AGV robot with high stability

Abstract

The application discloses an AGV robot with high stability, which comprises a base, a tipping bucket assembly, a turnover driving assembly for driving the base to move, a moving assembly and a damping and buffering mechanism. The base top is connected with the tipping bucket assembly; the turnover driving assembly is arranged on the base and can drive the tipping bucket assembly to turn over from a loading position to an unloading position; and the damping and buffering mechanism is arranged on four corners of the base top to reduce impact and abrasion. The base is surrounded by a bottom plate, a side wall and a top plate to form a cavity, and a T-shaped connecting column supporting structure is arranged in the cavity to enhance the strength of the top plate. The turnover driving assembly comprises a ball screw linear module, a guide shaft, a guide push plate, a push-pull rod and a mounting bracket, and has the advantages of low cost, high stability and simple control. The AGV robot has system control functions of intelligent obstacle avoidance, path planning, automatic parking and charging, and has the advantages of high stability, flexibility and long service life, and is suitable for the fields of automatic logistics and warehousing.

Description

TECHNICAL FIELD

[0001] The application relates to an AGV robot, in particular to an AGV robot with high stability. BACKGROUND

[0002] The AGV intelligent robot, also known as an AGV trolley, generally refers to a trolley equipped with an automatic guiding device such as an electromagnetic or optical device, which can travel along a specified guiding path, has safety protection and various moving and loading functions. The AGV trolley in the prior art is generally composed of a chassis, a supporting part and a shell, and the goods are directly placed on the supporting part and connected with the chassis. There are also some dump-type AGV trolleys in the prior art which tilt the tray on the top of the shell to pour out the goods. The Chinese patent document with the publication number CN213768786U discloses a dump-type AGV intelligent carrying robot, which specifically discloses a bottom plate and a shell, the bottom plate is provided with a direct-connected motor for driving the whole robot to move, the top of the shell is provided with a tray, the tray is arranged outside the shell through a dump bracket provided on the bottom plate, the bottom plate is further provided with a driving device for driving the dump bracket, although the carrying capacity of the robot is improved, but it still has the following disadvantages: 1. One end of the rotating bracket is directly connected to the bottom of the dump, and the other end is directly connected with the output shaft of the motor, the contact area of the bracket and the tray is small, the supporting point is small, and the stability of the tray is poor. 2. The dump bracket has a high risk of breaking, the tray is easy to tilt, and the service life of the AGV robot is shortened.

[0003] Therefore, it is necessary to propose a further solution. SUMMARY

[0004] The application provides an AGV robot with high stability to solve the above technical problems.

[0005] The purpose of the application is achieved by the following technical scheme: an AGV robot with high stability, comprising:

[0006] A base, a dump assembly is rotatably connected to the top of the base, the dump assembly comprises a dump for carrying goods;

[0007] A turnover driving assembly is arranged in the base and connected with the dump assembly, for driving the dump assembly to rotate, so as to make the dump assembly turn over from the loading position to the unloading position;

[0008] A moving assembly is connected with the base, for driving the base to move;

[0009] The shock buffering mechanism is arranged on the four corners of the top of the base, and the bottom of the tipping bucket is connected with the shock buffering mechanism when the tipping bucket assembly is in the loading position; the bottom of the tipping bucket assembly is separated from the shock buffering mechanism when the tipping bucket is in the unloading position.

[0010] Further, the base comprises a bottom plate, side walls extending upward along the edges of the bottom plate, and a top plate covering the top of the side walls, the bottom plate, the side walls and the top plate enclosing a cavity; a support structure is further arranged in the cavity, the support structure comprising a plurality of equidistantly distributed connecting columns, the connecting columns being T-shaped; one end of the connecting column is fixedly connected to the top plate, and the other end is fixedly connected to the bottom plate.

[0011] Further, the tipping driving assembly comprises a ball screw linear module, at least two guide shafts, a guide push plate, a push-pull rod and a mounting bracket, the mounting bracket being fixedly connected to the bottom plate; the ball screw linear module is fixedly connected to the mounting bracket in a manner parallel to the bottom plate, and two guide shafts are symmetrically fixed to the two sides of the ball screw linear module; the guide push plate is fixedly connected to the sliding block of the ball bearing module, and is sleeved on the guide shafts and can move horizontally along the length of the guide shafts; one end of the push-pull rod is rotatably connected to the guide push plate, and the other end is rotatably connected to the tipping bucket assembly.

[0012] Further, the tipping bucket assembly further comprises two symmetrically arranged tipping links, the bottom of the tipping bucket is fixedly connected with a support frame coaxially, and the transverse cross section of the support frame is a hollow square structure; one end of each of the two tipping links is fixedly connected to the left and right sides of the support frame, and the other end is rotatably connected to the side wall.

[0013] Further, the tipping link has a receiving section, a connecting section and a curved section connecting the receiving section and the connecting section; the length of the receiving section is the same as the length of the support frame, and a plurality of rectangular protrusions are upwardly extended on the upper surface of the receiving section, and the protrusions are screwed to the support frame by bolts; one end of the connecting section is rotatably connected to the side wall by a rotating shaft, and the end close to the curved section is rotatably connected to the push-pull rod, so that the tipping link can be flipped upward or downward relative to the top plate about the rotating shaft.

[0014] Further, the inside of the side wall is covered with a mounting side plate, the mounting side plate inwardly extending two connecting portions, the side wall inwardly extending two connecting portions, and connection holes being formed in the two connecting portions, and the two connecting portions being rotatably connected to the corresponding tipping links by the rotating shafts through the connection holes.

[0015] Further, when the tipping bucket assembly is located at the loading position, the angle between the center line of the tipping bucket and the ground is alpha, alpha=0°; when the tipping bucket assembly is located at the unloading position, the angle between the center line of the tipping bucket and the ground is beta, 90°≥beta≥45°.

[0016] Further, the damping and buffering mechanism is a rubber damping pad.

[0017] Further, the moving assembly comprises at least two driving wheels in contact with the ground, a plurality of universal wheels in contact with the ground, and a driving motor driving the driving wheels to rotate, the at least two driving wheels being rotatably connected to the two sides of the base, and the plurality of universal wheels being rotatably connected to the bottom of the base.

[0018] The application discloses an AGV robot control system with high stability, and specifically relates to the following technical scheme: an AGV robot control system with high stability comprises a chip and a power supply assembly arranged in a cavity, and the chip is electrically connected with the power supply; the chip comprises a control module and a navigation module; the navigation module comprises an intelligent obstacle avoidance unit, a path planning unit, an automatic positioning and parking unit, an automatic positioning and charging unit and a ground code recognition unit, and the intelligent obstacle avoidance unit, the path planning unit, the automatic parking unit, the automatic positioning and charging unit and the ground code recognition unit are electrically connected with the control module; when the intelligent obstacle avoidance unit encounters an obstacle, the intelligent obstacle avoidance unit sends an obstacle signal to the control module, and the control module controls the moving assembly to stop moving; the path planning unit sends the latest path information to the control module after re-planning a path, and the control module controls the moving assembly to drive the base to move according to the latest path; when the AGV robot reaches a specified position, the control module controls the moving assembly to stop moving; the automatic parking unit detects a parking position and sends a parking signal to the path planning unit, the path planning unit sends the latest path information to the control module after re-planning a path, and the control module controls the moving assembly to drive the base to move according to the latest path, so that the AGV robot is parked and unloaded; the parking position is provided with a power supply, and the automatic positioning and charging unit automatically positions the power supply and controls the AGV robot to be charged after the AGV robot is parked.

[0019] The application has the following beneficial technical effects:

[0020] (1) The present application sets multiple rectangular protrusions on the receiving sections of the two turning connecting rods, and sets a square support frame connected with the receiving sections of the turning connecting rods at the bottom of the tipping bucket at the same time, the multiple rectangular protrusions are connected along the two sides of the support frame, the point contact is changed into the surface contact, multiple support surfaces for the tipping bucket are formed, the stress area of the tipping bucket is increased, and the stability of the tipping bucket is ensured. Moreover, the damping and buffering mechanism is arranged on the four corners of the bottom of the tipping bucket, the bottom of the tipping bucket is in abutment with the base of the AGV robot when the tipping bucket is in the object carrying position, the base plays a supporting role on the tipping bucket, the support area of the tipping bucket is further increased, the tipping bucket is prevented from tilting, the tipping bucket is not in hard contact with the base, the abrasion is reduced, and the service life of the AGV robot is prolonged.

[0021] (2) The base of the present application plays a supporting and supporting role on the tipping bucket, therefore, the support structure is additionally arranged in the cavity, the support structure comprises multiple T-shaped connecting columns, the strength of the top plate is enhanced, and the top plate is not easy to deform under gravity.

[0022] (3) The ball screw module is adopted in the turning driving assembly of the present application, and low cost, high stability and relatively simple control are formed.

[0023] (4) The driving wheel and the universal wheel are combined for use in the present application, sufficient driving force and flexibility of movement reversing of the AGV robot are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is one of the overall structure schematic diagrams of the AGV robot with high stability of the present application;

[0025] Figure 2 is the second overall structure schematic diagram of the AGV robot with high stability of the present application;

[0026] Figure 3 is the structure schematic diagram of the base of the AGV robot with high stability of the present application after the top plate and the side wall are removed;

[0027] Figure 4 is the structure schematic diagram of the turning driving assembly and the turning connecting rod in the AGV robot with high stability of the present application;

[0028] Figure 5 is the structure schematic diagram of the turning connecting rod in the present application. DETAILED DESCRIPTION

[0029] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0030] Please refer to Figures 1-5 The AGV robot with high stability comprises:

[0031] A base 1, a tipping bucket assembly 11 is rotatably connected to the top of the base 1, the tipping bucket assembly 11 comprises a tipping bucket 110 for carrying goods;

[0032] A turnover driving assembly 13 is arranged in the base 1 and connected with the tipping bucket assembly 11, for driving the tipping bucket assembly 11 to rotate, so that the tipping bucket assembly 11 is turned from the loading position A to the unloading position B;

[0033] A moving assembly 12 is connected with the base 1, for driving the base 1 to move;

[0034] A shock-absorbing and buffering mechanism 14 is arranged on the four corners of the top of the base 1, when the tipping bucket assembly 11 is in the loading position A, the bottom of the tipping bucket 110 is connected with the shock-absorbing and buffering mechanism 14; when the tipping bucket assembly 11 is in the unloading position B, the bottom of the tipping bucket 110 is separated from the shock-absorbing and buffering mechanism 14.

[0035] Generally, the various hardware in this embodiment can be performed according to the following steps: first, when the tipping bucket assembly 11 is in the loading position A, the worker or the mechanical arm places the goods on the tipping bucket 110, the moving assembly 12 drives the base 1 to move, and the goods on the tipping bucket 110 are transported to the designated unloading location; at this time, the turnover driving assembly 13 drives the tipping bucket assembly 11 to rotate upward, so that the tipping bucket assembly 11 is turned from the loading position A to the unloading position B to realize automatic unloading of the tipping bucket 110, and then the turnover driving assembly 13 drives the tipping bucket assembly 11 to rotate downward to the loading position A; finally, the moving assembly 12 drives the base 1 to move to the loading location to reload. The shock-absorbing and buffering mechanism 14 can be a rubber shock-absorbing pad, which can buffer the impact force caused by the tipping bucket assembly 11 on the base 1. On the other hand, the base 1 supports the tipping bucket 110, and the tipping bucket 110 does not need to be in hard contact with the base 1, thereby causing wear.

[0036] In some preferred embodiments of the present application, the base 1 comprises a bottom plate 103, a side wall 102 extending upward along the edge of the bottom plate 103, and a top plate 101 covering the top of the side wall 102, the bottom plate 103, the side wall 102 and the top plate 101 enclosing a cavity; a support structure is further arranged in the cavity, the support structure comprising a plurality of equidistantly distributed connecting columns 104, the connecting columns 104 being T-shaped; one end of the connecting column 104 is fixedly connected to the top plate 101, and the other end is fixedly connected to the bottom plate 103. Accordingly, the arrangement of the connecting column 104 ensures the rationality and stability of the structure while improving the strength of the top plate 101, making it less likely to deform and prolonging the service life of the AGV robot.

[0037] In some preferred embodiments of the present application, as shown in Figure 4 The overturning driving assembly 13 comprises a ball screw linear module, at least two guide shafts 133, a guide push plate 131, a push-pull rod 134 and a mounting bracket 135, the mounting bracket 135 being fixedly connected to the bottom plate 103; the ball screw linear module is fixedly connected to the mounting bracket 135 in a manner parallel to the bottom plate 103, and two guide shafts 133 are symmetrically fixed on both sides thereof; the guide push plate 131 is fixedly connected to the sliding block of the ball bearing module, and is sleeved on the guide shaft 133 on both sides and can move horizontally along the length of the guide shaft 133; one end of the push-pull rod 134 is rotatably connected to the guide push plate 131, and the other end is rotatably connected to the tipping bucket assembly 11. Accordingly, the present application adopts the ball screw module to form lower cost, higher stability and relatively simple control. During operation, the sliding block in the ball screw linear module moves linearly, driving the guide push plate 131 to move reciprocatingly linearly, and the arrangement of the guide shaft 133 ensures the stability of the movement of the guide push plate 131.

[0038] In some preferred embodiments of the present application, the tipping bucket assembly 11 further comprises two symmetrically arranged overturning connecting rods 111, the bottom of the tipping bucket 110 is fixedly connected to a support frame 112 coaxially arranged therewith, and the transverse cross section of the support frame 112 is in a hollow square structure; one end of each of the two overturning connecting rods 111 is fixedly connected to the left and right sides of the support frame, and the other end is rotatably connected to the side wall 102. Accordingly, the support frame is coaxially arranged with the tipping bucket 110, and the support frame not only serves as a connection between the overturning connecting rod 111, but also thickens the bottom of the tipping bucket 110, making the connection between the tipping bucket 110 and the overturning connecting rod less likely to deform under stress.

[0039] In some preferred embodiments of the present application, as shown in Figure 5As shown, the turnover connecting rod 111 has a receiving segment 1112, a connecting segment 1110 and a bending segment 1111 connecting the receiving segment 1112 and the connecting segment 1110; the length of the receiving segment 1112 is the same as the length of the support frame, and the upper surface of the receiving segment 1112 extends upwardly with a plurality of rectangular protrusions 1121, which are screwed on the support frame body 112 by bolts; one end of the connecting segment 1110 is rotationally connected to the side wall 102 by a rotating shaft, and the end close to the bending segment 1111 is rotationally connected to the push-pull rod 134, so that it rotates upwardly or downwardly relative to the top plate 101 with the rotating shaft as the axis. Accordingly, during the rotation of the turnover connecting rod 111, when the included angle between the turnover connecting rod 111 and the top plate 101 is less than 90°, the push-pull rod 134 is driven by the guide push plate 131 to play a role in assisting the rotation of the turnover connecting rod 111, thereby providing sufficient power for the turnover 110 to unload the goods; when the included angle between the turnover connecting rod 111 and the top plate 101 is greater than 90°, the push-pull rod 134 plays a role in pulling, thereby accurately controlling the rotation speed and angle of the turnover 110 and prolonging the service life of the AGV robot.

[0040] In some preferred embodiments of the present application, in order to prevent the side wall 102 from deforming and ensure the stability of the rotation of the turnover connecting rod 111, the side wall 102 is covered with a mounting side plate 136, which extends inwardly with two connecting portions, and connecting holes are formed in the two connecting portions, and the two connecting portions are rotationally connected to the corresponding turnover connecting rod 111 by the rotating shafts via the connecting holes.

[0041] In some preferred embodiments of the present application, more specifically, when the turnover assembly 11 is located at the loading position A, the included angle between the center line of the turnover 110 and the ground is α, and α = 0°; when the turnover assembly 11 is located at the unloading position B, the included angle between the center line of the turnover 110 and the ground is β, and 90° ≥ β ≥ 45°. Accordingly, the turnover 110 can accurately turn upwardly or downwardly, thereby ensuring that it can smoothly complete the unloading and the goods are not easily retained at the discharge port of the turnover 110.

[0042] In some preferred embodiments of the present application, the moving assembly 12 includes at least two driving wheels 121 in contact with the ground, a plurality of universal wheels 122 in contact with the ground and a driving motor (not shown in the figure) driving the rotation of the driving wheels 121, and the at least two driving wheels 121 are rotationally connected to the two sides of the base 1; the plurality of universal wheels 122 are rotationally connected to the bottom of the base 1 at equal distances. Accordingly, the driving motor (not shown in the figure) provides power for the driving wheels 121, and the universal wheels 122 can rotate at multiple angles, thereby adjusting the moving direction of the AGV robot at multiple angles and improving the flexibility of the AGV robot.

[0043] The application also relates to a control system of an AGV robot with high stability, which specifically comprises a chip and a power supply component arranged in a cavity, and the chip is electrically connected with the power supply; the chip comprises a control module and a navigation module; the navigation module comprises an intelligent obstacle avoidance unit, a path planning unit, an automatic positioning and parking unit, an automatic positioning and charging unit and a ground code recognition unit, and the intelligent obstacle avoidance unit, the path planning unit, the automatic parking unit, the automatic positioning and charging unit and the ground code recognition unit are electrically connected with the control module.

[0044] When the intelligent obstacle avoidance unit encounters an obstacle, a signal of the obstacle is sent to the control module, and the control module controls the moving assembly 12 to stop moving; the path planning unit sends the latest path information to the control module after re-planning the path, and the control module controls the moving assembly 12 to drive the base 1 to move according to the latest path.

[0045] When the AGV robot reaches the specified location, the control module controls the moving assembly 12 to stop moving; the automatic parking unit detects the parking position and sends a parking signal to the path planning unit, the path planning unit sends the latest path information to the control module after re-planning the path, and the control module controls the moving assembly 12 to drive the base 1 to move according to the latest path to realize the parking and unloading of the AGV robot; the parking position is provided with a power supply, and the automatic positioning and charging unit automatically positions the power supply and controls the AGV robot to charge after the AGV robot is parked.

[0046] As comprehensively described above, the application has the advantages of high stability, flexibility, long service life and the like, and is worth promoting.

[0047] The application is described in detail above, and the principle and implementation mode of the application are described by applying specific examples; the above description of the embodiments is only used to help understand the core idea of the application; meanwhile, according to the principle and method of the application, the specific implementation mode and application range can be changed by the person skilled in the art, and the content of the description should not be understood as the limitation of the application.

[0048] The above description of the disclosed embodiments enables the person skilled in the art to implement or use the application. Various modifications of the embodiments will be apparent to the person skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An AGV robot with high stability, characterized in that, The utility model relates to a kind of turnover vehicle, including: Base, the top of base is rotatably connected with tipping body assembly, and the tipping body assembly includes tipping body for carrying goods; Turnover drive assembly, the turnover drive assembly is arranged in the base, and is connected with the tipping body assembly, for driving the tipping body assembly to rotate, to make the tipping body assembly overturn from loading position to unloading position; Moving assembly, the moving assembly is connected with the base, for driving the base to move; Shock-absorbing buffer mechanism, the shock-absorbing buffer mechanism is arranged on the four corners of base top, when tipping body assembly is in loading position, the bottom of tipping body is connected with the shock-absorbing buffer mechanism;When tipping body is in unloading position, the bottom of tipping body assembly is separated from the shock-absorbing buffer mechanism; Wherein: The tipping body assembly further includes two symmetrical tipping links, the bottom of tipping body is fixedly connected with a coaxial support frame, one end of two tipping links is fixedly connected with the left and right sides of support frame respectively, and the other end is rotatably connected on side wall, so that it can be turned up or down relative to top plate; The upper surface of the tipping link extends a plurality of rectangular protrusions upward, and the rectangular protrusions are connected with the support frame.

2. The AGV robot with high stability according to claim 1, wherein, The base includes a bottom plate, a side wall extending upward along the edge of the bottom plate, and a top plate covering the top of the side wall, the bottom plate, the side wall and the top plate enclose a cavity, and a support structure is further arranged in the cavity, the support structure includes a plurality of equidistantly distributed connecting columns, and the connecting columns are T-shaped, one end of the connecting column is fixedly connected to the top plate, and the other end is fixedly connected to the bottom plate.

3. The AGV robot with high stability according to claim 2, characterized in that, The turnover drive assembly includes a ball screw linear module, at least two guide shafts, a guide push plate, a push-pull rod and a mounting bracket, the mounting bracket is fixedly connected to the bottom plate, the ball screw linear module is fixedly connected to the mounting bracket in parallel to the bottom plate, and one side of the ball screw linear module is symmetrically fixed with the guide shaft, the guide push plate is fixedly connected to the sliding block of the ball screw linear module, and the guide push plate is sleeved on the guide shaft and can move left and right horizontally along the length of the guide shaft, one end of the push-pull rod is rotatably connected to the guide push plate, and the other end is rotatably connected to the tipping body assembly.

4. The AGV robot with high stability according to claim 2, characterized in that, The transverse section of the support frame is a hollow square structure.

5. The AGV robot with high stability according to claim 1, characterized in that, The tipping link has a receiving section, a connecting section and a curved section connecting the receiving section and the connecting section, the length of the receiving section is the same as the length of the support frame, and a plurality of rectangular protrusions are extended upward on the upper surface of the receiving section, the rectangular protrusions are screwed on the support frame by bolts, one end of the connecting section is rotatably connected to the side wall by a rotating shaft, and the end close to the curved section is rotatably connected to the push-pull rod.

6. The AGV robot with high stability according to claim 2, characterized in that, The inside of the side wall is covered with a mounting side plate, the mounting side plate extends inwardly with two connecting parts, connecting holes are formed in the two connecting parts, and the two connecting parts are rotatably connected to the corresponding tipping links by rotating shafts through the connecting holes.

7. The AGV robot with high stability according to claim 1, characterized in that, When the tipping body assembly is in the loading position, the included angle between the center line of the tipping body and the ground is α, and α=0°, when the tipping body assembly is in the unloading position, the included angle between the center line of the tipping body and the ground is β, and 90°≥β≥45°.

8. The AGV robot with high stability according to claim 1, wherein, The shock buffering mechanism is a rubber shock pad.

9. The AGV robot with high stability according to claim 1, wherein, The moving assembly comprises at least two driving wheels in contact with the ground, a plurality of universal wheels in contact with the ground, and a driving motor for driving the driving wheels to rotate, the at least two driving wheels being rotatably connected to two sides of the base, and the plurality of universal wheels being rotatably connected to the bottom of the base at equal distances.

10. A control system for the AGV robot with high stability according to any one of claims 1 to 9, characterized in that, The AGV robot comprises a base, a moving assembly, a control module, a navigation module, a power supply assembly and a chip; the chip and the power supply assembly are arranged in a cavity; the chip is electrically connected with the power supply; the chip comprises the control module and the navigation module; the navigation module comprises an intelligent obstacle avoidance unit, a path planning unit, an automatic positioning and parking unit, an automatic positioning and charging unit and a ground code recognition unit; the intelligent obstacle avoidance unit, the path planning unit, the automatic parking unit, the automatic positioning and charging unit and the ground code recognition unit are electrically connected with the control module; when the intelligent obstacle avoidance unit encounters an obstacle, the intelligent obstacle avoidance unit sends a signal of the obstacle to the control module, and the control module controls the moving assembly to stop moving; the path planning unit sends the latest path information to the control module after re-planning the path, and the control module controls the moving assembly to drive the base to move according to the latest path; when the AGV robot reaches a specified location, the control module controls the moving assembly to stop moving; the automatic parking unit detects a parking position and sends a parking signal to the path planning unit, the path planning unit sends the latest path information to the control module after re-planning the path, and the control module controls the moving assembly to drive the base to move according to the latest path to realize parking and unloading of the AGV robot; the parking position is provided with a power supply, and the automatic positioning and charging unit automatically positions the power supply and controls the AGV robot to charge after the AGV robot is parked.

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