An obstacle crossing method for AGV

Abstract

The present invention discloses a method for an AGV to overcome obstacles. The AGV includes a frame, a driving wheel assembly, a driven wheel assembly, and a motor assembly for driving the driving wheel assembly, all of which are mounted on the frame. The frame also includes an auxiliary wheel assembly and an auxiliary adjustment assembly for driving the auxiliary wheel assembly upward or downward. The method includes: when it is detected that the driving wheel is blocked from advancing due to an obstacle in its forward direction, controlling the auxiliary adjustment assembly to drive the auxiliary wheel assembly downward to a first position; when the auxiliary wheel assembly is in the first position, the lower edge of the auxiliary wheel is lower than the lower edge of the driving wheel so that the auxiliary wheel and the driven wheel touch the ground while the driving wheel is suspended in the air; and controlling the motor assembly to drive the auxiliary wheel so that the AGV moves forward until the driving wheel is above the obstacle. This method enables the AGV to adjust and overcome obstacles, reduces the risk of the AGV getting stuck when entering or exiting an elevator, and thus improves the performance of the AGV.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV (Automated Guided Vehicle) vehicles, and in particular to an obstacle surmounting method for an AGV (Automated Guided Vehicle). 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 height difference between the car and the outside edge exceeds the wheel radius of the AGV, the wheels may become stuck. Regardless of whether the AGV's active wheels are front or rear, there's a risk that the AGV will become stuck, affecting 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 obstacle surmounting method for an AGV vehicle, wherein the AGV vehicle includes a frame, a driving wheel assembly, a driven wheel assembly, and a motor assembly for driving the driving wheel assembly are all mounted on the frame, and an auxiliary wheel assembly and an auxiliary adjustment assembly for driving the auxiliary wheel assembly upward or downward are also mounted on the frame, including:

[0004] When it is detected that the driving wheel is blocked from moving forward due to an obstacle in its forward direction, the auxiliary adjustment assembly is controlled to drive the auxiliary wheel assembly downward to a first position. When the auxiliary wheel assembly is in the first position, the lower edge of the auxiliary wheel is lower than the lower edge of the driving wheel so that the auxiliary wheel and the driven wheel touch the ground while the driving wheel is suspended in the air.

[0005] Control the motor assembly to drive the auxiliary wheel so that the AGV moves forward until the active wheel is above the obstacle;

[0006] The auxiliary adjustment assembly is controlled to drive the auxiliary wheel assembly upward to the second position. When the auxiliary wheel assembly is in the second position, the lower edge of the auxiliary wheel is higher than the lower edge of the driving wheel or the lower edge of the auxiliary wheel is flush with the lower edge of the driving wheel so that the driving wheel touches the obstacle.

[0007] Preferably, when the auxiliary wheel assembly is in the first position, the motor assembly is linked to the auxiliary wheel assembly, and when the auxiliary wheel assembly is in the second position, the motor assembly is disconnected from the auxiliary wheel assembly.

[0008] Preferably, the motor assembly drives the driving wheel assembly to move, and the driving wheel assembly is linked to the auxiliary wheel assembly through a belt;

[0009] When the auxiliary wheel assembly is in the first position, the relative distance between the driving wheel and the auxiliary wheel is expanded until the belt is tightened, so that the motor assembly and the auxiliary wheel are linked;

[0010] When the auxiliary wheel assembly is in the second position, the relative distance between the driving wheel and the auxiliary wheel is reduced until the belt is loose, so that the motor assembly is disconnected from the auxiliary wheel assembly.

[0011] Preferably, the driving wheel assembly is specifically a front wheel assembly, and the at least two front wheels included in the front wheel assembly are connected by a front connecting shaft. The motor of the motor assembly can drive the front connecting shaft to rotate. The auxiliary adjustment assembly is located between the front wheel assembly and the driven wheel assembly and is close to the front wheel assembly. The at least two auxiliary wheels included in the auxiliary wheel assembly are connected by an auxiliary connecting shaft. A belt is connected between the front connecting shaft and the auxiliary connecting shaft.

[0012] Preferably, the driving wheel assembly is specifically a rear wheel assembly, and the at least two rear wheels included in the rear wheel assembly are connected by a rear connecting shaft. The motor of the motor assembly can drive the rear connecting shaft to rotate. The auxiliary wheel assembly is located on the right side of the rear wheel assembly and close to the rear wheel assembly. The at least two auxiliary wheels included in the auxiliary wheel assembly are connected by an auxiliary connecting shaft. A belt is connected between the rear connecting shaft and the auxiliary connecting shaft.

[0013] Preferably, the active wheel assembly is specifically a front wheel assembly, and 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, and the drive motor is fixedly mounted on the fixing frame. The drive motor is transmission-connected with a screw, and a sleeve matching the screw is engaged on the screw. The mounting frame is fixed on the sleeve, and the mounting frame is used to connect the auxiliary wheel assembly and move up or down synchronously with the auxiliary wheel assembly.

[0014] Preferably, the active wheel assembly is specifically a rear wheel assembly, and 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, and the drive motor is fixedly mounted on the fixing frame. The drive motor is transmission-connected with a screw, and a sleeve matching the screw is engaged on the screw. The mounting frame is fixed on the sleeve, and the mounting frame is used to connect the auxiliary wheel assembly and move up or down synchronously with the auxiliary wheel assembly.

[0015] Preferably, the upward or downward movement of the auxiliary wheel assembly is achieved through a slide groove provided on the frame.

[0016] The present invention proposes an obstacle-crossing method for an AGV. When the front wheel is the active wheel, the motor of the motor assembly drives the front linkage shaft to rotate. During travel, if the front wheel assembly's forward movement is obstructed, the auxiliary adjustment assembly adjusts the auxiliary wheel assembly downward, positioning the front wheel at or above the obstacle. This allows the motor assembly and the auxiliary wheels to interlock, enabling the AGV's front wheels to cross the obstacle. When the rear wheel encounters an obstacle and its forward movement is obstructed, the 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 free from the bottom surface and contact the obstacle. The auxiliary wheel contacts the bottom surface, providing support for the AGV. The motor of the motor assembly drives the rear linkage shaft to rotate, increasing the relative distance between the rear linkage shaft and the auxiliary linkage shaft until the belt is tightened. The rotation of the rear linkage shaft, through the belt, drives the auxiliary linkage shaft, allowing the AGV to move in the direction of the front wheel, enabling the rear wheels to cross the obstacle. This allows the AGV to adjust its obstacle crossing, reduces the risk of the AGV getting stuck when entering or exiting an elevator, and thus improves the AGV's usability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of the workflow of an obstacle surmounting method for an AGV vehicle proposed in the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the prior art of the obstacle crossing method of the AGV vehicle proposed by the present invention;

[0019] Figure 3 This is a structural diagram of embodiment 1 of the obstacle crossing method of an AGV vehicle proposed by the present invention. Figure 1 ;

[0020] Figure 4 This is a structural diagram of embodiment 1 of the obstacle crossing method of an AGV vehicle proposed by the present invention. Figure 2 ;

[0021] Figure 5 This is a structural diagram of Example 1 of an obstacle-crossing method for an AGV vehicle proposed by the present invention after the front wheel crosses the obstacle;

[0022] Figure 6 This is a structural schematic diagram of an auxiliary adjustment component of an AGV trolley in an obstacle crossing method of an AGV trolley proposed by the present invention;

[0023] Figure 7 This is a schematic diagram of the three-dimensional structure of the auxiliary adjustment component of the AGV trolley in the obstacle crossing method of the AGV trolley proposed by the present invention.

[0024] Figure 8 This is a structural diagram of Example 2 of an obstacle surmounting method for an AGV vehicle proposed by the present invention.

[0025] Legend:

[0026] 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

[0027] Reference Figure 1-8 The present invention proposes an obstacle surmounting method for an AGV vehicle. The AGV vehicle includes a frame 1, a driving wheel assembly, a driven wheel assembly, and a motor assembly for driving the driving wheel assembly are all mounted on the frame 1. The frame 1 is also mounted with an auxiliary wheel assembly 5 and an auxiliary adjustment assembly for driving the auxiliary wheel assembly 5 upward or downward, including:

[0028] When it is detected that the driving wheel is blocked due to an obstacle in its forward direction, the auxiliary adjustment component is controlled to drive the auxiliary wheel assembly 5 downward to the first position. When the auxiliary wheel assembly 5 is in the first position, the lower edge of the auxiliary wheel is lower than the lower edge of the driving wheel so that the auxiliary wheel and the driven wheel touch the ground while the driving wheel is suspended in the air.

[0029] Control the motor assembly to drive the auxiliary wheel so that the AGV moves forward until the active wheel is above the obstacle;

[0030] The auxiliary adjustment assembly is controlled to drive the auxiliary wheel assembly 5 upward to the second position. When the auxiliary wheel assembly 5 is in the second position, the lower edge of the auxiliary wheel is higher than the lower edge of the driving wheel or the lower edge of the auxiliary wheel is flush with the lower edge of the driving wheel so that the driving wheel touches the obstacle.

[0031] Specifically, when the auxiliary wheel assembly 5 is in the first position, the motor assembly is linked to the auxiliary wheel; when the auxiliary wheel assembly 5 is in the second position, the motor assembly is disconnected from the auxiliary wheel assembly 5.

[0032] Specifically, the motor assembly drives the driving wheel assembly to move, and the driving wheel assembly is linked to the auxiliary wheel assembly 5 through the belt 4;

[0033] When the auxiliary wheel assembly 5 is in the first position, the relative distance between the driving wheel and the auxiliary wheel is expanded until the belt 4 is tightened, so that the motor assembly and the auxiliary wheel are linked;

[0034] When the auxiliary wheel assembly 5 is in the second position, the relative distance between the driving wheel and the auxiliary wheel is reduced to the point where the belt 4 is loose, thereby disconnecting the motor assembly from the auxiliary wheel assembly 5 .

[0035] Specifically, the upward or downward movement of the auxiliary wheel assembly 5 is achieved through the sliding groove 6 provided on the frame 1 .

[0036] In this embodiment, the upward or downward adjustment limit of the auxiliary wheel assembly 5 is achieved by setting the sliding groove 6, thereby improving the stability of the adjustment.

[0037] Specifically, the belt 4 is in a loose state and does not affect the normal travel of the AGV.

[0038] Example 1:

[0039] like Figure 3-7 As shown, the driving wheel assembly is specifically the front wheel assembly 3, and the at least two front wheels included in the front wheel assembly 3 are connected by a front connecting shaft. The motor of the motor assembly can drive the front connecting shaft to rotate. The auxiliary adjustment assembly is located between the front wheel assembly 3 and the driven wheel assembly and is 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.

[0040] Specifically, the active wheel assembly is specifically the front wheel assembly 3, and 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 connected to the screw 10 for transmission. 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 the auxiliary wheel assembly 5 and move up or down synchronously with the auxiliary wheel assembly 5.

[0041] 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 upward or downward, thereby realizing the upward or downward movement of the auxiliary wheel assembly 5.

[0042] In this embodiment, the motor assembly's motor drives the front linkage shaft. During travel, if the front wheel assembly 3 encounters an obstacle, the auxiliary adjustment assembly adjusts the auxiliary wheel assembly 5 downward, positioning the front wheel at or above the obstacle. This interlocks the motor assembly and auxiliary wheel, enabling the AGV's front wheels to cross the obstacle. Once the front wheel has completely crossed the obstacle, the auxiliary adjustment assembly adjusts the auxiliary wheel assembly 5 upward, positioning the lower edge of the auxiliary wheel above the lower edge of the front wheel. When the rear wheel assembly 2 needs to cross the obstacle, the front wheel assembly 3 acts as the active wheel, driving the rear wheel assembly 2 to assist in the task.

[0043] Example 2:

[0044] like Figure 6-8 As shown, the driving wheel assembly is specifically the rear wheel assembly 2, and the at least two rear wheels included in the rear wheel assembly 2 are connected by a rear connecting shaft. The motor of the motor assembly can drive the rear connecting shaft to rotate. The auxiliary wheel assembly 5 is located on the right side of the rear wheel assembly 2 and is close to the rear wheel assembly 2. 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 rear connecting shaft and the auxiliary connecting shaft.

[0045] Specifically, the active wheel assembly is specifically the rear wheel assembly 2, and 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 with 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.

[0046] 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 upward or downward, thereby achieving the synchronous upward or downward movement of the auxiliary wheel assembly 5.

[0047] In this embodiment, when the rear wheels encounter an obstacle and their forward movement is blocked, the 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 wheels to clear the bottom surface and contact the obstacle. The auxiliary wheels then contact 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 auxiliary linkage shaft until the belt 4 is tightened. The rotation of the rear linkage shaft, through the belt 4, drives the auxiliary linkage shaft, allowing the AGV to move in the direction of the front wheels, achieving rear-wheel straddling.

[0048] 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. A method for overcoming obstacles of an AGV vehicle, wherein the AGV vehicle comprises a vehicle frame (1), a driving wheel assembly, a driven wheel assembly, and a motor assembly for driving the driving wheel assembly are all mounted on the vehicle frame (1), an auxiliary wheel assembly (5) and an auxiliary adjustment assembly for driving the auxiliary wheel assembly (5) upward or downward are also mounted on the vehicle frame (1), and the method is characterized in that: include: When it is detected that the driving wheel is blocked from moving forward due to an obstacle in the forward direction, the auxiliary adjustment component is controlled to drive the auxiliary wheel component (5) downward to a first position. When the auxiliary wheel component (5) is in the first position, the lower edge of the auxiliary wheel is lower than the lower edge of the driving wheel so that the auxiliary wheel and the driven wheel touch the ground while the driving wheel is suspended in the air. Control the motor assembly to drive the auxiliary wheel so that the AGV moves forward until the active wheel is above the obstacle; Controlling the auxiliary adjustment component to drive the auxiliary wheel component (5) upward to a second position, when the auxiliary wheel component (5) is in the second position, the lower edge of the auxiliary wheel is higher than the lower edge of the driving wheel or the lower edge of the auxiliary wheel is flush with the lower edge of the driving wheel so that the driving wheel touches the ground on the obstacle; When the auxiliary wheel assembly (5) is in the first position, the motor assembly is linked to the auxiliary wheel; when the auxiliary wheel assembly (5) is in the second position, the motor assembly is disconnected from the auxiliary wheel assembly (5); The motor assembly drives the driving wheel assembly to move, and the driving wheel assembly is linked to the auxiliary wheel assembly (5) via a belt (4); When the auxiliary wheel assembly (5) is in the first position, the relative distance between the driving wheel and the auxiliary wheel is expanded until the belt (4) is tightened, so that the motor assembly and the auxiliary wheel are linked; When the auxiliary wheel assembly (5) is in the second position, the relative distance between the driving wheel and the auxiliary wheel is reduced until the belt (4) is loosened, so that the motor assembly and the auxiliary wheel assembly (5) are disconnected.

2. The obstacle surmounting method of the AGV according to claim 1, characterized in that: The driving wheel assembly is specifically a front wheel assembly (3), at least two front wheels included in the front wheel assembly (3) are connected via a front connecting shaft, the motor of the motor assembly can drive the front connecting shaft to rotate, the auxiliary adjustment assembly is located between the front wheel assembly (3) and the driven wheel assembly and is close to the front wheel assembly (3), at least two auxiliary wheels included in the auxiliary wheel assembly (5) are connected via an auxiliary connecting shaft, and a belt (4) is connected between the front connecting shaft and the auxiliary connecting shaft.

3. The obstacle surmounting method of the AGV according to claim 1, characterized in that: The driving wheel assembly is specifically a rear wheel assembly (2), at least two rear wheels included in the rear wheel assembly (2) are linked via a rear linkage shaft, the motor of the motor assembly can drive the rear linkage shaft to rotate, the auxiliary wheel assembly (5) is located on the right side of the rear wheel assembly (2) and close to the rear wheel assembly (2), at least two auxiliary wheels included in the auxiliary wheel assembly (5) are linked via an auxiliary linkage shaft, and a belt (4) is connected between the rear linkage shaft and the auxiliary linkage shaft.

4. The obstacle surmounting method of the AGV according to claim 2, characterized in that: The active wheel assembly is specifically a front wheel assembly (3), and the auxiliary adjustment assembly specifically includes 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), and the driving motor (9) is connected to the screw (10) in a transmission manner. The screw (10) is meshed with a sleeve (11) that matches the screw (10), and the sleeve (11) is fixed to 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).

5. The obstacle surmounting method of the AGV according to claim 3, characterized in that: The active wheel assembly is specifically a rear wheel assembly (2), and the auxiliary adjustment assembly specifically includes 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), and the driving motor (9) is connected to the screw (10) in a transmission manner. The screw (10) is meshed with a sleeve (11) that matches the screw (10), and the sleeve (11) is fixed to 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).

6. The obstacle surmounting method of the AGV according to claim 1, characterized in that: The upward or downward movement of the auxiliary wheel assembly (5) is achieved through a slide groove (6) provided on the vehicle frame (1).

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