edge of the rear wheel, the front connecting shaft is driven by the motor of the motor component to rotate, thereby driving the rear wheel to cross.

[0012] Preferably, the upward or downward movement of the rear wheel auxiliary assembly is achieved through a slide groove provided on the frame.

[0013] In the present invention, the proposed AGV trolley with adaptive obstacle crossing is driven by the motor of the motor assembly to rotate the front connecting shaft, so that the front wheel assembly becomes the active wheel. During driving, when the front wheel assembly cannot cross the obstacle, the auxiliary adjustment assembly adjusts the downward displacement of the auxiliary wheel assembly to switch the state, so that the front wheel is equal to or higher than the obstacle. At the same time, the belt is in a state where the front wheel can transmit the auxiliary wheel, so that the front wheel of the AGV trolley can cross the obstacle. After the front wheel completely crosses the obstacle, the auxiliary adjustment assembly adjusts the upward displacement of the auxiliary wheel assembly to switch the state. When the rear wheel assembly needs to cross the obstacle, the front wheel assembly is the active wheel to drive the rear wheel assembly to move, thereby assisting the rear wheel assembly to cross the obstacle. The AGV trolley can adaptively cross obstacles, avoids the risk of the AGV trolley being stuck, and thus improves the performance of the AGV trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the prior art structure of an AGV with adaptive obstacle crossing proposed by the present invention;

[0015] Figure 2 This is a structural diagram of an AGV with adaptive obstacle crossing proposed by the present invention in state switching 2;

[0016] Figure 3 This is a structural diagram of an AGV with adaptive obstacle crossing proposed by the present invention in state switching 1;

[0017] Figure 4 This is a structural schematic diagram of an AGV with adaptive obstacle crossing proposed by the present invention after the front wheels have crossed over;

[0018] Figure 5 This is a schematic structural diagram of an auxiliary adjustment component of an AGV with adaptive obstacle crossing proposed by the present invention;

[0019] Figure 6 This is a schematic diagram of the three-dimensional structure of an auxiliary adjustment component of an AGV with adaptive obstacle crossing proposed by the present invention;

[0020] Figure 7 This is a structural schematic diagram of an AGV with adaptive obstacle-crossing capability and a rear wheel auxiliary assembly proposed by the present invention.

[0021] Legend:

[0022] 1. Frame; 2. Rear wheel assembly; 3. Front wheel assembly; 4. Belt; 5. Auxiliary wheel assembly; 6. Slide; 7. Mounting bracket; 8. Fixed bracket; 801, Mounting hole; 9. Drive motor; 10. Screw; 11. Sleeve. DETAILED DESCRIPTION

[0023] Reference Figure 1-7 The present invention proposes an AGV vehicle with adaptive obstacle crossing, which includes a frame 1, a front wheel assembly 3, a rear wheel assembly 2 and a motor assembly, all of which are installed on the frame 1. The at least two front wheels included in the front wheel assembly 3 are connected by a front connecting shaft, and the motor of the motor assembly can drive the front connecting shaft to rotate. The frame 1 is also equipped with an auxiliary adjustment assembly and an auxiliary wheel assembly 5 located between the front wheel assembly 3 and the rear wheel assembly 2 and close to the front wheel assembly 3. The at least two auxiliary wheels included in the auxiliary wheel assembly 5 are connected by an auxiliary connecting shaft, and a belt 4 is connected between the front connecting shaft and the auxiliary connecting shaft. The auxiliary adjustment assembly can drive the auxiliary wheel assembly 5 to shift to achieve the following two state switching.

[0024] In this embodiment, the motor assembly's motor drives the front linkage shaft, turning the front wheel assembly 3 into the active drive wheel. During travel, if the front wheel assembly 3 is unable to cross an obstacle, the auxiliary adjustment assembly adjusts the auxiliary wheel assembly 5 downward to switch states, placing the front wheel at or above the obstacle. Simultaneously, the belt 4 is in a state where the front wheel can drive the auxiliary wheel, enabling the AGV's front wheel to cross the obstacle. Once the front wheel has completely crossed the obstacle, the auxiliary adjustment assembly adjusts the auxiliary wheel assembly 5 upward to switch states. When the rear wheel assembly 2 needs to cross an obstacle, the front wheel assembly 3 becomes the active drive wheel, driving the rear wheel assembly 2 to move, thereby assisting the rear wheel assembly 2 in crossing the obstacle.

[0025] State switching 1: the auxiliary wheel assembly 5 moves downward until the lower edge of the auxiliary wheel is lower than the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is expanded until the belt 4 is tightened.

[0026] State switching 2: the auxiliary wheel assembly 5 moves upward until the lower edge of the auxiliary wheel is higher than or flush with the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is reduced until the belt 4 is loose.

[0027] In this embodiment, the belt 4 is in a loose state and does not affect the normal travel of the AGV.

[0028] Specifically, such as Figure 5 and Figure 6 As shown, the auxiliary adjustment assembly specifically includes a drive motor 9, a fixing frame 8, a screw 10, a sleeve 11, and a mounting frame 7. The fixing frame 8 is fixedly mounted on the frame 1 through the mounting hole 801. The drive motor 9 is fixedly mounted on the fixing frame 8. The drive motor 9 is transmission-connected to the screw 10. The screw 10 is engaged with a sleeve 11 that matches the screw 10. The mounting frame 7 is fixed on the sleeve 11. The mounting frame 7 is used to connect to the auxiliary wheel assembly 5 and move up or down synchronously with the auxiliary wheel assembly 5.

[0029] In this embodiment, the driving 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 7 can be adjusted in the vertical direction, thereby realizing the upward or downward movement of the auxiliary wheel assembly 5.

[0030] Specifically, such as Figure 2-4 As shown, the diameters of the training wheels, front wheels, and rear wheels are equal.

[0031] Specifically, such as Figure 3 As shown, the auxiliary wheel assembly 5 is moved upward or downward by means of a sliding groove 6 provided on the frame 1 .

[0032] In this embodiment, the slide groove 6 is set to achieve the adjustment limit of the auxiliary wheel assembly 5 when it moves upward or downward, thereby improving the stability of the adjustment.

[0033] Specifically, such as Figure 3 As shown, a belt 4 is connected between the front connecting shaft and the auxiliary connecting shaft. When the auxiliary wheel assembly 5 descends until the lower edge of the auxiliary wheel is lower than the lower edge of the front wheel, and the relative distance between the front connecting shaft and the auxiliary connecting shaft is expanded to the point where the belt 4 is tightened, the front connecting shaft is connected to the auxiliary connecting shaft through the belt 4.

[0034] Specifically, such as Figure 7As shown, the frame 1 is also equipped with a rear wheel auxiliary assembly acting on the rear wheel and an auxiliary rear wheel adjustment assembly located on the right side of the rear wheel assembly 2. The at least two auxiliary wheels included in the rear wheel auxiliary assembly are connected by an auxiliary connecting shaft. When the rear wheel auxiliary assembly descends until the lower edge of the auxiliary wheel is lower than the lower edge of the rear wheel, the front connecting shaft is driven by the motor of the motor assembly to rotate, thereby driving the rear wheel to cross.

[0035] The upward or downward movement of the rear wheel auxiliary assembly is achieved through a slide groove 6 provided on the vehicle frame 1 .

[0036] In this embodiment, when the rear wheel assembly 2 has difficulty crossing an obstacle, the rear wheel auxiliary assembly is adjusted so that the lower edge of the rear wheel is higher than or equal to the height of the obstacle. The movement of the front wheel assembly 3 then drives the rear wheel assembly 2 to cross the obstacle. The auxiliary rear wheel adjustment assembly adjusts the auxiliary rear wheel and the auxiliary adjustment assembly adjusts the auxiliary wheel in the same structure and functional principle.

[0037] 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 AGV with adaptive obstacle crossing, characterized in that: The invention comprises a frame (1), a front wheel assembly (3), a rear wheel assembly (2) and a motor assembly, all of which are mounted on the frame (1); at least two front wheels included in the front wheel assembly (3) are linked via a front linkage shaft, and a motor of the motor assembly can drive the front linkage shaft to rotate; the invention is characterized in that an auxiliary adjustment assembly and an auxiliary wheel assembly (5) located between the front wheel assembly (3) and the rear wheel assembly (2) and close to the front wheel assembly (3) are also mounted on the frame (1); at least two auxiliary wheels included in the auxiliary wheel assembly (5) are linked via an auxiliary linkage shaft, a belt (4) is connected between the front linkage shaft and the auxiliary linkage shaft, and the auxiliary adjustment assembly can drive the auxiliary wheel assembly (5) to shift, so as to realize the following two state switching; State switching 1: the auxiliary wheel assembly (5) moves downward until the lower edge of the auxiliary wheel is lower than the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is expanded until the belt (4) is tightened; State switching 2: the auxiliary wheel assembly (5) moves upward until the lower edge of the auxiliary wheel is higher than or flush with the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is reduced until the belt (4) is loosened.

2. The AGV with adaptive obstacle crossing according to claim 1 is characterized in that: The auxiliary adjustment component specifically comprises a driving motor (9), a fixing frame (8), a screw (10), a sleeve (11), and a mounting frame (7); the fixing frame (8) is fixedly mounted on the vehicle frame (1) through a mounting hole (801); the driving motor (9) is fixedly mounted on the fixing frame (8); the driving 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 (7); the mounting frame (7) is used to connect to the auxiliary wheel assembly (5) and move upward or downward synchronously with the auxiliary wheel assembly (5).

3. The AGV with adaptive obstacle crossing according to claim 1 is characterized in that: The diameters of the auxiliary wheels, the front wheels and the rear wheels are equal in pairs.

4. The AGV with adaptive obstacle crossing according to claim 1 is characterized in that: The auxiliary wheel assembly (5) is moved upward or downward via a slide groove (6) provided on the vehicle frame (1).

5. The AGV with adaptive obstacle crossing according to claim 1 is characterized in that: The belt (4) is connected between the front linkage shaft and the auxiliary linkage shaft. When the auxiliary wheel assembly (5) moves downward until the lower edge of the auxiliary wheel is lower than the lower edge of the front wheel, and the relative distance between the front linkage shaft and the auxiliary linkage shaft is expanded until the belt (4) is tightened, the front linkage shaft is connected to the auxiliary linkage shaft through the belt (4).

6. The AGV with adaptive obstacle crossing according to claim 1 is characterized in that: The frame (1) is also equipped with a rear wheel auxiliary component acting on the rear wheel and an auxiliary rear wheel adjustment component located on the right side of the rear wheel component (2). The at least two auxiliary wheels included in the rear wheel auxiliary component are connected via an auxiliary connecting shaft. When the rear wheel auxiliary component moves downward until the lower edge of the auxiliary wheel is lower than the lower edge of the rear wheel, the front connecting shaft is driven by the motor of the motor component to rotate, thereby driving the rear wheel to cross.

7. The AGV with adaptive obstacle crossing according to claim 6 is characterized in that: The upward or downward movement of the rear wheel auxiliary component is achieved through a slide groove (6) arranged on the vehicle frame (1).

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