AGV robot

Abstract

The AGV robot comprises a chassis, the left outer wall and the right outer wall of the chassis are each provided with a notch part, a hydraulic damping structure is installed in each notch part, a flat plate is installed at the movable end of each hydraulic damping structure, and a steering adjustable electric walking module is installed at the bottom end of each flat plate; the hydraulic damping structure allows the flat plate and the steering adjustable electric walking module to obliquely swing up and down relative to the chassis. The direction and speed of each steering module can be independently adjusted, more reliable and accurate motion control can be provided in an application scene needing high-precision positioning and path planning, and meanwhile, the motion control can be achieved on the high-speed running ground or the uneven ground. The steering adjustable type electric walking module can better absorb and reduce vibration caused by road surface driving through a hydraulic damping structure, and therefore the stability of the AGV is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV machines, in particular to an AGV robot. Background Art

[0002] AGV (Automated Guided Vehicle) is an intelligent robot with autonomous navigation. Its basic structure includes chassis, navigation system, power system, control system, and vehicle. The chassis of AGV is its basic structure, carrying and supporting the entire robot. The chassis design takes into account load capacity, stability and maneuverability. Wheels or tracks are usually used as the basis for movement to adapt to different ground surfaces and environments. The navigation system is the core technology of AGV, enabling it to operate autonomously in complex environments. The navigation system includes a variety of sensors such as laser radar, camera, ultrasonic sensor, etc., which are used to sense the surrounding environment, detect obstacles and identify landmarks, so as to perform precise positioning and path planning. The power system provides the power required by AGV, and batteries are usually used as the main energy source to support long-term operation and high-efficiency work; such as an AGV robot disclosed in the authorization announcement number CN214136038U, which includes a chassis and four wheels respectively arranged on the front and rear sides of the chassis. The wheels are connected to the chassis through a vibration reduction mechanism. The vibration reduction mechanism allows the wheels to tilt relative to the chassis. The wheels can be tilted on rough roads under the action of the vibration reduction mechanism. The robot can adaptively tilt to adapt to the road surface, maintain walking stability, improve the passability of the entire robot, and adapt to autonomous work in harsh environments. However, this technical solution mainly relies on the vibration reduction mechanism to connect the vehicle and the chassis during use. The steering of the AGV robot requires controlling the rotation of the motor and the Mecanum wheel at the corresponding position. That is, each wheel needs to independently control its speed and direction to achieve the desired movement of the entire vehicle. At this time, the wheel does not have the function of active steering. In applications that require precise positioning or complex route planning, such as narrow passages or high-density environments, the maneuverability of the Mecanum wheel will lead to difficulties in precise positioning and path planning. Summary of the invention

[0003] The purpose of the present invention is to provide an AGV robot, which adds two steering-adjustable electric walking modules to the chassis of the AGV robot, and the steering-adjustable electric walking modules are connected through a hydraulic shock-absorbing structure. In the process of the steering-adjustable electric walking module driving the AGV robot to move, the universal wheel unit and the double-spring shock-absorbing structure assist the robot to move, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: an AGV robot, comprising:

[0005] A chassis, wherein notches are provided on both left and right outer walls of the chassis, and a hydraulic shock absorbing structure is installed inside the notch, a flat plate is installed at the movable end of the hydraulic shock absorbing structure, and a steering-adjustable electric walking module is installed at the bottom end of the flat plate, and the hydraulic shock absorbing structure allows the flat plate and the steering-adjustable electric walking module to tilt and swing up and down relative to the chassis;

[0006] A longitudinal beam, wherein two longitudinal beams are provided, and the two longitudinal beams are installed on one side of the top end of the chassis, a double-spring shock-absorbing structure is installed between the two longitudinal beams, and a universal wheel monomer is installed at the movable end of the double-spring shock-absorbing structure.

[0007] Preferably, the hydraulic shock absorbing structure includes two support arms fixed inside the notch, a double-link connecting piece on the side wall surface away from each other of the two support arms, and a C-mouth front yoke installed on the double-link connecting piece away from one end of the support arm, a hydraulic damper is hinged on the outer wall of one side of the support arm, the top end of the piston rod of the hydraulic damper is hinged to the outer wall of one side of the C-mouth front yoke, and the flat plate is fixed on the outer wall of one side of the C-mouth front yoke.

[0008] Preferably, the steering-adjustable electric walking module includes a turntable rotatably mounted on the lower surface of a flat plate, a right-angled hollow shell fixed at the bottom end of the turntable, and an electric power-assisted wheel mounted on an outer wall on one side of the right-angled hollow shell, and a gear drive unit for driving the turntable to rotate is installed at the top of the flat plate.

[0009] Preferably, the gear drive unit includes a stepper motor installed on the top of the flat plate, a gear plate installed on the output end of the stepper motor through a coupling, and a driven gear ring fixed to the outer circumference of the rotating disk, and the driven gear ring and the gear plate are meshed with each other.

[0010] Preferably, the double-spring shock-absorbing structure includes a support shaft rotatably installed between the two longitudinal beams, a bending frame fixed on the surface of the support shaft, and two flat steel springs fixed on the top of the bending frame. The universal wheel unit is installed at the bottom end of the bending frame, a cross beam is fixed between the two longitudinal beams, and the top of the flat steel spring is fixedly connected to the bottom end of the cross beam.

[0011] Preferably, the support shaft, bending frame and crossbeam are all made of aluminum alloy.

[0012] Preferably, U-shaped gantry frames are installed at the corners of the top of the chassis, and through holes are provided on both sides of the top of the U-shaped gantry frames.

[0013] Preferably, a rotating lifting module is installed on one side of the top of the chassis, and the rotating lifting module is used to synchronously turn the goods when the AGV robot turns.

[0014] Preferably, the rotary lifting module includes a U-shaped machine platform fixed on the top of the chassis, four guide rails vertically slidably installed inside the U-shaped machine platform, a tray fixed on the top of the four guide rails, and a gear rotating mechanism arranged on the top of the tray for driving the rotation of the goods. A gear rack lifting mechanism for driving the tray and the gear rotating mechanism for Z-axis lifting is installed on the outer wall of one side of the U-shaped machine platform.

[0015] Preferably, the gear rotating mechanism includes an outer gear ring rotatably installed on the top of the tray, a servo motor installed on one side of the bottom end of the tray, and a driving gear used by the servo motor to drive the outer gear ring to rotate, and the gear rack lifting mechanism includes a reduction motor installed on the outer wall of one side of the U-shaped machine table, a gear plate installed at the output end of the reduction motor, and a linear rack installed on the outer wall of one side of one of the guide rails, and the linear rack and the gear plate are meshed with each other.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: the AGV robot is provided with structures that cooperate with each other, such as a steering-adjustable electric walking module and a hydraulic shock-absorbing structure. Compared with the Mecanum wheel, the steering-adjustable electric walking module can more directly adjust and control the direction of the vehicle without relying on complex coordination between wheels, and each steering module can independently adjust the direction and speed. Therefore, in application scenarios that require high-precision positioning and path planning, more reliable and precise motion control can be provided. At the same time, when running at high speed or on uneven ground, the steering-adjustable electric walking module can better absorb and reduce the vibration caused by road driving through the hydraulic shock-absorbing structure, thereby improving the stability of the AGV and allowing the AGV to operate in complex factory or warehouse environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0018] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0019] Figure 3 The three-dimensional structure of the present invention is shown in FIG. Figure 3 ;

[0020] Figure 4 The three-dimensional structure of the present invention is shown in FIG. Figure 4 ;

[0021] Figure 5 The three-dimensional structure of the present invention is shown in FIG. Figure 5 ;

[0022] Figure 6 This is a schematic diagram of the three-dimensional structure of a steering-adjustable electric travel module according to the second embodiment of the present invention;

[0023] Figure 7 For the present invention Figure 4 Enlarged structural diagram at A in the middle.

[0024] In the figure: 1. chassis; 101. notch; 2. rotating lifting module; 201. U-shaped machine; 202. guide rail; 203. tray; 204. gear rack lifting mechanism; 205. gear rotating mechanism; 3. longitudinal beam; 4. double spring shock absorbing structure; 401. support shaft; 402. bending frame; 403. cross beam; 404. flat steel spring; 5. universal wheel monomer; 6. hydraulic shock absorbing structure; 601. support arm; 602. double-link connector; 603. C-mouth front yoke; 604. hydraulic damper; 7. flat plate; 8. steering adjustable electric travel module; 801. gear drive unit; 802. turntable; 803. right-angle hollow shell; 804. electric power-assisted wheel. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Embodiment 1, by Figures 1 to 5 The present invention includes a chassis 1, a U-shaped gantry is installed at the corner position of the top of the chassis 1, through holes are set on both sides of the top of the U-shaped gantry, a notch 101 is set on the left and right outer walls of the chassis 1, and a hydraulic shock absorbing structure 6 is installed inside the notch 101, a plate 7 is installed at the movable end of the hydraulic shock absorbing structure 6, and a steering adjustable electric walking module 8 is installed at the bottom end of the plate 7, the hydraulic shock absorbing structure 6 allows the plate 7 and the steering adjustable electric walking module 8 to tilt up and down relative to the chassis 1, and each steering adjustable electric walking module 8 has independent driving ability and direction control, and can be adjusted individually according to needs and under the control of the AGV control system;

[0027] Longitudinal beam 3, two longitudinal beams 3 are provided, and the two longitudinal beams 3 are installed on one side of the top of the chassis 1, and a double spring shock absorbing structure 4 is installed between the two longitudinal beams 3, and a universal wheel monomer 5 is installed at the movable end of the double spring shock absorbing structure 4. When the steering adjustable electric walking module 8 drives the AGV to move, the design of the universal wheel monomer 5 enables the AGV to move freely in multiple directions, including front and back, left and right, and diagonal movement, which greatly enhances the maneuverability and flexibility of the robot in a narrow space, so that the AGV can more easily pass through a complex warehouse or factory environment, and the double spring shock absorbing structure 4 provides additional shock absorption and stability support for the universal wheel monomer 5 during the steering process;

[0028] The double spring shock absorbing structure 4 includes a support shaft 401 rotatably mounted between the two longitudinal beams 3, a bending frame 402 fixed on the surface of the support shaft 401, and two flat steel springs 404 fixed on the top of the bending frame 402. The universal wheel unit 5 is mounted on the bottom end of the bending frame 402. A cross beam 403 is fixed between the two longitudinal beams 3. The top end of the flat steel spring 404 is fixedly connected to the bottom end of the cross beam 403.

[0029] When the universal wheel unit 5 encounters a pothole on the road, the bending frame 402 will drive the universal wheel unit 5 to deflect with the support shaft 401 as the central axis, so that the flat steel spring 404 is compressed by the bending frame 402 and the crossbeam 403 or is elastically released and reset by itself, thereby reducing the shock and vibration caused by uneven ground or high-speed movement;

[0030] The support shaft 401, the bending frame 402, and the crossbeam 403 are all made of aluminum alloy. Aluminum alloy has an excellent strength-to-weight ratio. Compared with traditional steel, aluminum alloy parts of the same strength can significantly reduce the overall weight.

[0031] A rotating lifting module 2 is installed on one side of the top of the chassis 1. The rotating lifting module 2 is used to synchronously turn the goods when the AGV robot turns. The rotating lifting module 2 includes a U-shaped machine 201 fixed on the top of the chassis 1, four guide rails 202 vertically slidably installed inside the U-shaped machine 201, a tray 203 fixed on the top of the four guide rails 202, and a gear rotating mechanism 205 for driving the goods to rotate arranged on the top of the tray 203. A gear rack lifting mechanism 204 for driving the tray 203 and the gear rotating mechanism 205 to perform Z-axis lifting is installed on the outer wall of one side of the U-shaped machine 201. When the robot undertakes the goods, the control system of the AGV controls the gear rack lifting mechanism 204 and the gear rotating mechanism 205 in the rotating lifting module 2 to work, and the gear rack lifting mechanism 204 drives the tray 203, the gear rotating mechanism 205 and other components to lift and lower, so as to control the height of the goods carried by the gear rotating mechanism 205;

[0032] The gear rotating mechanism 205 includes an outer gear ring rotatably mounted on the top of the tray 203, a servo motor mounted on one side of the bottom end of the tray 203, and a driving gear driven by the servo motor to drive the outer gear ring to rotate. The gear rack lifting mechanism 204 includes a reduction motor mounted on the outer wall of one side of the U-shaped machine platform 201, a gear plate mounted on the output end of the reduction motor, and a linear rack mounted on the outer wall of one side of one of the guide rails 202. The linear rack and the gear plate are meshed with each other.

[0033] During the operation of the AGV, especially when turning or changing direction, the cargo may be displaced or unstable due to the centrifugal force. The gear rotating mechanism 205 makes the steering of the cargo consistent with the steering of the AGV by synchronously steering the cargo. This design can effectively reduce the impact of the additional force on the cargo, ensure that the cargo remains stable during the turning process, and reduce the possibility of the cargo tilting or sliding.

[0034] Embodiment 2, based on embodiment 1, Figure 6 and Figure 7 It is given that the steering-adjustable electric walking module 8 includes a turntable 802 rotatably mounted on the lower surface of the flat plate 7, a right-angled hollow shell 803 fixed at the bottom end of the turntable 802, and an electric power-assisted wheel 804 mounted on the outer wall of one side of the right-angled hollow shell 803. A gear driving unit 801 for driving the turntable 802 to rotate is installed at the top of the flat plate 7. The gear driving unit 801 includes a stepping motor installed at the top of the flat plate 7, a toothed disc installed at the output end of the stepping motor through a coupling, and a driven gear ring fixed on the outer peripheral surface of the turntable 802. The driven gear ring and the toothed disc are meshed with each other.

[0035] During the operation of the steering-adjustable electric walking module 8, the gear drive unit 801 drives the turntable 802, the right-angle hollow shell 803 and the electric power-assisted wheel 804 to actively steer, thereby controlling the travel direction of the electric power-assisted wheel 804. The electric power-assisted wheel 804 is used for active walking to drive the vehicle body to move, thereby independently adjusting the direction and speed of the module;

[0036] The hydraulic shock absorbing structure 6 comprises two arms 601 fixed inside the notch 101, a double-link connector 602 on the side wall surface of the two arms 601 away from each other, and a C-shaped front yoke 603 installed at one end of the double-link connector 602 away from the arms 601, a hydraulic damper 604 is hinged on the outer wall of one side of the arms 601, the top of the piston rod of the hydraulic damper 604 is hinged to the outer wall of one side of the C-shaped front yoke 603, and the plate 7 is fixed on the outer wall of one side of the C-shaped front yoke 603;

[0037] When the steering-adjustable electric travel module 8 passes by an uneven position on the road surface, the flat plate 7 and the steering-adjustable electric travel module 8 will drive the C-mouth front yoke 603 to swing up and down. During this process, the hydraulic damper 604 also performs corresponding yaw and stretching actions. That is, when the AGV experiences an uneven road surface or motion inertia, the hydraulic shock-absorbing structure 6 of the chassis 1 will be compressed by the vibration force. When the vibration force disappears or weakens, the hydraulic shock-absorbing structure will release the energy that has been absorbed to ensure that the vehicle smoothly transitions to the next motion state and maintains stability.

[0038] When the embodiment of the present application is in use, when the AGV is working, the navigation system of the AGV robot first scans and analyzes the surrounding environment, generates an accurate map and determines the best path. Its control system calculates and sends control instructions for the steering module and the steering-adjustable electric walking module 8 according to the path information and real-time environmental data provided by the navigation system. During this process, the control system adjusts the steering angle and speed of each steering-adjustable electric walking module 8 to ensure that the AGV robot travels safely and stably along the predetermined path. The steering-adjustable electric walking module 8 is connected to the chassis 1 through the hydraulic shock-absorbing structure 6. The chassis 1 is the basic structure of the AGV, carrying and supporting various components and loads of the entire robot. The double-spring shock-absorbing structure 4 reduces the vibration and impact caused by uneven roads or motion inertia during driving, and the double-spring shock-absorbing structure 4 maintains the stability of the robot and the smoothness of operation by absorbing and dispersing the uneven force from the ground. Each steering-adjustable electric walking module 8 has independent driving capability and direction control, which can be controlled as needed and ordered under the control of the AGV control system. Independent adjustment. During the walking process of the AGV, the structural design of the universal wheel unit 5 allows the AGV to move freely in multiple directions, and the double-spring shock-absorbing structure 4 provides additional shock absorption and stability support for the universal wheel unit 5 during the steering process, further ensuring the stability and safety of the vehicle under complex road conditions. Compared with the Mecanum wheel, the steering-adjustable electric walking module 8 in the robot can more directly adjust and control the direction of the vehicle without relying on complex coordination between wheels, and each steering module can independently adjust the direction and speed. Therefore, in application scenarios requiring high-precision positioning and path planning, it can provide more reliable and precise motion control. At the same time, when running at high speed or on uneven ground, the steering-adjustable electric walking module 8 can better absorb and reduce the vibration caused by road driving through the hydraulic shock-absorbing structure 6, thereby improving the stability of the AGV and allowing the AGV to operate in complex factory or warehouse environments, including uneven ground, slopes or temporary obstacles, so that the AGV can work in a wider range of scenarios without being restricted by terrain, thereby improving the flexibility of operation.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV robot, characterized in that: include: A chassis (1), wherein notches (101) are provided on both left and right outer walls of the chassis (1), and a hydraulic shock absorbing structure (6) is installed inside the notch (101), a plate (7) is installed at the movable end of the hydraulic shock absorbing structure (6), and a steering-adjustable electric walking module (8) is installed at the bottom end of the plate (7), and the hydraulic shock absorbing structure (6) allows the plate (7) and the steering-adjustable electric walking module (8) to tilt and swing up and down relative to the chassis (1); A longitudinal beam (3), wherein two longitudinal beams (3) are provided, and the two longitudinal beams (3) are installed on one side of the top end of the chassis (1), a double spring shock absorbing structure (4) is installed between the two longitudinal beams (3), and a universal wheel unit (5) is installed at the movable end of the double spring shock absorbing structure (4).

2. An AGV robot according to claim 1, characterized in that: The hydraulic shock absorbing structure (6) comprises two support arms (601) fixed inside the notch portion (101), a double-link connecting member (602) on the side wall surface of the two support arms (601) away from each other, and a C-shaped front yoke (603) installed at one end of the double-link connecting member (602) away from the support arms (601); a hydraulic damper (604) is hinged on the outer wall of one side of the support arm (601); the top end of the piston rod of the hydraulic damper (604) is hinged to the outer wall of one side of the C-shaped front yoke (603); and the plate (7) is fixed on the outer wall of one side of the C-shaped front yoke (603).

3. The AGV robot according to claim 1, characterized in that: The steering-adjustable electric walking module (8) comprises a turntable (802) rotatably mounted on the lower surface of a flat plate (7), a right-angled hollow shell (803) fixed at the bottom end of the turntable (802), and an electric power-assisted wheel (804) mounted on an outer wall of one side of the right-angled hollow shell (803); a gear drive unit (801) for driving the turntable (802) to rotate is mounted on the top end of the flat plate (7).

4. The AGV robot according to claim 3, characterized in that: The gear drive unit (801) comprises a stepper motor mounted on the top of the flat plate (7), a toothed disc mounted on the output end of the stepper motor via a coupling, and a driven toothed ring fixed on the outer peripheral surface of the rotating disc (802), wherein the driven toothed ring and the toothed disc mesh with each other.

5. The AGV robot according to claim 1, characterized in that: The double spring shock absorbing structure (4) comprises a support shaft (401) rotatably mounted between the two longitudinal beams (3), a bending frame (402) fixed on the surface of the support shaft (401), and two flat steel springs (404) fixed on the top of the bending frame (402); the universal wheel unit (5) is mounted on the bottom end of the bending frame (402); a cross beam (403) is fixed between the two longitudinal beams (3); and the top end of the flat steel spring (404) is fixedly connected to the bottom end of the cross beam (403).

6. The AGV robot according to claim 5, characterized in that: The support shaft (401), the bending frame (402) and the crossbeam (403) are all made of aluminum alloy.

7. The AGV robot according to claim 1, characterized in that: U-shaped gantry frames are installed at the corners of the top of the chassis (1), and through holes are arranged on both sides of the top of the U-shaped gantry frames.

8. The AGV robot according to claim 1, characterized in that: A rotating lifting module (2) is installed on one side of the top of the chassis (1), and the rotating lifting module (2) is used to synchronously turn the goods when the AGV robot turns.

9. The AGV robot according to claim 8, characterized in that: The rotary lifting module (2) comprises a U-shaped machine platform (201) fixed on the top of the chassis (1), four guide rails (202) vertically slidably installed inside the U-shaped machine platform (201), a tray (203) fixed on the top of the four guide rails (202), and a gear rotating mechanism (205) arranged on the top of the tray (203) for driving the rotation of goods. A gear rack lifting mechanism (204) for driving the tray (203) and the gear rotating mechanism (205) to perform Z-axis lifting is installed on the outer wall of one side of the U-shaped machine platform (201).

10. The AGV robot according to claim 9, characterized in that: The gear rotating mechanism (205) comprises an outer gear ring rotatably mounted on the top of the tray (203), a servo motor mounted on one side of the bottom end of the tray (203), and a driving gear used by the servo motor to drive the outer gear ring to rotate. The gear rack lifting mechanism (204) comprises a reduction motor mounted on the outer wall of one side of the U-shaped machine platform (201), a gear plate mounted on the output end of the reduction motor, and a linear rack mounted on the outer wall of one side of one of the guide rails (202), wherein the linear rack and the gear plate are meshed with each other.

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