AGV (Automatic Guided Vehicle) capable of realizing rapid offline

Abstract

The invention relates to the technical field of automated guided vehicles, and discloses an AGV capable of achieving rapid offline, the AGV comprises an AGV body, differential driving devices and a movement assisting device, the upper side of the AGV body is suitable for carrying objects, and the multiple differential driving devices are installed at the bottom of the AGV body and used for driving the AGV body to move; the plurality of motion auxiliary devices are mounted on the differential driving devices, one motion auxiliary device is arranged on one side of any differential driving device, and the motion auxiliary devices are configured to control the motion directions of the differential driving devices. According to the embodiment of the invention, the AGV cannot be moved away due to the fact that the direction cannot be controlled by differential driving when the AGV is in an obstacle, so that a movement auxiliary device is arranged on one side of any differential driving device, and when the AGV is in the obstacle, the movement auxiliary device can control the movement direction of the differential driving device, so that the direction can be controlled by pushing or traction of external force; and the AGV can be moved away to be off line without additional tools, so that the economic benefit is good.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned guided vehicles, and in particular to an AGV capable of achieving rapid offline operation. Background Art

[0002] AGV (Automated Guided Vehicle) is one of the main equipment for material handling automation in factories and warehouses. Many AGVs have been introduced for use in the production process, featuring high efficiency, speed and flexibility.

[0003] The problem of AGV going offline when it fails is a problem that must be considered during use. The general method is to lift the driving wheel and support the AGV to go offline with the auxiliary wheel on the ground, or lift the AGV as a whole and add auxiliary tools to go offline.

[0004] In the heavy-duty field, many AGVs do not have auxiliary wheels, but are composed of multiple sets of differential drives. If you want to go offline, you can only lift the AGV up and then use tools to move the AGV away. This results in the AGV being unable to control the direction when it encounters obstacles, even if the motor is not braked or the brake is released, the AGV cannot be moved away. Summary of the invention

[0005] In view of this, the present invention provides an AGV that can achieve rapid offline operation, so as to solve the problem that the AGV cannot be offline when an obstacle occurs.

[0006] In a first aspect, the present invention provides an AGV capable of achieving rapid offline operation, comprising:

[0007] The AGV body, the upper side of which is suitable for carrying objects;

[0008] A plurality of differential drive devices are installed at the bottom of the AGV body to drive the AGV body to move;

[0009] A plurality of motion assist devices are installed on the differential drive device. One side of any differential drive device is provided with the motion assist device, and the motion assist device is configured to control the motion direction of the differential drive device.

[0010] When the AGV encounters an obstacle, the differential drive cannot control the direction and thus the AGV cannot be moved away. Therefore, in this embodiment, a motion assist device is provided on one side of any differential drive device. When the AGV encounters an obstacle, the motion assist device can control the movement direction of the differential drive device, thereby achieving the direction controlled by external force such as pushing or pulling, so that the AGV can be moved off the line without the need for additional tools, thereby achieving good economic benefits.

[0011] In an optional embodiment, the movement assisting device is configured to contact the ground and apply an eccentric force to the differential driving device to control the movement direction of the differential driving device.

[0012] When controlling the movement direction of the differential drive device, the motion assist device generates friction with the ground, which is equivalent to giving the drive mechanism an eccentric force and generating a torque on the differential drive device. This torque controls the direction of travel of the differential drive device, so the AGV can be moved directly by simply releasing the drive motor brake in the differential drive device.

[0013] In an optional embodiment, all of the motion assisting devices are arranged on the same side of the differential drive device.

[0014] In an optional embodiment, the motion assisting device includes a buffer assembly and a universal wheel, wherein the buffer assembly is disposed between the universal wheel and the differential drive device, and the buffer assembly is configured to force the universal wheel to abut against the ground.

[0015] In an optional embodiment, the buffer assembly includes a guide member and an elastic member, the upper end of the guide member is movably connected to the differential drive device, the lower end of the guide member is fixed to the universal wheel, and the elastic member is connected to the guide member;

[0016] The guide member is configured to support the universal wheel and be driven by the universal wheel to move relative to the differential drive device;

[0017] The elastic member is configured to provide a biasing force to the universal wheel, and the biasing force forces the universal wheel to abut against the ground.

[0018] In an optional embodiment, the guide member includes two guide shafts whose top ends are movably connected to the differential drive device, and a fixing plate fixed to the bottom ends of the two guide shafts, and the universal wheel is fixed to the fixing plate.

[0019] In an optional embodiment, the differential drive device includes a mounting plate, the top ends of the two guide shafts are movably connected to the mounting plate, and the elastic member is installed between the fixing plate and the mounting plate.

[0020] In an optional embodiment, the elastic member is a columnar spring.

[0021] In an optional embodiment, two linear bearings are provided on the mounting plate, and the top end of the guide shaft is passed through the inner side of the linear bearings.

[0022] In an optional embodiment, the differential drive device also includes a mounting frame fixed to the bottom of the AGV body, a drive motor fixed to the mounting frame, and a roller fixed to the drive end of the drive motor, and the mounting plate is fixed to the mounting frame and protrudes toward the motion assisting device.

[0023] The AGV provided by the present invention can realize rapid offline operation and has the following advantages:

[0024] 1. An AGV capable of realizing rapid offline operation provided by the present invention comprises an AGV body, a plurality of differential drive devices and a plurality of motion assist devices. The upper side of the AGV body is suitable for carrying objects. The plurality of differential drive devices are installed at the bottom of the AGV body to drive the movement of the AGV body. The plurality of motion assist devices are installed on the differential drive devices. A motion assist device is provided on one side of any differential drive device, and the motion assist device is configured to control the movement direction of the differential drive device.

[0025] This structure can realize the AGV of fast offline. In normal use, several differential drive devices under the AGV body drive the AGV body to move to realize the transportation function of the AGV. When the AGV is in an obstacle, the differential drive cannot control the direction, resulting in the inability to move the AGV away. Therefore, this embodiment provides a motion assisting device on one side of any differential drive device. When the AGV is in an obstacle, the motion assisting device can control the movement direction of the differential drive device, thereby realizing that the direction can be controlled by external force, so that the AGV can be moved offline without the need for additional tools, and the economic benefits are good.

[0026] 2. The present invention provides an AGV capable of achieving rapid offline operation, wherein the motion assisting device is configured to contact the ground and apply an eccentric force to the differential drive device to control the movement direction of the differential drive device.

[0027] This structure can achieve fast offline AGV. When controlling the movement direction of the differential drive device, the motion auxiliary device generates friction with the ground, which is equivalent to giving the drive mechanism an eccentric force and generating a torque on the differential drive device. This torque controls the direction of travel of the differential drive device. Therefore, the AGV can be directly moved away by only releasing the drive motor brake in the differential drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic structural view of an AGV capable of achieving rapid offline operation provided in an embodiment of the present invention;

[0030] Figure 2 It is a schematic structural view of a differential drive device and a motion assist device in an AGV capable of realizing rapid offline operation provided in an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1-AGV body;

[0033] 2-differential drive device; 21-mounting plate; 22-mounting frame; 23-drive motor; 24-roller;

[0034] 3-motion assisting device; 31-universal wheel; 32-elastic member; 33-guide shaft; 34-fixing plate; 35-linear bearing. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0036] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] Example

[0038] Currently, in the heavy-duty field, many AGVs do not have auxiliary wheels, but are composed of multiple sets of differential drives. If you want to go offline, you can only lift the AGV up and then use tools to move the AGV away. This results in the AGV being unable to control the direction when it encounters obstacles, even if the motor is not braked or the brake is released, the AGV cannot be moved away.

[0039] To this end, the present embodiment provides an AGV that can achieve rapid offline operation, including an AGV body 1, a plurality of differential drive devices 2, and a plurality of motion assist devices 3. The upper side of the AGV body 1 is suitable for carrying objects, and the plurality of differential drive devices 2 are installed at the bottom of the AGV body 1 to drive the AGV body 1 to move; the plurality of motion assist devices 3 are installed on the differential drive devices 2, and a motion assist device 3 is provided on one side of any differential drive device 2, and the motion assist device 3 is configured to control the movement direction of the differential drive device 2.

[0040] In normal use, the differential drive devices 2 under the AGV body 1 drive the AGV body 1 to move to realize the transportation function of the AGV. When the AGV is in an obstacle, the differential drive cannot control the direction, resulting in the inability to move the AGV away. Therefore, this embodiment provides a motion assisting device 3 on one side of any differential drive device 2. When the AGV is in an obstacle, the motion assisting device 3 can control the movement direction of the differential drive device 2, thereby realizing that the direction can be controlled by external force, so that the AGV can be moved off the line without the need for additional tools, and the economic benefits are good.

[0041] In this embodiment, the motion assisting device 3 is configured to contact the ground and apply an eccentric force to the differential driving device 2 to control the motion direction of the differential driving device 2 .

[0042] Specifically, when controlling the movement direction of the differential drive device 2, the motion assist device 3 generates friction with the ground, which is equivalent to giving the drive mechanism an eccentric force and generating a torque on the differential drive device 2. This torque controls the direction in which the differential drive device 2 moves. Therefore, it is only necessary to release the brake of the drive motor 23 in the differential drive device 2 to directly move the AGV away.

[0043] In this embodiment, if Figure 1 As shown, four groups of differential drive devices 2 and motion assist devices 3 are provided and distributed at four corners of the AGV body 1 , and all motion assist devices 3 are provided on the same side of the differential drive device 2 .

[0044] In this embodiment, the motion assisting device 3 includes a buffer assembly and a universal wheel 31 . The buffer assembly is disposed between the universal wheel 31 and the differential drive device 2 . The buffer assembly is configured to force the universal wheel 31 to abut against the ground.

[0045] By providing the universal wheel 31, when the external force pushes or pulls the AGV body 1, the setting of the universal wheel 31 can facilitate the change of the moving direction, and during the normal operation of the AGV, the setting of the universal wheel 31 can prevent the motion auxiliary device 3 from interfering with the moving direction of the differential drive device 2, so that the motion auxiliary device 3 moves following the differential drive device 2. A buffer component is provided between the universal wheel 31 and the differential drive device 2. On the one hand, the buffer component applies thrust to the universal wheel 31 so that the universal wheel 31 can always contact the ground. On the other hand, when the AGV moves to a bumpy place, the buffer component can ensure that the universal wheel 31 always contacts the ground.

[0046] In this embodiment, if Figure 2 As shown, the buffer assembly includes a guide member and an elastic member 32, the upper end of the guide member is movably connected to the differential drive device 2, the lower end of the guide member is fixed to the universal wheel 31, and the elastic member 32 is connected to the guide member;

[0047] The guide member is configured to support the universal wheel 31 and be driven by the universal wheel 31 to move relative to the differential drive device 2;

[0048] The elastic member 32 is configured to provide a biasing force to the universal wheel 31 , and the biasing force forces the universal wheel 31 to contact the ground.

[0049] By setting the upper end of the guide member to be movably connected with the differential drive device 2, specifically, the guide member can slide up and down relative to the differential drive device 2 when the AGV moves to a bumpy place. By setting the elastic member 32, the elastic member 32 can provide a biasing force to the universal wheel 31 to ensure that the universal wheel 31 is always in contact with the ground.

[0050] In this embodiment, if Figure 2 As shown, the guide member includes two guide shafts 33 whose top ends are movably connected to the differential drive device 2 , and a fixing plate 34 fixed to the bottom ends of the two guide shafts 33 , and the universal wheel 31 is fixed to the fixing plate 34 .

[0051] In this embodiment, if Figure 2 As shown, the differential drive device 2 includes a mounting plate 21, the top ends of two guide shafts 33 are movably connected to the mounting plate 21, and the elastic member 32 is installed between the fixing plate 34 and the mounting plate 21. Specifically, the elastic member 32 is a columnar spring.

[0052] In this embodiment, two linear bearings 35 are provided on the mounting plate 21, and the top end of the guide shaft 33 is passed through the inner side of the linear bearing 35, so that when the AGV moves to a bumpy place, the guide shaft 33 can move relative to the mounting plate 21 through the linear bearing 35.

[0053] In this embodiment, if Figure 2As shown, the differential drive device 2 also includes a mounting frame 22 fixed to the bottom of the AGV body 1, a drive motor 23 fixed on the mounting frame 22, and a roller 24 fixed to the driving end of the drive motor 23. The mounting plate 21 is fixed to the mounting frame 22 and protrudes toward the motion assisting device 3 for installing the motion assisting device 3.

[0054] In this embodiment, a motion assisting device 3 is installed on one side of the differential drive device 2. When the brake of the drive motor 23 is released, each set of the differential drive device 2 and the motion assisting device 3 is equivalent to forming a large universal wheel 31. At this time, multiple sets of this mechanism can be pushed or pulled by external force to control the direction, so that the AGV can be moved off the line without the need for additional tools, which has good economic benefits.

[0055] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An AGV capable of achieving rapid offline production, characterized in that: include: The AGV body (1) has an upper side suitable for carrying objects; A plurality of differential drive devices (2) are installed at the bottom of the AGV body (1) and are used to drive the AGV body (1) to move; A plurality of motion assisting devices (3) are installed on the differential drive device (2), one motion assisting device (3) being provided on one side of any differential drive device (2), and the motion assisting device (3) being configured to control the motion direction of the differential drive device (2).

2. The AGV capable of achieving rapid offline production according to claim 1, characterized in that: The movement assisting device (3) is configured to contact the ground and apply an eccentric force to the differential driving device (2) to control the movement direction of the differential driving device (2).

3. The AGV capable of realizing rapid offline production according to claim 2, characterized in that: All the motion auxiliary devices (3) are arranged on the same side of the differential drive device (2).

4. The AGV capable of realizing rapid offline operation according to any one of claims 1 to 3, characterized in that: The motion assisting device (3) comprises a buffer component and a universal wheel (31), wherein the buffer component is arranged between the universal wheel (31) and the differential drive device (2), and the buffer component is configured to force the universal wheel (31) to abut against the ground.

5. The AGV capable of realizing rapid offline production according to claim 4, characterized in that: The buffer assembly comprises a guide member and an elastic member (32), the upper end of the guide member is movably connected to the differential drive device (2), the lower end of the guide member is fixed to the universal wheel (31), and the elastic member (32) is connected to the guide member; The guide member is configured to support the universal wheel (31) and be driven by the universal wheel (31) to move relative to the differential drive device (2); The elastic member (32) is configured to provide a biasing force to the universal wheel (31), and the biasing force forces the universal wheel (31) to abut against the ground.

6. The AGV capable of realizing rapid offline production according to claim 5, characterized in that: The guide member comprises two guide shafts (33) whose top ends are movably connected to the differential drive device (2), and a fixing plate (34) fixed to the bottom ends of the two guide shafts (33), and the universal wheel (31) is fixed to the fixing plate (34).

7. The AGV capable of realizing rapid offline production according to claim 6, characterized in that: The differential drive device (2) comprises a mounting plate (21), the top ends of the two guide shafts (33) are movably connected to the mounting plate (21), and the elastic member (32) is installed between the fixing plate (34) and the mounting plate (21).

8. The AGV capable of realizing rapid offline production according to claim 7, characterized in that: The elastic member (32) is a columnar spring.

9. The AGV capable of realizing rapid offline production according to claim 7, characterized in that: Two linear bearings (35) are arranged on the mounting plate (21), and the top end of the guide shaft (33) is inserted into the inner side of the linear bearings (35).

10. The AGV capable of realizing rapid offline operation according to claim 7, characterized in that: The differential drive device (2) further comprises a mounting frame (22) fixed to the bottom of the AGV body (1), a drive motor (23) fixed to the mounting frame (22), and a roller (24) fixed to the drive end of the drive motor (23); the mounting plate (21) is fixed to the mounting frame (22) and protrudes in the direction of the motion assisting device (3).

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