AGV trolley and control method thereof

Abstract

The invention relates to an AGV trolley and a control method thereof. The AGV trolley comprises a bearing rack, a bearing device and a driving device. The four corners of the lower bottom face of the bearing rack are each provided with a bearing device used for providing supporting and adjusting the height of the bearing rack. The two sides of the lower bottom face of the bearing rack are each provided with a driving device used for providing power and achieving steering. The driving device comprises a hydraulic motor, a worm and gear, a low-speed large-torque motor, a rubber coated wheel, a swing mechanism and a bottom support. The steering of the trolley is controlled by controlling the rotation of the hydraulic motor, and the forward running of the trolley is controlled by controlling the rotation of the low-speed large-torque motor. Compared with the prior art, the omni-directional movement of the AGV trolley is achieved, heavy-load transportation can be achieved in a narrow area, the structure is stable and reliable, and control is accurate and simple.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and transportation, and in particular to an AGV vehicle and a control method thereof. Background Art

[0002] An Automated Guided Vehicle (AGV) is an industrial vehicle that loads goods automatically or manually, then drives to a designated location automatically according to a set route, and then loads and unloads goods automatically or manually. It is currently widely used in handling systems.

[0003] As a wheeled mobile robot, AGV generally has three steering modes: differential steering, articulated steering, and all-wheel steering. Differential steering can achieve forward and backward bidirectional driving and steering, with high positioning accuracy. Articulated steering has a simple structure and low cost, but also low positioning accuracy. All-wheel steering can achieve longitudinal, lateral, oblique, and rotational directions of any route, but the control is more complicated.

[0004] As the scope of use of AGVs continues to expand, it is difficult for previous AGVs to carry heavy loads that require space dimensions. For example, the utility model with publication number CN205951718U discloses a slewing intelligent vehicle, in which the lower ends of the four corners of the carrying platform are provided with a wheel group; a power source is provided in the middle of the lower end of the carrying platform to provide power for the intelligent vehicle; and a hydraulic pump station is also provided above the power source at the lower end of the carrying platform. However, the power source and the slewing device have complex structures, decentralized control, and the vehicle has a small load, and cannot effectively complete omnidirectional movement under heavy load conditions. Summary of the invention

[0005] The purpose of the present invention is to provide an AGV vehicle and a control method thereof in order to overcome the defects of the above-mentioned prior art.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] According to one aspect of the present invention, an AGV trolley is provided, the AGV trolley comprises a carrying frame 100, a carrying device 200 and a driving device 300;

[0008] A bearing device 200 is disposed at each of the four corners of the bottom surface of the bearing frame 100 to provide support and adjust the height of the bearing frame 100;

[0009] A driving device 300 is arranged on each side of the lower bottom surface of the supporting frame 100, and the driving device 300 is connected to the supporting frame 100 via a driving device mounting bracket 305, and is used to provide power and realize steering; the driving device 300 includes a hydraulic motor 301, a worm gear 302, a low-speed high-torque motor 303, a rubber-coated wheel 304, a rotating mechanism 308 and a bottom bracket 309.

[0010] As a preferred technical solution, the carrying device 200 includes a micro-telescopic cylinder 201 and a carrying wheel 202; the micro-telescopic cylinder 201 is connected to the carrying frame 100, and is used to lift and transport objects, so that a preset gap is left between the transported objects and the carrying frame 100; the carrying wheel 202 is connected to the bottom of the carrying frame 100, and the carrying wheel 202 is used to provide load-bearing.

[0011] As a preferred technical solution, the load-bearing wheel 202 is a universal wheel.

[0012] As a preferred technical solution, steel sections are arranged on both sides of the micro telescopic cylinder 201 , and the steel sections are fixedly connected to the micro telescopic cylinder 201 by bolts, and are welded to the lower bottom surface of the supporting frame 100 .

[0013] As a preferred technical solution, four pins 306 are provided on the top of the drive device mounting bracket 305, and four corresponding flange holes are provided on the supporting frame 100. The drive device 300 is positioned and installed by aligning the pins 306 with the corresponding flange holes.

[0014] As a preferred technical solution, a spring 307 is fixedly connected to the top of the driving device mounting bracket 305, and the other side of the spring 307 is connected to the bottom surface of the supporting frame 100 to provide shock absorption capability for the trolley.

[0015] As a preferred technical solution, in the drive device 300, the hydraulic motor 301 is installed in a mounting bracket and connected to the worm part of the worm gear 302. The turbine part of the worm gear 302 is connected to the rotating mechanism 308 below it. The rotating mechanism 308 is mechanically connected to the bottom bracket 309. A low-speed and high-torque motor 303 is installed at each end of the bottom bracket 309, and a rubber-coated wheel 304 is fixedly connected to the outside of each low-speed and high-torque motor 303.

[0016] As a preferred technical solution, the slewing mechanism is specifically connected to the bottom bracket 309 via a central axis, so that the rubber-coated wheels 304 connected at both ends thereof have an up and down swing range.

[0017] As a preferred technical solution, a reducer is provided on the rubber-coated wheel 304 to control the speed and torque of the rubber-coated wheel 304 .

[0018] According to another aspect of the present invention, a control method for an AGV is provided, which is applied to an AGV as described above, wherein the method controls the steering of the trolley by controlling the rotation of the hydraulic motor 301, and controls the forward movement of the trolley by controlling the rotation of the low-speed high-torque motor 303;

[0019] The specific process of controlling the steering of the trolley is: controlling the hydraulic motor 301 to rotate, so as to drive the worm gear to rotate, and then drive the slewing mechanism 308 to rotate, so that the rubber-coated wheel 304 connected thereto faces the target direction;

[0020] The specific process of controlling the trolley to move forward is: controlling the low-speed high-torque motor 303 to rotate to drive the rubber-coated wheel 304 to rotate, so that the trolley starts to move in the direction of the rubber-coated wheel 304, and the load-bearing wheel 202 also turns to the corresponding direction.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The AGV in the present invention includes a load-bearing frame, a load-bearing device and a driving device; a load-bearing device is provided at each of the four corners of the bottom surface of the load-bearing frame to provide support and adjust the height of the load-bearing frame; a driving device is provided at each of the two sides of the bottom surface of the load-bearing frame to provide power and realize steering; the driving device includes a hydraulic motor, a worm gear, a low-speed high-torque motor, a rubber-coated wheel, a slewing mechanism and a bottom bracket. This enables the AGV to move in all directions, so that it can work in a relatively narrow area and can also realize heavy-load transportation.

[0023] 2. In the present invention, by means of the pin positioning and spring shock absorption between the bearing frame and the power mounting bracket, and the slewing mechanism connected to the bottom bracket through a central axis, the up and down movement and left and right swing of the driving device can be realized, thereby improving the passing capacity of the AGV trolley and reducing the shaking of the bearing frame when the AGV trolley is running, thereby reducing the shaking of the transported heavy objects. The overall structure is stable and reliable with high flexibility, which increases the service life of the trolley and provides better operating results.

[0024] 3. In the present invention, the load-bearing device includes a micro-telescopic oil cylinder and load-bearing wheels; the micro-telescopic oil cylinder is connected to the load-bearing frame and is used to lift and lower the transported object, so that a preset gap is left between the transported object and the load-bearing frame; the load-bearing wheels are connected below the load-bearing frame and are used to provide load-bearing. The four load-bearing wheels and the micro-telescopic oil cylinder ensure that the AGV trolley has a large load-bearing capacity, and after the trolley carries the heavy object to the destination, the micro-telescopic oil cylinder on the load-bearing wheel can lift the heavy object, which is convenient for loading and unloading of the heavy object and has high practical value.

[0025] 4. The AGV in the present invention is only composed of a load-bearing frame, a load-bearing device and a driving device. It has a simple structure and is easy to promote and apply.

[0026] 5. In the present invention, the steering of the trolley is controlled by controlling the rotation of the hydraulic motor, and the forward movement of the trolley is controlled by controlling the rotation of the low-speed high-torque motor; the specific process of controlling the steering of the trolley is: controlling the rotation of the hydraulic motor to drive the worm gear to rotate, and then driving the slewing mechanism to rotate, so that the rubber-coated wheel connected to it faces the target direction; the specific process of controlling the forward movement of the trolley is: controlling the rotation of the low-speed high-torque motor to drive the rubber-coated wheel to rotate, so that the trolley starts to move in the direction of the rubber-coated wheel, and the load-bearing wheel also turns to the corresponding direction. This method has high control accuracy, is accurate and simple, and can achieve omnidirectional movement in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the AGV car in the present invention;

[0028] Figure 2 It is a top view schematic diagram of the AGV car in the present invention;

[0029] Figure 3 It is a left side cross-sectional schematic diagram of the AGV car in the present invention;

[0030] Figure 4 It is a schematic diagram of the front cross-section of the AGV vehicle in the present invention;

[0031] Figure 5 is a schematic diagram of the carrying device in the present invention;

[0032] Figure 6 It is a schematic diagram of the driving device in the present invention;

[0033] In the figure, 100 is a load-bearing frame; 200 is a load-bearing device; 201 is a micro telescopic cylinder; 202 is a load-bearing wheel; 300 is a hydraulic drive device; 301 is a hydraulic motor; 302 is a worm gear; 303 is a low-speed high-torque motor; 304 is a rubber-coated wheel; 305 is a drive device mounting bracket; 306 is a pin shaft; 307 is a spring; 308 is a rotary mechanism; and 309 is a bottom bracket. DETAILED DESCRIPTION

[0034] 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 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 should fall within the scope of protection of the present invention.

[0035] At present, AGVs are widely used in handling systems. They are industrial vehicles that load goods automatically or manually, then automatically drive to a designated location according to a set route, and then load and unload goods automatically or manually. The automatic operation of AGVs relies on methods such as optics or magnetic fields. The running track and destination can be controlled by the program. The route is flexible and the setting cost is low. Compared with other material conveying methods, the transportation is more flexible. At the same time, AGVs have high recognition ability and positioning accuracy, and can also be equipped with a variety of sound and light alarm systems, which makes work safer.

[0036] As a wheeled mobile robot, AGV generally has three steering modes: differential steering, articulated steering, and all-wheel steering. Differential steering can achieve forward and backward bidirectional driving and steering, with high positioning accuracy. The articulated steering has a simple structure and low cost, but the positioning accuracy is also low. The all-wheel steering can achieve longitudinal, lateral, oblique, and rotational directions. Any route travel, but the control is more complicated. With the continuous expansion of the scope of use of AGVs, it is difficult for previous AGVs to carry out heavy-load work under space requirements. An AGV design with simple control, flexible rotation, large load, and omnidirectional movement is needed.

[0037] Example 1

[0038] In this embodiment, an AGV vehicle is used. The vehicle structure is as follows: Figure 1 As shown, its top view is as Figure 2 As shown, it includes a carrying frame 100, a carrying device 200 and a driving device 300;

[0039] In this embodiment, if Figure 5 As shown, it is a schematic diagram of the load-bearing device 200 in the AGV. It can be seen that a load-bearing device 200 is arranged at each of the four corners of the lower bottom surface of the load-bearing frame 100, which is used to provide support and adjust the height of the load-bearing frame 100; the load-bearing device 200 includes a micro-telescopic cylinder 201 and a load-bearing wheel 202; the micro-telescopic cylinder 201 is connected to the load-bearing frame 100, and is used to lift and lower the transported object, so that a preset gap is left between the transported object and the load-bearing frame 100; the load-bearing wheel 202 is connected to the lower part of the load-bearing frame 100, and the load-bearing wheel 202 is used to provide load-bearing. The load-bearing wheel 202 adopts a universal wheel. Steel sections are arranged on both sides of the micro-telescopic cylinder 201, and the steel section is fixedly connected to the micro-telescopic cylinder 201 by bolts, and is welded to the lower bottom surface of the load-bearing frame 100. The four load-bearing wheels 202 and the micro-telescopic cylinder 201 ensure that the AGV trolley has a large load-bearing capacity. After the trolley carries the heavy objects to the destination, the micro-telescopic cylinder 201 on the load-bearing wheels 202 can lift the heavy objects, which is convenient for loading and unloading of the heavy objects and has high practical value.

[0040] In this embodiment, the left side cross-section of the AGV is shown as follows: Figure 3 As shown, the main cross-section of the AGV is shown as follows Figure 4 As shown, a driving device 300 is arranged on each side of the lower bottom surface of the supporting frame 100, and the driving device 300 is connected to the supporting frame 100 via a driving device mounting bracket 305, and is used to provide power and realize steering; the driving device 300 includes a hydraulic motor 301, a worm gear 302, a low-speed high-torque motor 303, a rubber-coated wheel 304, a rotating mechanism 308 and a bottom bracket 309.

[0041] In this embodiment, four pins 306 are provided on the top of the drive device mounting bracket 305, and four corresponding flange holes are provided on the carrier frame 100. The drive device 300 is positioned and installed by aligning the pins 306 with the corresponding flange holes. A spring 307 is fixedly connected to the top of the drive device mounting bracket 305, and the other side of the spring 307 is connected to the bottom surface of the carrier frame 100 to provide shock absorption for the trolley. The shaking of the carrier frame 100 is reduced when the AGV trolley is running, thereby reducing the shaking of the transported heavy objects. The overall structure is stable and reliable, with high flexibility, which makes the trolley have a longer service life and better operation effect.

[0042] In this embodiment, if Figure 6 As shown in the figure, it is a schematic diagram of the driving device 300 in the AGV. It can be seen that in the driving device 300, the hydraulic motor 301 is installed in the mounting bracket and connected to the worm part in the worm gear 302. The turbine part of the worm gear 302 is connected to the slewing mechanism 308 below it. The slewing mechanism 308 is mechanically connected to the bottom bracket 309. A low-speed high-torque motor 303 is installed at each end of the bottom bracket 309, and a rubber-coated wheel 304 is fixedly connected to the outside of each low-speed high-torque motor 303. The slewing mechanism is specifically connected to the bottom bracket 309 through a central shaft, so that the rubber-coated wheels 304 connected at both ends have an up and down swing range. A reducer is provided on the rubber-coated wheel 304 to control the speed and torque of the rubber-coated wheel 304.

[0043] In this embodiment, when the AGV starts to load goods, a forklift or other means is used to transfer the goods to the top of the carrying frame 100, and the piston rod of the micro-telescopic cylinder 201 is extended to support the goods, leaving a gap between the goods and the carrying frame 100 to facilitate the forklift to exit smoothly; or the AGV actively comes to the bottom of the shelf of goods to be transported, the piston rod of the micro-telescopic cylinder 201 is extended to lift the goods, and then the goods are moved out of the shelf. When the goods to be transported are in place, the piston rod of the micro-telescopic cylinder 201 is retracted to place the goods steadily on the carrying frame 100.

[0044] In this embodiment, when the AGV cart needs to turn while transporting items, the hydraulic motor 301 is controlled to rotate, and the hydraulic motor 301 drives the worm gear 302 to rotate, thereby driving the slewing mechanism 308 to rotate, and finally the rubber-coated wheel 304 with a reducer is directed to the specified position, and the low-speed and high-torque motor 303 rotates, driving the rubber-coated wheel 304 with a reducer to rotate, and the cart starts to travel in the direction of the rubber-coated wheel 304. At the same time, the load-bearing wheel 202 will also turn to the corresponding direction, so that the AGV cart can achieve turning in any direction.

[0045] In this embodiment, when the AGV delivers the cargo to the designated location, the piston rod of the micro telescopic cylinder 201 extends to lift the cargo, leaving a gap between the cargo and the load-bearing frame 100 to facilitate the unloading of the cargo, thereby completing the transportation process in a narrow area under heavy load conditions.

[0046] In summary, this solution can realize the omnidirectional movement of the AGV, allowing it to work in relatively narrow areas while achieving heavy-load transportation.

[0047] Example 2

[0048] In this embodiment, a control method for an AGV trolley is applied. The method is applied to the AGV trolley. In the method, the steering of the trolley is controlled by controlling the rotation of the hydraulic motor 301, and the forward movement of the trolley is controlled by controlling the rotation of the low-speed and high-torque motor 303. The specific process of controlling the steering of the trolley is as follows: controlling the rotation of the hydraulic motor 301 to drive the worm gear to rotate, and then driving the slewing mechanism 308 to rotate, so that the rubber-coated wheel 304 connected to it faces the target direction; the specific process of controlling the forward movement of the trolley is as follows: controlling the rotation of the low-speed and high-torque motor 303 to drive the rubber-coated wheel 304 to rotate, so that the trolley starts to move in the direction of the rubber-coated wheel 304, and the load-bearing wheel 202 also turns to the corresponding direction.

[0049] The AGV trolley includes: a load-bearing frame 100 for placing objects to be transported, load-bearing devices are installed at the four corners below the load-bearing frame 100 to provide support and adjust the height of the load-bearing frame 100, and driving devices are symmetrically arranged on the front and rear center lines below the load-bearing frame 100 to provide power and support for the AGV and realize the steering of the AGV trolley.

[0050] Furthermore, in the above scheme, the bearing device includes: a miniature telescopic cylinder 201, four of the miniature telescopic cylinders 201 are connected to the supporting steel below the bearing frame 100 by bolts, and the bearing wheels 202202 are connected to the upper miniature telescopic cylinder 201.

[0051] Furthermore, in the above scheme, in the driving device, four pins 306 are distributed circumferentially above the driving device mounting bracket, and corresponding positioning holes are provided on the supporting frame 100, and the pins 306 are installed in cooperation with the positioning holes. Four springs 307 are also distributed circumferentially above the driving device mounting bracket, and grooves are dug at corresponding positions of the supporting frame 100 so that the other side of the spring 307 is connected to the supporting frame 100; the hydraulic motor 301 is installed on one side inside the driving device mounting bracket, the worm in the worm gear 302 is connected to the hydraulic motor 301, and the worm in the worm gear 302 is connected to the rotating mechanism 308, and the rotating mechanism 308 is connected to the bottom bracket 309 through a spindle, and the two low-speed and high-torque motors 303 are fixed to both sides of the bottom bracket 309 by bolts, and the rubber-coated wheel 304 with a reducer is connected to the low-speed and high-torque motor 303.

[0052] In this embodiment, when the AGV starts to load goods, a forklift or other means is used to transfer the goods to the top of the carrying frame 100, and the piston rod of the micro-telescopic cylinder 201 is extended to support the goods, leaving a gap between the goods and the carrying frame 100 to facilitate the forklift to exit smoothly; or the AGV actively comes to the bottom of the shelf of goods to be transported, the piston rod of the micro-telescopic cylinder 201 is extended to lift the goods, and then the goods are moved out of the shelf. When the goods to be transported are in place, the piston rod of the micro-telescopic cylinder 201 is retracted to place the goods steadily on the carrying frame 100.

[0053] In this embodiment, when the AGV cart needs to turn while transporting items, the hydraulic motor 301 is controlled to rotate, and the hydraulic motor 301 drives the worm gear 302 to rotate, thereby driving the slewing mechanism 308 to rotate, and finally the rubber-coated wheel 304 with a reducer is directed to the specified position, and the low-speed and high-torque motor 303 rotates, driving the rubber-coated wheel 304 with a reducer to rotate, and the cart starts to travel in the direction of the rubber-coated wheel 304. At the same time, the load-bearing wheel 202 will also turn to the corresponding direction, so that the AGV cart can achieve turning in any direction.

[0054] In this embodiment, when the AGV delivers the cargo to the designated location, the piston rod of the micro telescopic cylinder 201 extends to lift the cargo, leaving a gap between the cargo and the load-bearing frame 100 to facilitate the unloading of the cargo, thereby completing the transportation process in a narrow area under heavy load conditions.

[0055] In summary, this solution controls the steering of the trolley by controlling the rotation of the hydraulic motor 301, and controls the forward movement of the trolley by controlling the rotation of the low-speed, high-torque motor 303; the method has high control accuracy, is precise and simple, and can achieve omnidirectional movement in a small space.

[0056] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An AGV vehicle, characterized in that: The AGV trolley comprises a bearing frame (100), a bearing device (200) and a driving device (300); A bearing device (200) is disposed at each of the four corners of the bottom surface of the bearing frame (100) to provide support and adjust the height of the bearing frame (100); A driving device (300) is arranged on each side of the bottom surface of the supporting frame (100); the driving device (300) is connected to the supporting frame (100) via a driving device mounting bracket (305) for providing power and realizing steering; the driving device (300) comprises a hydraulic motor (301), a worm gear (302), a low-speed high-torque motor (303), a rubber-coated wheel (304), a slewing mechanism (308) and a bottom bracket (309).

2. The AGV according to claim 1, characterized in that: The carrying device (200) comprises a micro telescopic cylinder (201) and a carrying wheel (202); the micro telescopic cylinder (201) is connected to the carrying frame (100) and is used to lift and lower the transported object so that a preset gap is left between the transported object and the carrying frame (100); the carrying wheel (202) is connected below the carrying frame (100) and is used to provide load bearing.

3. The AGV according to claim 2, characterized in that: The load-bearing wheel (202) is a universal wheel.

4. The AGV according to claim 2, characterized in that: Section steels are arranged on both sides of the micro telescopic oil cylinder (201); the section steels are fixedly connected to the micro telescopic oil cylinder (201) by bolts, and are welded to the bottom surface of the supporting frame (100).

5. The AGV according to claim 1, characterized in that: The top of the drive device mounting bracket (305) is provided with four pins (306), and the supporting frame (100) is provided with four corresponding flange holes. The drive device (300) is positioned and mounted by aligning the pins (306) with the corresponding flange holes.

6. The AGV according to claim 1, characterized in that: A spring (307) is fixedly connected to the top of the driving device mounting bracket (305), and the other side of the spring (307) is connected to the bottom surface of the supporting frame (100) to provide shock absorption capability for the trolley.

7. The AGV according to claim 1, characterized in that: In the driving device (300), a hydraulic motor (301) is installed in a mounting bracket and connected to the worm part of the worm gear (302). The turbine part of the worm gear (302) is connected to a rotary mechanism (308) below it. The rotary mechanism (308) is mechanically connected to a bottom bracket (309). A low-speed high-torque motor (303) is installed at each end of the bottom bracket (309), and a rubber-coated wheel (304) is fixedly connected to the outside of each low-speed high-torque motor (303).

8. The AGV according to claim 7, characterized in that: The slewing mechanism is specifically connected to the bottom bracket (309) via a central axis, so that the rubber-coated wheels (304) connected at both ends thereof have an up and down swing range.

9. The AGV according to claim 7, characterized in that: The rubber-coated wheel (304) is provided with a speed reducer for controlling the speed and torque of the rubber-coated wheel (304).

10. A control method for an AGV, characterized in that: The method is applied to an AGV trolley as claimed in claims 1 to 9, wherein the method controls the steering of the trolley by controlling the rotation of a hydraulic motor (301), and controls the forward movement of the trolley by controlling the rotation of a low-speed high-torque motor (303); The specific process of controlling the steering of the trolley is: controlling the hydraulic motor (301) to rotate, so as to drive the worm gear to rotate, and then drive the slewing mechanism (308) to rotate, so that the rubber-coated wheel (304) connected thereto faces the target direction; The specific process of controlling the trolley to move forward is: controlling the low-speed high-torque motor (303) to rotate to drive the rubber-coated wheel (304) to rotate, so that the trolley starts to move in the direction of the rubber-coated wheel (304), and the load-bearing wheel (202) also turns to the corresponding direction.

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