Split type carrying AGV

Abstract

The invention relates to a split type carrying AGV. The split type carrying AGV comprises a clamping assembly (10), a moving assembly (20) and a frame assembly (30). The clamping assembly (10) and the moving assembly (20) are installed on the frame assembly (30). The moving assembly (20) comprises a plurality of steering wheels (21); the steering wheels (21) are arranged in the horizontal direction; the clamping assembly (10) is located between the steering wheels (21). Through horizontal arrangement of the steering wheels, the omni-directional moving capacity of the AGV can be improved, and transverse translation, oblique movement or in-situ rotation can be achieved. And the steering wheels are horizontally arranged, so that the width of the carrying AGV can be reduced, and the carrying AGV can be more suitable for a narrow space. And a plurality of steering wheels are arranged, so that the path can be flexibly planned, and the AGV is suitable for moving in a dynamic environment.

Description

Technical Field

[0001] This application relates to the technical field of cabinet devices, and particularly to a split-type handling AGV. Background Art

[0002] An Automated Guided Vehicle (AGV) is a type of wheeled mobile robot that moves along wires, marker blocks, or magnetic strips on the floor, or through visual navigation or laser navigation. It is mostly used in industrial production for transporting goods in workshops and warehouses.

[0003] Currently, the common application scenario of handling AGVs is to transport vehicles in a stereoscopic garage. In related technologies, the steering wheels of the handling AGV are on the same side as the clamping arms that hold the wheels of the handling AGV.

[0004] This makes it difficult for it to move flexibly in the lateral direction, with poor lateral movement flexibility and inflexible movement in narrow environments. Summary of the Invention

[0005] This application aims to solve at least one of the above technical problems. By providing a split-type handling AGV, it is ensured to improve the lateral flexibility of the handling AGV and expand the applicable range of the handling AGV.

[0006] A split-type handling AGV provided by this application adopts the following technical solutions:

[0007] A split-type handling AGV, which includes a clamping assembly, a moving assembly, and a frame assembly; the clamping assembly and the moving assembly are installed on the frame assembly; the moving assembly includes a plurality of steering wheels; the steering wheels are arranged in a horizontal direction; the clamping assembly is located between the steering wheels.

[0008] Optionally, the frame assembly includes a chassis; the chassis is provided with a clamping installation part and a moving installation part; the moving installation part is connected to the clamping installation part, and the moving installation part is located on the side of the clamping installation part; the clamping assembly is installed on the clamping installation part, and the moving assembly is installed on the moving installation part; the steering wheels are located in the middle or on the side of the moving installation part.

[0009] Further, the number of the moving installation parts is 2, located on both sides of the clamping installation part; the moving installation parts are arranged in a horizontal direction.

[0010] Further, the moving installation part includes a moving longitudinal plate and a moving transverse plate; the moving longitudinal plate and the moving transverse plate define an installation space, and the steering wheels are located within the installation space;

[0011] The clamping and mounting part includes a bottom plate, a clamping vertical plate, and a clamping horizontal plate; the clamping vertical plate and the clamping horizontal plate are located at the top of the bottom plate, the clamping horizontal plate is connected to the bottom plate, and the clamping vertical plate is connected to the clamping horizontal plate;

[0012] The moving vertical plate is connected to the clamping horizontal plate.

[0013] Furthermore, the moving mounting part further includes a steering wheel mounting plate; the steering wheel mounting plate is connected to the moving vertical plate; the steering wheel is mounted on the steering wheel mounting plate; the steering wheel is located in the middle or side of the mounting space.

[0014] Furthermore, the moving mounting part further includes an electrical cabinet; the electrical cabinet is located within the mounting space.

[0015] Furthermore, the moving assembly further includes a plurality of driven wheels; the frame assembly further includes a panel; the driven wheels are located in the direction away from the steering wheel; the panel is connected to the chassis.

[0016] Furthermore, the moving mounting part further includes a driven wheel mounting plate; the driven wheels are mounted on the driven wheel mounting plate; the driven wheels are located on the side of the mounting space.

[0017] Furthermore, the driven wheels are also mounted on the panel.

[0018] In summary, the present application provides a split-type handling AGV. By horizontally arranging the steering wheels, the omnidirectional movement ability of the handling AGV can be improved, and lateral translation, diagonal movement, or in-situ rotation can be achieved. Moreover, the horizontal arrangement of the steering wheels can also reduce the width of the handling AGV, enabling the handling AGV to be more adaptable to narrow spaces. And there are multiple steering wheels, which can flexibly plan the path and are suitable for the movement of the handling AGV in a dynamic environment. The present application also through the setting of the mounting space, uses the mounting space to install the electrical cabinet, steering wheels, and driven wheels, improving the space utilization rate and reducing the height of the handling AGV. Furthermore, it can enable the handling AGV to adapt to low environments, expand the usage scenarios of the handling AGV. Lower the center of gravity of the handling AGV, reduce the risk of rollover during turning, sudden stop, or loading, and improve the passing ability on uneven ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of a split-type handling AGV provided by an embodiment of the present application;

[0020] Figure 2 is Figure 1 the first axonometric internal structural diagram of the split-type handling AGV shown;

[0021] Figure 3 is Figure 1 the bottom view schematic diagram of the split-type handling AGV shown;

[0022] Figure 4 is Figure 1 An exploded view of the split-type handling AGV shown

[0023] Figure 5 is Figure 1 A second axonometric internal structure diagram of the split-type handling AGV shown

[0024] Figure 6 is Figure 1 A structural diagram of the clamping member of the split-type handling AGV shown

[0025] Figure 7 is Figure 1 A partial structural diagram of the clamping assembly of the split-type handling AGV shown

[0026] Figure 8 Another structural diagram of the split-type handling AGV provided by the embodiment of the present application

[0027] Figure 9 Another structural diagram of the split-type handling AGV provided by the embodiment of the present application

[0028] Figure 10 Another structural diagram of the split-type handling AGV provided by the embodiment of the present application

[0029] Figure 11 Another structural diagram of the split-type handling AGV provided by the embodiment of the present application

[0030] Figure 12 is Figure 1 The first working diagram of the split-type handling AGV of the shown embodiment

[0031] Figure 13 is Figure 1 The second working diagram of the split-type handling AGV of the shown embodiment

[0032] Description of reference numerals: 10, clamping assembly; 11, clamping member; 111, clamping arm; 1111, worm gear portion; 112, clamping auxiliary wheel; 113, blocking plate; 12, clamping transmission member; 121, second gear; 122, first transmission shaft; 1221, first worm portion; 123, second transmission shaft; 1231, second worm portion; 124, coupling; 13, clamping drive member; 131, clamping drive motor; 132, first gear; 20, moving assembly; 21, steering wheel; 22, driven wheel; 30, frame assembly; 31, chassis; 311, clamping mounting portion; 3111, bottom plate; 3112, clamping vertical plate; 3113, clamping horizontal plate; 31131, fixed horizontal plate; 31132, bearing seat; 31133, bearing; 312, moving mounting portion; 3121, moving vertical plate; 31211, installation space; 3122, moving horizontal plate; 3123, steering wheel mounting plate; 3124, driven wheel mounting plate; 3125, electrical cabinet; 32, panel. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0034] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0035] In this application, the term "exemplary" is used to mean "serving as an example, illustration, or instance". Any embodiment described as "exemplary" in this application is not necessarily to be construed as more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. In the following description, details are set forth for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that this application can be implemented without these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of this application with unnecessary details. Therefore, this application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in this application.

[0036] An embodiment of this application discloses a split-type handling AGV. Refer to Figures 1-7 , a split-type handling AGV may include a clamping assembly 10, a moving assembly 20, and a frame assembly 30. The clamping assembly 10 and the moving assembly 20 are installed on the frame assembly 30.

[0037] The moving assembly 20 may include steering wheels 21 and follower wheels 22. The number of the steering wheels 21 may be at least one or more. The steering wheels 21 are arranged horizontally, and the clamping assembly 10 is located between the steering wheels 21.

[0038] In the implementation of this application, by arranging the steering wheels horizontally and on different sides from the clamping assembly 10, the omnidirectional movement ability of the handling AGV can be improved, and lateral translation, diagonal movement, or in-situ rotation can be achieved. Moreover, the horizontal arrangement of the steering wheels can also reduce the width of the handling AGV, enabling the handling AGV to be more adaptable to narrow spaces.

[0039] It can be understood that the frame assembly 30 may include a chassis 31 and a panel 32, and the panel 32 is connected to the chassis 31. The chassis 31 may be provided with a clamping installation portion 311 and a moving installation portion 312. The moving installation portion 312 is connected to the clamping installation portion 311, and the moving installation portion 312 is located on the side of the clamping installation portion 311; the clamping assembly 10 is installed on the clamping installation portion 311, and the moving assembly 20 is installed on the moving installation portion 312.

[0040] Specifically, the number of the moving installation portions 312 may be 2, the moving installation portions 312 are located on both sides of the clamping installation portion 311, and the moving installation portions 312 are arranged horizontally.

[0041] It can be understood that the moving mounting part 312 may include a moving longitudinal plate 3121, a moving transverse plate 3122, a steering wheel mounting plate 3123, and a driven wheel mounting plate 3124. An installation space 31211 is defined between the moving longitudinal plate 3121 and the moving transverse plate 3122. The steering wheel 21, the driven wheel 22, the steering wheel mounting plate 3123, and the driven wheel mounting plate 3124 are located within the installation space 31211. The driven wheel 22 is located in a direction away from the steering wheel 21. The steering wheel 21 is mounted on the steering wheel mounting plate 3123, and the driven wheel 22 is mounted on the driven wheel mounting plate 3124.

[0042] Specifically, the steering wheel 21 may be located in the middle of the installation space 31211, and the driven wheel 22 may be located at a corner of the installation space 31211.

[0043] Specifically, the clamping mounting part 311 may include a bottom plate 3111, a clamping longitudinal plate 3112, and a clamping transverse plate 3113; the clamping longitudinal plate 3112 and the clamping transverse plate 3113 are located at the top of the bottom plate 3111, the clamping transverse plate 3113 is connected to the bottom plate 3111, and the clamping longitudinal plate 3112 is connected to the clamping transverse plate 3113. The moving longitudinal plate 3121 is connected to the clamping transverse plate 3113.

[0044] It can be understood that the clamping assembly 10 may include a clamping member 11, a clamping transmission member 12, and a clamping driving member 13. The clamping member 11 is rotatably connected to the bottom plate 3111, and the clamping transmission member 12 and the clamping driving member 13 are mounted on the clamping transverse plate 3113. The clamping driving member 13 is connected to the clamping transmission member 12, and the clamping transmission member 12 is connected to the clamping member 11. The clamping driving member 13 drives the clamping transmission member 12, and the clamping transmission member 12 drives the clamping member 11. Thus, the clamping driving member 13 can control the rotation of the clamping member 11. The clamping member 11 is used to clamp the target.

[0045] Specifically, the clamping driving member 13 and the clamping transmission member 12 are connected by gears. The clamping transmission member 12 and the clamping member 11 are connected by a worm and worm gear. The number of the clamping members 11 may be 4.

[0046] It can be understood that dividing the chassis into the clamping and mounting part 311 and the moving and mounting part 312 can isolate risks, reduce interference or conflicts, improve stability, and also facilitate subsequent maintenance and expansion. The clamping and mounting part 311 and the moving and mounting part 312 are independent of each other, which can prevent the negative impacts occurring in the moving and mounting part 312 from spreading to the clamping and mounting part 311, and vice versa. The clamping and mounting part 311 and the moving and mounting part 312 are independent of each other, which can prevent the operations of the clamping assembly 10 and the moving assembly 20 from interfering with each other and reduce interference and conflicts. This can improve the overall working stability of the split-type handling AGV. The clamping and mounting part 311 and the moving and mounting part 312 are independent of each other, which can conveniently and quickly divide the maintenance area, quickly replace parts, and also facilitate maintenance. The clamping and mounting part 311 and the moving and mounting part 312 are independent of each other, which can conveniently and quickly determine the installation positions of the expansion parts and timely judge the expandability.

[0047] Please refer further to Figures 6-7 , it can be understood that the clamping member 11 may include a clamping arm 111, a clamping auxiliary wheel 112, and a blocking plate 113. The clamping auxiliary wheel 112 and the blocking plate 113 are fixedly installed on the clamping arm 111. The clamping arm is rotatably connected to the bottom plate 3111. The clamping auxiliary wheel 112 can facilitate the clamping of the target, and the blocking plate 113 can improve the clamping stability.

[0048] The clamping cross plate 3113 may include a fixed cross plate 31131, a bearing seat 31132, and a bearing 31133. Specifically, the bearing seat 31132 of the bearing 31133 is fixedly connected to the fixed cross plate 31131, and the bearing 31133 is connected inside the bearing seat 31132. The clamping transmission member 12 is inserted through the bearing 31133, and thus the clamping transmission member 12 is installed on the clamping cross plate 3113.

[0049] It can be understood that the clamping driving member 13 may include a clamping driving motor 131 and a first gear 132. The clamping driving motor 131 is connected to the first gear 132.

[0050] The clamping transmission member 12 may include a second gear 121, a first transmission shaft 122, a second transmission shaft 123, and a coupling 124.

[0051] The first transmission shaft 122 may be provided with a first worm part 1221, and the second transmission shaft 123 may be provided with a second worm part 1231. The first transmission shaft 122 and the second transmission shaft 123 are inserted through the bearing 31133.

[0052] The top of the clamping arm 111 may be provided with a worm gear part 1111.

[0053] The first transmission shaft 122 is connected to the second transmission shaft 123 through a coupling 124. The second gear 121 is connected to the first transmission shaft 122. The first gear 132 meshes with the second gear 121. The worm gear part 1111 cooperates with the first worm part 1221 or the second worm part 1231.

[0054] The clamping drive motor 131 drives the first gear 132 to rotate. The first gear 132 drives the second gear 121 to rotate, and then drives the first transmission shaft 122 and the second transmission shaft 123 to rotate. Thus, the first worm part 1221 or the second worm part 1231 drives the clamping arm 111 to rotate.

[0055] Specifically, the first gear 132 and the second gear 121 are bevel gears.

[0056] It can be understood that there can be multiple second gears 121, and there can also be multiple clamping drive members 13. The second gear 121 is simultaneously connected to the first transmission shaft 122 and the second transmission shaft 123. The clamping drive member 13 is connected to the second gear 121. The clamping drive member 13 independently drives the first transmission shaft 122 and the second transmission shaft 123 at the same time, and the coupling 124 can ensure the rotational consistency of the first transmission shaft 122 and the second transmission shaft 123. This can improve the rotational consistency of the clamping arm 111, ensure the clamping stability of the clamping assembly 10, improve the working stability of the split-type handling AGV, and can also avoid the damage of a single clamping drive motor 131 affecting the work of the split-type handling AGV, further improving the working stability of the split-type handling AGV.

[0057] Please refer further to Figure 8 , it can be understood that multiple steering wheels 21 can be located at the left side of the installation space 31211. The driven wheel 22 can be located at the right side away from the steering wheels 21. The multiple steering wheels 21 can be arranged in the horizontal direction.

[0058] The mobile installation part 312 can also include an electrical cabinet 3125. The electrical cabinet 3125 can be used to store electrical appliances.

[0059] Please refer further to Figure 9 , it can be understood that multiple steering wheels 21 can be located at the right side of the installation space 31211. The driven wheel 22 can be located at the left side away from the steering wheels 21. The multiple steering wheels 21 can be arranged in the horizontal direction.

[0060] Please refer further to Figure 10 , it can be understood that the driven wheel 22 can also be installed on the panel 32. The driven wheel 22 is located in the direction away from the steering wheels 21.

[0061] Specifically, the driven wheel 22 installed on the panel 32 can be used for bearing force and load. The driven wheel 22 located in the installation space 31211 serves an auxiliary function and can prevent the vehicle body from tilting.

[0062] Please refer further to Figure 11 , it can be understood that multiple steering wheels 21 can be located on the left side or the right side of the installation space 31211. The driven wheel 22 is located in the direction away from the steering wheel 21. Multiple steering wheels 21 can be arranged in an inclined direction.

[0063] It can be understood that the driven wheel 22 can also be installed at a position outside the installation space 31211 in the chassis 31. The driven wheel 22 installed at a position outside the installation space 31211 in the chassis 31 can be used for force bearing and load bearing. The driven wheel 22 located in the installation space 31211 serves an auxiliary function and can prevent the vehicle body from tilting.

[0064] The steering wheels 21 are arranged in a horizontal direction, and the driven wheel 22 is located in the direction away from the steering wheel 21. The steering wheels 21 can be located in the middle or side of the installation space 31211. Multiple steering wheels can be arranged in a horizontal direction or in an inclined direction. The steering wheel 21 can be a differential steering wheel.

[0065] Please refer further to Figures 12-13 , it can be understood that the split-type handling AGV can be used for handling vehicles.

[0066] The split-type handling AGV cooperates with another split-type handling AGV and moves to the bottom of the vehicle;

[0067] They respectively move to the positions corresponding to the front wheels and the rear wheels of the vehicle;

[0068] The clamping assembly 10 works, and the clamping driving part 13 drives the clamping part 11 to rotate through the clamping transmission part 12 to clamp the wheel;

[0069] The split-type handling AGV cooperates with another split-type handling AGV to move the vehicle to a specified position;

[0070] The clamping assembly 10 works, and the clamping driving part 13 drives the clamping part 11 to rotate through the clamping transmission part 12, and the clamping part 11 moves away from the wheel;

[0071] The split-type handling AGV and another split-type handling AGV leave the vehicle and go to the next specified position.

[0072] It can be understood that in this application, the steering wheels 21 are installed on the side of the installation space 31211, and the driven wheel 22 is located in the direction away from the steering wheel 21. This can reduce the errors or jitters that may occur during multi-wheel coordinated steering, with a fast response speed and enhanced turning stability. It can also reduce the algorithm complexity, reduce the turning radius of the AGV, and improve the space adaptability.

[0073] In summary, by arranging the steering wheels horizontally, the omnidirectional movement ability of the handling AGV can be improved, and lateral translation, diagonal movement or rotation in place can be achieved. Moreover, the horizontal arrangement of the steering wheels can also reduce the width of the handling AGV, enabling the handling AGV to better adapt to narrow spaces. With multiple steering wheels, the path can be flexibly planned, which is suitable for the movement of the handling AGV in a dynamic environment. The present application also improves the space utilization rate and reduces the height of the handling AGV by setting up the installation space and using it to install the electrical cabinet, steering wheels and driven wheels. Furthermore, the handling AGV can be made to adapt to a low environment, expanding the usage scenarios of the handling AGV. The center of gravity of the handling AGV is lowered, the risk of rollover during turning, sudden stop or loading is reduced, and the passing ability on uneven ground is improved.

[0074] The above is only the implementation mode of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A split-type transport AGV, characterized in that: The split-type transport AGV comprises a clamping assembly (10), a moving assembly (20), and a frame assembly (30); the clamping assembly (10) and the moving assembly (20) are installed on the frame assembly (30); the moving assembly (20) comprises a plurality of steering wheels (21); the steering wheels (21) are arranged in a horizontal direction; and the clamping assembly (10) is located between the steering wheels (21).

2. A split-type transport AGV according to claim 1, characterized in that: The frame assembly (30) comprises a base frame (31); the base frame (31) is provided with a clamping mounting portion (311) and a movable mounting portion (312); the movable mounting portion (312) is connected to the clamping mounting portion (311), and the movable mounting portion (312) is located on a side of the clamping mounting portion (311); the clamping assembly (10) is mounted on the clamping mounting portion (311), and the movable assembly (20) is mounted on the movable mounting portion (312); and the steering wheel (21) is located in the middle or side of the movable mounting portion (312).

3. A split-type transport AGV according to claim 2, characterized in that: The movable installation parts (312) are two in number and are located on both sides of the clamping installation part (311); the movable installation parts (312) are arranged in a horizontal direction.

4. The split-type transport AGV according to claim 2, characterized in that: The movable installation part (312) comprises a movable longitudinal plate (3121) and a movable transverse plate (3122); the movable longitudinal plate (3121) and the movable transverse plate (3122) define an installation space (31211), and the steering wheel (21) is located in the installation space (31211); The clamping installation part (311) comprises a bottom plate (3111), a clamping longitudinal plate (3112), and a clamping transverse plate (3113); the clamping longitudinal plate (3112) and the clamping transverse plate (3113) are located on the top of the bottom plate (3111), the clamping transverse plate (3113) is connected to the bottom plate (3111), and the clamping longitudinal plate (3112) is connected to the clamping transverse plate (3113); The movable longitudinal plate (3121) is connected to the clamping transverse plate (3113).

5. The split-type transport AGV according to claim 4, characterized in that: The movable mounting portion (312) further comprises a steering wheel mounting plate (3123); the steering wheel mounting plate (3123) is connected to the movable longitudinal plate (3121); the steering wheel (21) is mounted on the steering wheel mounting plate (3123); the steering wheel (21) is located in the middle or side of the mounting space (31211).

6. The split-type transport AGV according to claim 4, characterized in that: The mobile installation part (312) further includes an electrical cabinet (3125); the electrical cabinet (3125) is located in the installation space (31211).

7. The split-type transport AGV according to claim 4, characterized in that: The moving assembly (20) further comprises a plurality of driven wheels (22); the frame assembly (30) further comprises a panel (32); the driven wheels (22) are located in a direction away from the steering wheel (21); and the panel (32) is connected to the base frame (31).

8. The split-type transport AGV according to claim 7, characterized in that: The movable mounting portion (312) further comprises a driven wheel mounting plate (3124); the driven wheel (22) is mounted on the driven wheel mounting plate (3124); and the driven wheel (22) is located on the side of the mounting space (31211).

9. The split-type transport AGV according to claim 8, characterized in that: The driven wheel (22) is also mounted on the panel (32).

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