Automatic carrier and driving method thereof

Abstract

The invention discloses an automatic carrying vehicle and a driving method thereof. The automatic carrying vehicle comprises an AGV body, and a plurality of driving wheel trains and supporting wheel trains are arranged at the bottom of the AGV body; the driving wheel train comprises a second lifting device, and the upper end of the second lifting device is fixedly connected with the AGV body; the first gear is horizontally arranged and fixedly connected with the lower end of the second lifting device, and the lower end of the first gear is rotationally connected with a mounting plate. The automatic carrying vehicle has the beneficial effects that the driving wheel train and the supporting wheel train which can independently and autonomously ascend and descend are arranged, the driving wheel train can control the automatic carrying vehicle to turn, obstacle crossing, step crossing and slope climbing of the automatic carrying vehicle are achieved through mutual cooperation of the driving wheel train and the supporting wheel train, and meanwhile it is guaranteed that transported products are kept horizontal in the whole process; product transportation safety is guaranteed, products can stably pass through a doorsill, steps and slopes, and the carrying problem mentioned in the background technology is effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of AGV, and in particular to an automatic transport vehicle and a driving method thereof. Background Art

[0002] An automatic guided vehicle (AGV) is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. It is generally widely used in factories and warehouses.

[0003] However, existing AGVs can generally only walk on flat ground, because only in this way can the goods on the AGV be placed horizontally, and the goods will not tilt or slide during transportation, thereby ensuring the safety of goods transportation. If the goods have to cross thresholds, steps, or pass through slopes during transportation, the goods cannot remain horizontal and there is a risk of sliding. Therefore, it is difficult for existing AGVs to ensure the safety of goods transportation when crossing thresholds, steps, or passing through slopes, and they can only rely on manual transportation. Once the transportation channel is narrow and multiple people are not allowed to pass at the same time, and when the goods are heavy, manual transportation becomes very difficult, the labor intensity is high, the labor cost is high, and the transportation efficiency is low. Summary of the invention

[0004] The main purpose of the present invention is to propose an automatic transport vehicle and a driving method thereof, aiming to solve the problem that the existing AGV does not have the ability to keep the transported products level when crossing obstacles, steps, and slopes, and then enable the products to safely pass through thresholds, steps, and slopes.

[0005] In order to solve the above problems, the present invention proposes an automatic transport vehicle, including an AGV body, wherein a plurality of driving wheel trains and supporting wheel trains are arranged at the bottom of the AGV body;

[0006] The driving gear train comprises:

[0007] A second lifting device, the upper end of which is fixedly connected to the AGV body;

[0008] Gear 1 is horizontally arranged and fixedly connected to the lower end of lifting device 2. The lower end of gear 1 is rotatably connected to a mounting plate, and the rotation axis of the mounting plate coincides with the central axis of gear 1. Gear 2 meshing with gear 1 is rotatably mounted on the mounting plate, and gear 2 is transmission-connected to motor 1.

[0009] The second wheel frame is fixedly mounted below the mounting plate, and the second wheel frame is mounted with a driving wheel and a second motor, and the second motor is drivingly connected to the driving wheel;

[0010] The supporting wheel train comprises:

[0011] A lifting device three, the upper end of which is fixedly connected to the AGV body;

[0012] The wheel frame one is fixedly connected to the lower end of the lifting device three, and a supporting wheel is installed on the wheel frame one.

[0013] In one embodiment, the driving wheel system is located around the bottom of the AGV body, and the supporting wheel system is located in the middle of the lower surface of the AGV body.

[0014] In one embodiment, the lower end of the lifting device 2 is fixedly connected to the gear 1 through a connecting flange, a guide rod 1 is fixedly installed on the connecting flange, a guide block 1 is slidably installed on the guide rod 1, the guide block 1 is fixedly connected to the lifting device 2, and the lifting device 2 pushes the driving wheel to move to drive the guide rod 1 to slide on the guide block 1.

[0015] In one embodiment, a guide block 2 is fixedly mounted on the lifting device 3, a guide rod 2 is slidably mounted on the guide block 2, the guide rod 2 is fixedly connected to the wheel frame 1, and the lifting device 3 pushes the support wheel to move to drive the guide rod 2 to slide on the guide block 2.

[0016] In one embodiment, a lifting device 1 is provided on the AGV body, a horizontal lifting plate is provided on the upper end of the lifting device 1, a rotating platform is provided on the lifting plate, a platform plate is provided on the rotating platform, the rotating platform drives the platform plate to rotate around a vertical axis, a skateboard is horizontally slidably installed on the platform plate, a translation device is connected to the skateboard transmission, the translation device is fixedly connected to the platform plate, and the skateboard is driven to slide horizontally through the translation device, a plurality of V-shaped blocks arranged in a straight line are arranged at intervals on the skateboard, and a positioning pin and a pair of support blocks are provided on the V-shaped block.

[0017] In addition, the present invention also proposes a driving method of an automatic transport vehicle, comprising:

[0018] Control lifting device 2 to lift the AGV body so that the supporting wheels are off the ground;

[0019] Control the driving wheel system to drive the AGV forward and turn;

[0020] When the automated transport vehicle encounters an obstacle, the lifting device 3 is controlled to push the front support wheel down to touch the ground, and then the lifting device 2 is controlled to drive the front drive wheel to rise above the obstacle, and the AGV body is driven to continue to move forward by the rear drive wheel. The front support wheel is the front support wheel in the driving direction of the automated transport vehicle, the front drive wheel is the front drive wheel in the driving direction of the automated transport vehicle, and the rear drive wheel is the rear drive wheel in the driving direction of the automated transport vehicle.

[0021] After the front driving wheel passes over the obstacle, the lifting device 2 is controlled to drive the front driving wheel to descend and touch the ground, and then the lifting device 3 is controlled to drive the front supporting wheel to rise above the obstacle, and the AGV body is driven to continue to move forward through the driving wheel;

[0022] When the rear support wheel passes over the obstacle, the lifting device 3 is controlled to push the rear support wheel down to touch the ground, and then the lifting device 2 is controlled to drive the rear drive wheel to rise above the obstacle, and the AGV body is driven to continue to move forward through the front drive wheel. The rear support wheel is the rear support wheel in the driving direction of the automatic transport vehicle;

[0023] When the rear driving wheel passes over the obstacle, the lifting device 2 is controlled to drive the rear driving wheel to descend and touch the ground, and then the lifting device 3 is controlled to drive the supporting wheel to rise and reset, and the AGV body is driven to continue to move forward through the driving wheel.

[0024] In addition, the present invention also proposes a driving method of an automatic transport vehicle, comprising:

[0025] Control lifting device 2 to lift the AGV body so that the supporting wheels are off the ground;

[0026] Control the driving wheel system to drive the AGV forward and turn;

[0027] When the automatic transport vehicle encounters a step, the lifting device 3 is controlled to push the front support wheel down to touch the ground, and then the lifting device 2 is controlled to drive the front drive wheel to rise above the step, and the AGV body is driven to continue to move forward through the rear drive wheel. The front support wheel is the front support wheel in the driving direction of the automatic transport vehicle, the front drive wheel is the front drive wheel in the driving direction of the automatic transport vehicle, and the rear drive wheel is the rear drive wheel in the driving direction of the automatic transport vehicle.

[0028] When the front driving wheel moves to the top of the step, the lifting device 2 is controlled to drive the front driving wheel down to contact the upper surface of the step, and then the lifting device 3 is controlled to drive the front supporting wheel up to the top of the step, and the AGV body is driven to continue to move forward through the driving wheel;

[0029] When the rear support wheel moves to the top of the step, the lifting device 3 is controlled to push the rear support wheel down to contact the upper surface of the step, and then the lifting device 2 is controlled to drive the rear drive wheel to rise to the top of the step, and the AGV body is driven to continue to move forward through the front drive wheel. The rear support wheel is the rear support wheel in the driving direction of the automatic transport vehicle;

[0030] When the rear drive wheel moves to just above the step, the lifting device 2 is controlled to drive the rear drive wheel down to contact the upper surface of the step, and then the lifting device 3 is controlled to drive the supporting wheel to rise and reset, and the AGV body is driven to continue moving forward through the drive wheel.

[0031] In addition, the present invention also proposes a driving method of an automatic transport vehicle, comprising:

[0032] Control lifting device 2 to lift the AGV body so that the supporting wheels are off the ground;

[0033] Control the driving wheel system to drive the AGV forward and turn;

[0034] When the automatic transport vehicle encounters a slope, the lifting device above the front drive wheel and the rear drive wheel is controlled to move to keep the AGV body level.

[0035] In one embodiment, the driving method of the automatic guided vehicle further includes:

[0036] Control the lifting device - a lifting slide to adjust the height of the slide;

[0037] The control translation device drives the slide plate to move horizontally so that the goods are placed on the V-shaped block of the slide plate or the goods leave the slide plate.

[0038] Beneficial effects: The automatic transport vehicle of the present application is provided with a driving wheel system and a supporting wheel system that can be raised and lowered independently. The driving wheel system can control the turning of the automatic transport vehicle. The driving wheel system and the supporting wheel system cooperate with each other to enable the automatic transport vehicle to cross obstacles, pass steps, and climb slopes. At the same time, it is ensured that the transported products remain level throughout the whole process, ensuring the safety of product transportation. The products can smoothly pass through thresholds, steps, and slopes, effectively solving the transportation problems mentioned in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a structural schematic diagram of an automatic transport vehicle after the lifting device of the present invention lifts the slide plate;

[0041] Figure 2 yes Figure 1 The main view;

[0042] Figure 3 It is a structural schematic diagram of an automatic transport vehicle when the lifting device of the present invention is not lifting the slide plate;

[0043] Figure 4 The structure of the driving gear system of the present invention is shown in FIG. Figure 1 ;

[0044] Figure 5 The structure of the driving gear system of the present invention is shown in FIG. Figure 2 ;

[0045] Figure 6 It is a schematic diagram of the positions of gear 1 and gear 2 on the mounting plate of the present invention;

[0046] Figure 7 It is a structural schematic diagram of the support gear train of the present invention.

[0047] The following are the descriptions of the reference numerals:

[0048] 1. AGV body; 2. Lifting device 1; 3. Lifting plate; 4. Rotating platform; 5. Platform plate; 6. Slide plate; 7. Translation device; 8. V-shaped block; 9. Support block; 10. Positioning pin;

[0049] 11. Driving gear train;

[0050] 110, driving wheel; 111, lifting device 2; 112, connecting flange; 113, guide rod 1; 114, guide block 1; 115, gear 1; 116, mounting plate; 117, motor 1; 118, gear 2; 119, motor 2;

[0051] 12. Supporting gear train;

[0052] 121. Lifting device 3; 122. Guide block 2; 123. Guide rod 2; 124. Wheel frame 1; 125. Support wheel;

[0053] 13. Wheel frame two. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0055] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] The present invention proposes an automatic transport vehicle, which is provided with a driving wheel system 11 and a supporting wheel system 12 that can be independently raised and lowered. The driving wheel system 11 can control the automatic transport vehicle to turn. The driving wheel system 11 and the supporting wheel system 12 cooperate with each other to enable the automatic transport vehicle to cross obstacles, steps, and slopes. At the same time, it is ensured that the transported products remain level throughout the whole process, ensuring the safety of product transportation. The products can smoothly pass through thresholds, steps, and slopes, effectively solving the transportation problem mentioned in the background technology.

[0059] Specifically, in one embodiment of the invention, Figure 1-Figure 3 As shown, the automatic transport vehicle includes an AGV body 1, and a plurality of driving wheel trains 11 and supporting wheel trains 12 are arranged at the bottom of the AGV body 1. The driving wheel trains 11 are located around the bottom of the AGV body 1, and the supporting wheel trains 12 are located in the middle of the lower surface of the AGV body 1.

[0060] Specifically, Figure 4-Figure 6As shown, the driving wheel system 11 includes: a lifting device 111, a gear 115, and a wheel frame 13. The upper end of the lifting device 111 is fixedly connected to the AGV body 1; the gear 115 is horizontally arranged and fixedly connected to the lower end of the lifting device 111. The lower end of the gear 115 is rotatably connected to a mounting plate 116, and the rotation axis of the mounting plate 116 coincides with the central axis of the gear 115. In this design, a gear 118 meshing with the gear 115 is rotatably installed on the mounting plate 116, and the gear 118 is transmission-connected to the motor 117. After the motor 117 is started, it drives the gear 2 118 to rotate, and the rotation of the gear 2 118 drives the mounting plate 116 to rotate around the gear 115; the wheel frame 2 13 is fixedly installed below the mounting plate 116, and the driving wheel 110 and the motor 2 119 are installed on the wheel frame 2 13. The motor 2 119 is connected to the driving wheel 110, and the driving wheel 110 is driven by the motor 2 119 to rotate and drive the AGV body 1 to move, and the gear 2 118 is driven by the motor 117 to rotate to make the driving wheel 110 turn, so as to control the automatic transport vehicle to move forward and turn through the driving wheel system 11.

[0061] Further, such as Figure 4-Figure 6 As shown, the lower end of the lifting device 111 is fixedly connected to the gear 115 through the connecting flange 112, and a guide rod 113 is fixedly installed on the connecting flange 112, and a guide block 114 is slidably installed on the guide rod 113. The guide block 114 is fixedly connected to the lifting device 111. The lifting device 111 pushes the driving wheel 110 to move and drives the guide rod 113 to slide on the guide block 114. This design can improve the stability of the driving wheel system 11 when the lifting device 111 is in motion.

[0062] Specifically, Figure 7 As shown, the supporting wheel system 12 includes a lifting device 3 121 and a wheel frame 124. The upper end of the lifting device 3 121 is fixedly connected to the AGV body 1; the wheel frame 124 is fixedly connected to the lower end of the lifting device 3 121, and a supporting wheel 125 is installed on the wheel frame 124.

[0063] Further, such as Figure 7 As shown, the lifting device three 121 is fixedly mounted with a guide block two 122, the guide block two 122 is slidably mounted with a guide rod two 123, the guide rod two 123 is fixedly connected to the wheel frame one 124, the lifting device three 121 pushes the support wheel 125 to move and drives the guide rod two 123 to slide on the guide block two 122, such a design can improve the stability of the supporting wheel system 12 when the lifting device three 121 is in motion.

[0064] In this embodiment, further, Figure 1-Figure 3As shown, the AGV body 1 is also provided with a lifting device 2, and a horizontal lifting plate 3 is provided at the upper end of the lifting device 2. A rotating platform 4 is provided on the lifting plate 3, and a platform plate 5 is provided on the rotating platform 4. The rotating platform 4 drives the platform plate 5 to rotate around the vertical axis. A slide plate 6 is installed on the platform plate 5 for horizontal sliding. The slide plate 6 is connected to a translation device 7 for transmission. The translation device 7 is fixedly connected to the platform plate 5, and the slide plate 6 is driven to slide horizontally by the translation device 7. A plurality of V-shaped blocks arranged in a straight line are arranged at intervals on the slide plate 6. 8. The V-shaped block 8 is provided with a positioning pin 10 and a pair of supporting blocks 9. The object to be transported is placed on the V-shaped block 8 and supported by the pair of supporting blocks 9 and positioned by the positioning pin 10. This design can prevent the object from shaking unsteadily during the driving of the automatic transport vehicle. The design of lifting the slide plate 6 by the lifting device 2, driving the slide plate 6 to slide horizontally by the translation device 7, and driving the platform plate 5 to rotate around the vertical axis by the rotating platform 4 are all for the convenience of placing the object to be transported on the V-shaped block 8 and removing the object on the V-shaped block 8, that is, for the convenience of loading and unloading.

[0065] In addition, the present invention also proposes a driving method of an automatic transport vehicle, comprising:

[0066] S1, control the lifting device 111 to lift the AGV body 1, so that the support wheel 125 is off the ground, and the AGV body 1 is supported only by the driving wheel 110;

[0067] S2, control the driving wheel train 11 to drive the AGV body 1 to move forward and turn;

[0068] S3. When the automated guided vehicle encounters an obstacle, the lifting device 3 121 is controlled to push the front support wheel 125 down to touch the ground, and then the lifting device 2 111 is controlled to drive the front drive wheel 110 to rise above the obstacle, and the AGV body 1 is driven to continue to move forward through the rear drive wheel 110. The front support wheel 125 is the front support wheel 125 in the driving direction of the automated guided vehicle, the front drive wheel 110 is the front drive wheel 110 in the driving direction of the automated guided vehicle, and the rear drive wheel 110 is the rear drive wheel 110 in the driving direction of the automated guided vehicle;

[0069] After the front driving wheel 110 passes over the obstacle, the second lifting device 111 is controlled to drive the front driving wheel 110 to descend and touch the ground, and then the third lifting device 121 is controlled to drive the front supporting wheel 125 to rise above the obstacle, and the AGV body 1 is driven by the driving wheel 110 to continue to move forward;

[0070] When the rear support wheel 125 passes over the obstacle, the lifting device 3 121 is controlled to push the rear support wheel 125 down to touch the ground, and then the lifting device 2 111 is controlled to drive the rear drive wheel 110 to rise above the obstacle, and the AGV body 1 is driven to continue to move forward through the front drive wheel 110. The rear support wheel 125 is the rear support wheel 125 in the driving direction of the automatic transport vehicle;

[0071] After the rear drive wheel 110 passes over the obstacle, the lifting device 2 111 is controlled to drive the rear drive wheel 110 to descend and touch the ground, and then the lifting device 3 121 is controlled to drive the support wheel 125 to rise and reset, and the AGV body 1 is driven by the driving wheel 110 to continue to move forward. In the process of the automatic transport vehicle crossing the obstacle, the AGV body 1 and the transported products placed on it remain level throughout the process, ensuring the safety of product transportation. The products can pass through obstacles smoothly, effectively solving the transportation problem mentioned in the background technology.

[0072] In addition, the present invention also proposes a driving method of an automatic transport vehicle, comprising:

[0073] S1, control the lifting device 111 to lift the AGV body 1, so that the support wheel 125 is off the ground, and the AGV body 1 is supported only by the driving wheel 110;

[0074] S2, control the driving wheel train 11 to drive the AGV body 1 to move forward and turn;

[0075] S3. When the automatic transport vehicle encounters a step, the lifting device 3 121 is controlled to push the front support wheel 125 down to touch the ground, and then the lifting device 2 111 is controlled to drive the front drive wheel 110 to rise above the step, and the AGV body 1 is driven to continue to move forward through the rear drive wheel 110. The front support wheel 125 is the front support wheel 125 in the driving direction of the automatic transport vehicle, the front drive wheel 110 is the front drive wheel 110 in the driving direction of the automatic transport vehicle, and the rear drive wheel 110 is the rear drive wheel 110 in the driving direction of the automatic transport vehicle;

[0076] After the front driving wheel 110 moves to the top of the step, the second lifting device 111 is controlled to drive the front driving wheel 110 to descend and contact the upper surface of the step, and then the third lifting device 121 is controlled to drive the front supporting wheel 125 to rise to the top of the step, and the driving wheel 110 drives the AGV body 1 to continue to move forward;

[0077] When the rear support wheel 125 moves to the top of the step, the lifting device 3 121 is controlled to push the rear support wheel 125 down to contact the upper surface of the step, and then the lifting device 2 111 is controlled to drive the rear drive wheel 110 to rise to the top of the step, and the AGV body 1 is driven to continue to move forward through the front drive wheel 110. The rear support wheel 125 is the rear support wheel 125 in the driving direction of the automatic transport vehicle;

[0078] When the rear drive wheel 110 moves to just above the step, the lifting device 2 111 is controlled to drive the rear drive wheel 110 to descend and contact the upper surface of the step, and then the lifting device 3 121 is controlled to drive the support wheel 125 to rise and reset, and the AGV body 1 is driven by the driving wheel 110 to continue to move forward. In the process of the automatic transport vehicle going up and down the steps, the AGV body 1 and the transported products placed on it remain level throughout the process, ensuring the safety of product transportation. The products can pass the steps smoothly, effectively solving the transportation problem mentioned in the background technology.

[0079] In addition, the present invention also proposes a driving method of an automatic transport vehicle, comprising:

[0080] S1, control the lifting device 111 to lift the AGV body 1, so that the support wheel 125 is off the ground, and the AGV body 1 is supported only by the driving wheel 110;

[0081] S2, control the driving wheel train 11 to drive the AGV body 1 to move forward and turn;

[0082] S3. When the automatic transport vehicle encounters a slope, the lifting device 111 above the front drive wheel 110 and the rear drive wheel 110 is controlled to operate so that the AGV body 1 remains horizontal. Specifically, when the automatic transport vehicle encounters a downward slope, the lifting device 111 is controlled to push the front drive wheel 110 down relative to the AGV body 1, and the height difference between the front drive wheel 110 and the rear drive wheel 110 is adjusted to keep the AGV body 1 horizontal; when the automatic transport vehicle encounters an upward slope, the lifting device 111 is controlled to drive the front drive wheel 110 to rise relative to the AGV body 1, and the height difference between the front drive wheel 110 and the rear drive wheel 110 is adjusted to keep the AGV body 1 horizontal. In the process of the automatic transport vehicle passing the slope, the AGV body 1 and the transported products placed thereon remain horizontal throughout the process, ensuring the safety of product transportation. The products can pass the steps smoothly, effectively solving the transportation problem mentioned in the background technology.

[0083] In this embodiment, the driving method of the automatic guided vehicle further includes:

[0084] S4, control the lifting device 2 to lift the slide 6, adjust the height of the slide 6, so as to facilitate the placement of the goods to be transported on the V-shaped block 8 or remove the objects on the V-shaped block 8, in short, to facilitate the loading and unloading of the goods to be transported;

[0085] S5. Control the translation device 7 to drive the skateboard 6 to move horizontally so that the goods are placed on the V-shaped block 8 of the skateboard 6 or the goods leave the skateboard 6, and then the goods are firmly placed on the V-shaped block 8 through the positioning pin 10 and the support block 9 to avoid the shaking of the goods during driving and affecting the driving safety. When the automatic transport vehicle passes through slopes, steps, and obstacles, the AGV body 1, skateboard 6, V-shaped block 8 and the goods placed thereon remain horizontal throughout the process, ensuring the safety of product transportation. The products can pass through slopes, steps, and obstacles smoothly, effectively solving the transportation problems mentioned in the background technology.

[0086] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automatic transport vehicle, characterized in that: It includes an AGV body, and a plurality of driving wheel trains and supporting wheel trains are arranged at the bottom of the AGV body; The driving gear train comprises: A second lifting device, the upper end of which is fixedly connected to the AGV body; Gear 1 is horizontally arranged and fixedly connected to the lower end of lifting device 2. The lower end of gear 1 is rotatably connected to a mounting plate, and the rotation axis of the mounting plate coincides with the central axis of gear 1. Gear 2 meshing with gear 1 is rotatably mounted on the mounting plate, and gear 2 is transmission-connected to motor 1. The second wheel frame is fixedly mounted below the mounting plate, and the second wheel frame is mounted with a driving wheel and a second motor, and the second motor is drivingly connected to the driving wheel; The supporting wheel train comprises: A lifting device three, the upper end of which is fixedly connected to the AGV body; The wheel frame one is fixedly connected to the lower end of the lifting device three, and a supporting wheel is installed on the wheel frame one.

2. An automatic transport vehicle as claimed in claim 1, characterized in that: The driving wheel system is located around the bottom of the AGV body, and the supporting wheel system is located in the middle of the lower surface of the AGV body.

3. An automatic transport vehicle as claimed in claim 1, characterized in that: The lower end of the lifting device 2 is fixedly connected to the gear 1 through a connecting flange, a guide rod 1 is fixedly installed on the connecting flange, a guide block 1 is slidably installed on the guide rod 1, the guide block 1 is fixedly connected to the lifting device 2, and the lifting device 2 pushes the driving wheel to move and drives the guide rod 1 to slide on the guide block 1.

4. An automatic transport vehicle as claimed in claim 1, characterized in that: A guide block 2 is fixedly installed on the lifting device 3, a guide rod 2 is slidably installed on the guide block 2, the guide rod 2 is fixedly connected to the wheel frame 1, and the lifting device 3 pushes the supporting wheel to move and drives the guide rod 2 to slide on the guide block 2.

5. The automatic transport vehicle according to claim 1, characterized in that: The AGV body is provided with a lifting device 1, a horizontal lifting plate is provided at the upper end of the lifting device 1, a rotating platform is provided on the lifting plate, a platform plate is provided on the rotating platform, the rotating platform drives the platform plate to rotate around a vertical axis, a slide plate is installed on the platform plate for horizontal sliding, a translation device is connected to the slide plate transmission, the translation device is fixedly connected to the platform plate, and the slide plate is driven to slide horizontally through the translation device, a plurality of V-shaped blocks arranged in a straight line are arranged at intervals on the slide plate, and a positioning pin and a pair of support blocks are provided on the V-shaped blocks.

6. The driving method of an automated guided vehicle according to any one of claims 1 to 5, characterized in that: include: Control lifting device 2 to lift the AGV body so that the supporting wheels are off the ground; Control the driving wheel system to drive the AGV forward and turn; When the automated transport vehicle encounters an obstacle, the lifting device 3 is controlled to push the front support wheel down to touch the ground, and then the lifting device 2 is controlled to drive the front drive wheel to rise above the obstacle, and the AGV body is driven to continue to move forward by the rear drive wheel. The front support wheel is the front support wheel in the driving direction of the automated transport vehicle, the front drive wheel is the front drive wheel in the driving direction of the automated transport vehicle, and the rear drive wheel is the rear drive wheel in the driving direction of the automated transport vehicle. After the front driving wheel passes over the obstacle, the lifting device 2 is controlled to drive the front driving wheel to descend and touch the ground, and then the lifting device 3 is controlled to drive the front supporting wheel to rise above the obstacle, and the AGV body is driven to continue to move forward through the driving wheel; When the rear support wheel passes over the obstacle, the lifting device 3 is controlled to push the rear support wheel down to touch the ground, and then the lifting device 2 is controlled to drive the rear drive wheel to rise above the obstacle, and the AGV body is driven to continue to move forward through the front drive wheel. The rear support wheel is the rear support wheel in the driving direction of the automatic transport vehicle; When the rear driving wheel passes over the obstacle, the lifting device 2 is controlled to drive the rear driving wheel to descend and touch the ground, and then the lifting device 3 is controlled to drive the supporting wheel to rise and reset, and the AGV body is driven to continue to move forward through the driving wheel.

7. The driving method of an automated guided vehicle according to any one of claims 1 to 5, characterized in that: include: Control lifting device 2 to lift the AGV body so that the supporting wheels are off the ground; Control the driving wheel system to drive the AGV forward and turn; When the automatic transport vehicle encounters a step, the lifting device 3 is controlled to push the front support wheel down to touch the ground, and then the lifting device 2 is controlled to drive the front drive wheel to rise above the step, and the AGV body is driven to continue to move forward through the rear drive wheel. The front support wheel is the front support wheel in the driving direction of the automatic transport vehicle, the front drive wheel is the front drive wheel in the driving direction of the automatic transport vehicle, and the rear drive wheel is the rear drive wheel in the driving direction of the automatic transport vehicle. When the front driving wheel moves to the top of the step, the lifting device 2 is controlled to drive the front driving wheel down to contact the upper surface of the step, and then the lifting device 3 is controlled to drive the front supporting wheel up to the top of the step, and the AGV body is driven to continue to move forward through the driving wheel; When the rear support wheel moves to the top of the step, the lifting device 3 is controlled to push the rear support wheel down to contact the upper surface of the step, and then the lifting device 2 is controlled to drive the rear drive wheel to rise to the top of the step, and the AGV body is driven to continue to move forward through the front drive wheel. The rear support wheel is the rear support wheel in the driving direction of the automatic transport vehicle; When the rear drive wheel moves to just above the step, the lifting device 2 is controlled to drive the rear drive wheel down to contact the upper surface of the step, and then the lifting device 3 is controlled to drive the supporting wheel to rise and reset, and the AGV body is driven to continue moving forward through the drive wheel.

8. The driving method of an automated guided vehicle according to any one of claims 1 to 5, characterized in that: include: Control lifting device 2 to lift the AGV body so that the supporting wheels are off the ground; Control the driving wheel system to drive the AGV forward and turn; When the automatic transport vehicle encounters a slope, the lifting device above the front drive wheel and the rear drive wheel is controlled to move to keep the AGV body level.

9. The method for driving an automatic guided vehicle according to any one of claims 6, 7 and 8, characterized in that: Also includes: Control the lifting device - a lifting slide to adjust the height of the slide; The control translation device drives the slide plate to move horizontally so that the goods are placed on the V-shaped block of the slide plate or the goods leave the slide plate.

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