An AGV vehicle traveling mechanism and drive system

Abstract

The present application relates to the technical fields of logistics vehicle design, in particular to a kind of AGV car walking mechanism, including the vehicle body for carrying goods, the bottom of vehicle body is fixedly installed with top mounting bracket, and four pairs of rolling devices are installed in four directions of front, back, left and right of the lower end of top mounting bracket respectively, and the lower portion of adjustment device is fixedly installed with rolling device for driving vehicle body movement by damping device.The present application can utilize four pairs of rolling devices installed in four directions of front, back, left and right of the bottom of vehicle body to control the steering of vehicle body in two different ways according to whether the width of road surface meets the steering requirement, and also can adjust the steering of vehicle body in place by steering device according to the different direction of loading and unloading goods, so as to quickly realize loading and unloading goods, therefore the device has good steering maneuverability in narrow space, is very suitable for transporting goods between narrow-spaced shelves, and can greatly improve the efficiency of work.

Description

Technical Field

[0001] This invention relates to the field of logistics vehicle design technology, specifically to an AGV vehicle traveling mechanism and drive system. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles that utilize electromagnetic or optical automatic guidance devices to safely transport goods along a predetermined route. Since AGVs generally do not require driver operation, they effectively save manpower and improve transportation efficiency. AGVs are currently widely used in logistics warehouses, effectively improving the transfer efficiency of various goods within the warehouse and reducing waiting time.

[0003] Existing AGV vehicles still have some problems. The main issue is that most of them use traditional four-wheel drive, which means that AGVs cannot turn on the spot. Sufficient turning space must be provided on the road surface, which greatly limits the road surface setup. In particular, AGVs that need to transport large goods often have difficulty turning freely between shelves. This forces the AGVs to change the spacing between shelves, resulting in wasted warehouse space, or to manually retrieve goods from shelves with small gaps, thus reducing the efficiency of goods retrieval in the warehouse.

[0004] These problems can be effectively solved by inventing a new type of AGV vehicle traveling mechanism that can better adjust the driving direction and its own orientation. Therefore, we provide an AGV vehicle traveling mechanism and drive system. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV vehicle traveling mechanism and drive system to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an AGV vehicle traveling mechanism, comprising a vehicle body for carrying goods, a top mounting frame fixedly installed at the bottom of the vehicle body, a pair of symmetrically arranged adjustment devices installed in the four directions of front, back, left, and right at the lower end of the top mounting frame, and a rolling device for driving the vehicle body to move fixedly installed below the adjustment devices through a shock-absorbing device, the adjustment devices being used to adjust the direction of the rolling device and the height of the vehicle body, and a steering device for adjusting the overall direction and height of the vehicle body being fixedly installed at the bottom of the vehicle body.

[0007] Preferably, the adjustment device includes a directional motor fixedly mounted to the top mounting bracket, and the output end of the directional motor drives a first U-shaped seat, the end of which is used to fix and mount a shock-absorbing device.

[0008] Preferably, the shock absorption device includes a second U-shaped seat fixedly installed at the bottom of the lifting push rod, and a sliding rod and a centering guide rod are fixedly installed on the second U-shaped seat. A guide sleeve for installing the rolling device is sleeved on the centering guide rod. The guide sleeve and the centering guide rod are connected by a connecting spring. The sliding rod is slidably installed on the side of the guide sleeve. The end of the sliding rod is connected to the guide sleeve by a return spring.

[0009] Preferably, the rolling device includes a connecting frame fixedly installed at the lower end of the shock absorption device, and a drive roller is coaxially arranged inside the connecting frame. A roller motor is fixedly installed at the axis of the drive roller, and the output end of the roller motor is fixedly installed to the connecting frame through a rotating shaft.

[0010] Preferably, the rolling device is provided with a braking device, and the braking device includes a top connecting arm fixedly installed with the connecting frame. A tightening push rod is fixedly installed on the top connecting arm, and a connecting bracket is fixedly installed at the output end of the tightening push rod. An annular brake disc arranged concentrically with the roller motor is fixedly installed at the end of the connecting bracket, and a friction disc for rubbing against the side of the drive roller is fixedly installed on the annular brake disc.

[0011] Preferably, the connecting frame is provided with a guide shaft at a position coaxial with the rotating shaft, and the annular brake disc is slidably installed concentrically with the guide shaft. The guide shaft is provided with a guide groove, and the annular brake disc is fixedly installed with a guide protrusion that slides in cooperation with the guide groove.

[0012] Preferably, the steering device includes a circular seat fixedly mounted under the vehicle body by bolts, and a rotating seat is rotatably mounted under the circular seat via a bearing. A height adjustment push rod is fixedly mounted under the rotating seat, and a support base is driven under the height adjustment push rod. An anti-slip pad is provided under the support base to contact the ground and increase friction. A steering motor is fixedly mounted on the rotating seat, and the output end of the steering motor drives a drive wheel that meshes with a circular gear ring located on the side of the circular seat.

[0013] Preferably, the rotating seat has an annular sliding groove at a concentric position, and an annular sliding protrusion that is slidably fitted onto the circular seat and is fitted into the annular sliding groove.

[0014] Preferably, the rotating seat is provided with an anti-slip device, which includes an array of protrusions disposed below the circular seat, and the anti-slip device includes a pressing push rod fixed on the rotating seat. The output end of the pressing push rod drives a connecting rod, and the output end of the connecting rod is fixedly installed with a pressing seat. The pressing seat is fixedly installed with mating rubber that rubs against the protrusion array.

[0015] A drive system for an AGV vehicle traveling mechanism includes an AGV vehicle traveling mechanism. An energy storage device and a controller are fixedly installed on the top mounting frame. A detection device for detecting road conditions is installed at the front, rear, left, and right sides of the vehicle body. The detection device includes a connecting plate fixedly installed on the vehicle body, and a camera is fixedly installed on the connecting plate. The controller is electrically connected to the energy storage device, the camera, the adjustment device, the rolling device, and the steering device, respectively.

[0016] Compared with the prior art, the beneficial effects of the present invention are: the present invention can use four pairs of rolling devices installed at the bottom of the vehicle body in four directions (front, back, left, and right) to control the steering of the vehicle body in two different ways according to whether the road width meets the steering requirements. Furthermore, the steering device can be used to adjust the vehicle body to turn in place according to the different directions of loading and unloading goods, thereby quickly realizing the loading and unloading of goods. Therefore, the device has good steering maneuverability in narrow spaces and is very suitable for transporting goods between narrowly spaced shelves, which can greatly improve work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a side view of the structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the installation of the adjustment device of the present invention;

[0020] Figure 4 This is a schematic diagram of the steering device of the present invention;

[0021] Figure 5 This is a cross-sectional view of the steering device of the present invention;

[0022] Figure 6 This is a schematic diagram of the installation of the adjusting device and the rolling device of the present invention;

[0023] Figure 7 This is a cross-sectional view of the adjusting device and the rolling device of the present invention.

[0024] In the diagram: 1. Vehicle body; 2. Detection device; 201. Camera; 202. Connecting plate; 3. Steering device; 301. Circular seat; 302. Drive wheel; 303. Rotating seat; 304. Steering motor; 305. Height adjustment push rod; 306. Support base; 307. Anti-slip pad; 4. Rolling device; 401. Connecting frame; 402. Guide shaft; 403. Rotating shaft; 404. Roller motor; 405. Drive roller; 5. Shock absorption device; 501. Sliding rod; 502. Return spring; 503. Centering guide rod; 504. Second U-shaped seat; 505. Guide sleeve; 506. 6. Connecting spring; 6. Adjusting device; 601. Directional motor; 602. First U-shaped seat; 603. Lifting push rod; 7. Anti-slip device; 701. Protrusion array; 702. Matching rubber; 703. Extrusion seat; 704. Connecting rod; 705. Extrusion push rod; 8. Braking device; 801. Connecting bracket; 802. Tightening push rod; 803. Friction disc; 804. Top connecting arm; 805. Annular brake disc; 9. Guide groove; 10. Annular sliding protrusion; 11. Energy storage device; 12. Top mounting bracket; 13. Annular sliding mating groove; 14. Guide protrusion; 15. Controller. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the technical solutions of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1 to 7 The present invention provides a technical solution: an AGV vehicle traveling mechanism, including a vehicle body 1 for carrying goods, a top mounting frame 12 fixedly installed at the bottom of the vehicle body 1, a pair of symmetrically arranged adjustment devices 6 installed in the four directions of front, back, left and right at the lower end of the top mounting frame 12, and a rolling device 4 for driving the vehicle body 1 to move is fixedly installed below the adjustment device 6 through a shock-absorbing device 5, the adjustment device 6 is used to adjust the direction of the rolling device 4 and the height of the vehicle body 1, and a steering device 3 for adjusting the overall direction and height of the vehicle body 1 is fixedly installed at the bottom of the vehicle body 1;

[0027] Please see Figure 2 , Figure 3 , Figure 6 and Figure 7The adjusting device 6 includes a directional motor 601 fixedly mounted to the top mounting bracket 12, and the output end of the directional motor 601 drives a first U-shaped seat 602. The end of the first U-shaped seat 602 is used to fixally mount a shock-absorbing device 5. The shock-absorbing device 5 includes a second U-shaped seat 504 fixedly mounted to the bottom of the lifting push rod 603, and a sliding rod 501 and a centering guide rod 503 are fixedly mounted on the second U-shaped seat 504. A guide sleeve 505 for mounting the rolling device 4 is sleeved on the centering guide rod 503. 05 and centering guide rod 503 are connected by connecting spring 506, and sliding rod 501 is slidably installed on the side of guide sleeve 505. The end of sliding rod 501 is connected to guide sleeve 505 by return spring 502. The design of first U-shaped seat 602 and second U-shaped seat 504 can effectively reduce the height space required to realize rotation and lifting functions, so that the center of the vehicle body can be lower. The shock absorption device 5 can achieve good shock absorption effect by using connecting spring 506 and return spring 502.

[0028] Please see Figure 2 , Figure 3 Figure 6 and Figure 7 The rolling device 4 includes a connecting frame 401 fixedly installed at the lower end of the shock-absorbing device 5, and a drive roller 405 coaxially arranged inside the connecting frame 401. A roller motor 404 is fixedly installed at the axis of the drive roller 405, and the output end of the roller motor 404 is fixedly installed to the connecting frame 401 via a rotating shaft 403. The rolling device 4 is equipped with a braking device 8, and the braking device 8 includes a top connecting arm 804 fixedly installed to the connecting frame 401. A tightening push rod 802 is fixedly installed on the top connecting arm 804, and a connecting bracket 801 is fixedly installed at the output end of the tightening push rod 802. An annular brake disc 805, coaxially arranged with the roller motor 404, is fixedly installed at the end of the connecting bracket 801. A friction disc 803 is fixedly installed on the 5 for rubbing against the side of the drive roller 405. A guide shaft 402 is provided on the connecting frame 401 at a position coaxial with the rotating shaft 403. The annular brake disc 805 is slidably installed concentrically with the guide shaft 402. A guide groove 9 is provided on the guide shaft 402. A guide protrusion 14 that slides with the guide groove 9 is fixedly installed on the annular brake disc 805. In the technical solution of the present invention, the rolling motor 404 is fixed inside the drive roller 405, thereby reducing the space occupied by the rolling motor 404 in the interior of the vehicle body 1. At the same time, the tightening push rod 802 in the brake device 8 can be used to quickly drive the annular brake disc 805 to clamp the two sides of the drive roller 405 to achieve effective braking.

[0029] Please see Figure 2 , Figure 4 and Figure 5The steering device 3 includes a circular seat 301 bolted to the underside of the vehicle body 1, and a rotating seat 303 rotatably mounted below the circular seat 301 via a bearing. A height adjustment push rod 305 is fixedly mounted below the rotating seat 303, and a support base 306 is driven below the height adjustment push rod 305. An anti-slip pad 307 is provided below the support base 306 to increase friction and contact the ground. A steering motor 304 is fixedly mounted on the rotating seat 303, and the output end of the steering motor 304 drives a drive wheel 302 that meshes with a circular gear ring located on the side of the circular seat 301. An annular sliding groove 13 is provided on the rotating seat 303 at a concentric position, and an annular sliding protrusion is fixedly mounted on the circular seat 301 to slide in cooperation with the annular sliding groove 13. Starting from point 10, an anti-slip device 7 is provided on the rotating seat 303. The anti-slip device 7 includes a protrusion array 701 located below the circular seat 301, and the anti-slip device 7 includes a pressing push rod 705 fixed on the rotating seat 303. The output end of the pressing push rod 705 drives a connecting rod 704, and the output end of the connecting rod 704 is fixedly installed with a pressing seat 703. A mating rubber 702 that rubs against the protrusion array 701 is fixedly installed on the pressing seat 703. The steering device 3 can support itself on the ground and lift the entire vehicle body 1. Then, the rotation function provided by the steering motor 304 is used to change the overall orientation of the vehicle body 1, thereby assisting the vehicle body 1 in steering. This allows the vehicle body 1 to be better aligned with the direction of loading or unloading goods, facilitating the loading, unloading, and scanning of goods. This invention utilizes four pairs of rolling devices installed at the bottom of the vehicle body in four directions (front, back, left, and right) to control the vehicle's steering in two different ways depending on whether the road width meets the steering requirements. Furthermore, the steering device can be used to adjust the vehicle's on-the-spot steering according to the different directions of loading and unloading goods, thereby quickly loading and unloading goods. Therefore, this device has excellent steering maneuverability in narrow spaces and is very suitable for transporting goods between narrowly spaced shelves, which can greatly improve work efficiency.

[0030] Working principle: When the device is in operation, if the vehicle body 1 is used alone, it adjusts the direction of movement of the vehicle body 1 in two ways. The first way is when the vehicle body 1 is on a relatively wide road. In this case, the eight rolling devices 4 located below the vehicle body 1 adjust their respective angles under the drive of the corresponding steering devices 3, thus gradually changing the direction of movement of the vehicle body 1. The second way is when the vehicle body 1 is running on a narrow road where the road does not provide sufficient turning space. In this case, taking the current direction of movement of the vehicle body 1 as forward, the two pairs of rolling devices 4 at the front and rear of the vehicle body 1 are kept in contact with the ground for support. The two pairs of rolling devices 4 located on the left and right sides of the vehicle body 1 are lifted inwards and removed from the ground. Then, driven by the corresponding steering device 3, their movement direction is changed to match the required movement direction. Subsequently, the rolling devices 4, after being changed in direction, are pushed downwards and contact the ground. At the same time, the driving devices 4 originally located on the front and rear sides are removed from the ground and their movement direction is changed by the corresponding steering device 3. During this process, the two pairs of rolling devices 4 located on the left and right sides of the original movement direction can start to drive the vehicle body 1 to move. Then, the driving devices 4 located on the front and rear sides of the original movement direction are lowered and contact the ground, so that the eight rolling devices 4 continue to support the vehicle body 1 together. When the vehicle body 1 is used alone, when it is not necessary to change the movement direction of the vehicle body 1 but it is necessary to adjust the orientation of different sides of the vehicle body 1 to facilitate loading and unloading of goods, the rolling devices 4 can be stopped first. Then, the height adjustment push rod 305 is used to lift the vehicle body 1. Then, the directional motor 601 is used to drive the vehicle body 1 to rotate to the required direction. At the same time, each rolling device 4 can also readjust its movement direction according to the new orientation. Then, the vehicle body 1 is lowered again so that the vehicle body 1 is supported by the rolling devices 4.

[0031] Please see Figures 2 to 7 A drive system for an AGV (Automated Guided Vehicle) vehicle traveling mechanism includes an AGV vehicle traveling mechanism. An energy storage device 11 and a controller 15 are fixedly installed on a top mounting frame 12. The energy storage device 11 can be a lithium battery pack. A detection device 2 for detecting road conditions is installed at the front, rear, left, and right sides of the vehicle body 1. The detection device 2 includes a connecting plate 202 fixedly installed with the vehicle body 1, and a camera 201 is fixedly installed on the connecting plate 202. The controller 15 is electrically connected to the energy storage device 11, the camera 201, the adjustment device 6, the rolling device 4, and the steering device 3, respectively. The drive system uses the controller 15 as the control core. The controller 15 can be a microcomputer or a PLC controller. The controller 15 has a corresponding control program set inside to realize the functions that the AGV vehicle traveling mechanism of the present invention can achieve. The controller 15 uses the camera 201 to collect the surrounding road conditions and identify the corresponding ground markings and lines, so as to better utilize the preset control program for control.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An AGV vehicle running gear, characterized by: The application relates to a vehicle body (1) for carrying goods, the bottom of the vehicle body (1) is fixedly provided with a top mounting rack (12), a pair of symmetrical adjusting devices (6) are arranged in the front, back, left and right directions of the lower end of the top mounting rack (12), shock-absorbing devices (5) are arranged below the adjusting devices (6), rolling devices (4) for driving the vehicle body (1) to move are arranged below the shock-absorbing devices (5), the adjusting devices (6) are used for adjusting the direction of the rolling devices (4) and the height of the vehicle body (1), and steering devices (3) for adjusting the overall direction and height of the vehicle body (1) are fixedly arranged at the bottom of the vehicle body (1). The steering device (3) comprises a circular seat (301) fixedly arranged below the vehicle body (1), a rotating seat (303) rotatably arranged below the circular seat (301) through a bearing, a height-adjusting push rod (305) fixedly arranged below the rotating seat (303), a supporting base (306) driven by the height-adjusting push rod (305), anti-skid pads (307) arranged below the supporting base (306) and used for increasing friction with the ground, a steering motor (304) fixedly arranged on the rotating seat (303), and a driving wheel (302) driven by the output end of the steering motor (304) and engaged with a circular gear ring arranged on the side surface of the circular seat (301); an anti-skid device (7) is arranged on the rotating seat (303), the anti-skid device (7) comprises a protrusion array (701) arranged below the circular seat (301), and the anti-skid device (7) comprises an extrusion push rod (705) fixedly arranged on the rotating seat (303), a connecting rod (704) driven by the output end of the extrusion push rod (705), and an extrusion seat (703) fixedly arranged at the output end of the connecting rod (704), and a matching rubber (702) fixedly arranged on the extrusion seat (703) and used for frictionally abutting the protrusion array (701).

2. The AGV vehicle walking mechanism according to claim 1, characterized in that: The adjusting device (6) comprises a direction-adjusting motor (601) fixedly arranged on the top mounting rack (12), a first U-shaped seat (602) driven by the output end of the direction-adjusting motor (601), and a lifting push rod (603) arranged at the end of the first U-shaped seat (602) and used for fixedly arranging the shock-absorbing device (5).

3. The AGV vehicle walking mechanism according to claim 2, characterized in that: The shock-absorbing device (5) comprises a second U-shaped seat (504) fixedly arranged at the bottom of the lifting push rod (603), a sliding rod (501) and a centering guide rod (503) fixedly arranged on the second U-shaped seat (504), a guide sleeve (505) arranged on the centering guide rod (503) and used for arranging the rolling device (4), a connecting spring (506) arranged between the guide sleeve (505) and the centering guide rod (503), and a reset spring (502) arranged between the end of the sliding rod (501) and the guide sleeve (505).

4. The AGV vehicle walking mechanism according to claim 1, characterized in that: The rolling device (4) comprises a connecting frame (401) fixedly installed at the lower end of the damping device (5), and a driving roller (405) is coaxially arranged in the connecting frame (401), the driving roller (405) is fixedly installed at the shaft center of the driving roller (405), and the output end of the roller motor (404) is fixedly installed with the connecting frame (401) through the rotating shaft (403).

5. The AGV vehicle walking mechanism according to claim 4, characterized in that: The rolling device (4) is provided with a brake device (8), and the brake device (8) comprises a top connecting arm (804) fixedly installed with the connecting frame (401), the top connecting arm (804) is fixedly installed with a tightening push rod (802), and the output end of the tightening push rod (802) is fixedly installed with a connecting bracket (801), the connecting bracket (801) is fixedly installed with an annular brake disc (805) arranged concentrically with the roller motor (404), and the annular brake disc (805) is fixedly installed with a friction disc (803) used for cooperating with the side surface of the driving roller (405) to rub.

6. The AGV vehicle walking mechanism according to claim 5, characterized in that: The connecting frame (401) is provided with a guide shaft (402) at the coaxial position of the rotating shaft (403), and the annular brake disc (805) is coaxially and slidingly installed with the guide shaft (402), the guide shaft (402) is provided with a guide groove (9), and the annular brake disc (805) is fixedly installed with a guide protrusion (14) slidingly matched with the guide groove (9).

7. The AGV vehicle walking mechanism according to claim 1, characterized in that: The rotating seat (303) is provided with an annular sliding matching groove (13) at the concentric position, and the circular seat (301) is fixedly installed with an annular sliding protrusion (10) slidingly matched with the annular sliding matching groove (13).

8. An AGV vehicle characterized by: The AGV car walking mechanism comprises the AGV car walking mechanism of any one of claims 1-7, the top mounting frame (12) is fixedly installed with an energy storage device (11) and a controller (15), and the car body (1) is provided with a detection device (2) for detecting road conditions on the front, rear, left and right sides, the detection device (2) comprises a connecting plate (202) fixedly installed with the car body (1), and the connecting plate (202) is fixedly installed with a camera (201), and the controller (15) is electrically connected with the energy storage device (11), the camera (201), the adjusting device (6), the rolling device (4) and the steering device (3).

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