Latent traction AGV with vehicle tail jacking function

Abstract

The invention discloses a latent traction AGV with a vehicle tail jacking function. The latent traction AGV comprises a supporting mechanism and a driving mechanism which are in transmission connection. The driving lifting mechanism is arranged in the supporting mechanism and is in transmission connection with the driving mechanism; the bolt lifting mechanism is movably arranged in the supporting mechanism in a penetrating manner; the vehicle tail jacking mechanism is movably arranged at the tail end of the supporting mechanism in a penetrating mode and comprises a supporting assembly and a driving transmission assembly; the two screw rod assemblies are respectively in transmission connection with the driving transmission assembly; and the jacking plate is connected with the two screw rod assemblies and drives the directional wheel at the tail of the skip car to be separated from the ground. The directional wheels at the tail of the skip car are driven by the car tail jacking mechanism to be separated from the ground, and the problem that when an existing latent traction AGV pulls the skip car to turn, abrasion of the surfaces of the directional wheels and the ground is accelerated due to the fact that the directional wheels of the existing latent traction AGV and the directional wheels of the existing latent traction AGV are not flush is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGVs, and in particular to a latent traction AGV with a rear-end lifting function. Background Art

[0002] The latent traction AGV cart is an automated transport device, which can be hidden at the bottom of the loading trolley. It is mainly used to tow vehicles loaded with goods, operate flexibly in limited spaces, and achieve efficient cargo handling. The latent traction AGV cart has the characteristics of intelligent navigation, flexible adaptability, safety and stability. It is suitable for scenes such as warehouses and manufacturing industries. It will be more intelligent in the future and improve the level of logistics automation.

[0003] In the prior art, the latent traction AGV trolley generally adopts two universal wheels at the front of the vehicle, a driving mechanism in the vehicle, and two fixed wheels at the rear of the vehicle; and the wheel system of the material vehicle carried by the vehicle generally adopts two universal wheels in the front and two fixed wheels in the rear; when the fixed wheels on the latent traction AGV are not flush with the fixed wheels of the material vehicle and the latent traction AGV tows the material vehicle to turn, the fixed wheels of the latent traction AGV will compete with the fixed wheels of the material vehicle, and produce sliding friction with the ground, thereby accelerating the wear of the fixed wheels and the ground; therefore, a latent traction AGV with a rear lifting function is provided to solve the above problems. Summary of the invention

[0004] One of the purposes of the present invention is to provide a latent traction AGV with a rear lifting function, so as to solve the problem that when the existing latent traction AGV tows a material vehicle and turns, the uneven directional wheels of the two vehicles will accelerate the wear of the directional wheel surface and the ground.

[0005] The present invention provides a latent traction AGV with a rear lifting function, which can be realized by the following technical solutions: The present invention discloses a latent traction AGV with a rear-end lifting function, comprising a support mechanism; a driving mechanism, which is transmission-connected to the support mechanism; a driving lifting mechanism, which is arranged in the support mechanism and transmission-connected to the driving mechanism, and the driving lifting mechanism drives the driving mechanism to break away from the contact connection with the ground; a latch lifting mechanism, which is movably arranged in the support mechanism, and the latch lifting mechanism realizes the detachable connection between the latent traction AGV and the material vehicle; and a rear-end lifting mechanism, which is movably arranged at the rear end of the support mechanism; Among them, the rear end lifting mechanism includes a support assembly, which is fixedly installed in the support mechanism; a drive transmission assembly arranged on the support assembly; two screw rod assemblies that are respectively rotatably arranged on the support assembly and are respectively transmission-connected to the drive transmission assembly; a lifting plate connected to the two screw rod assemblies, which moves through the support mechanism, and the lifting plate drives the directional wheels at the rear end of the material vehicle to break away from contact with the ground.

[0006] In one embodiment, a lower limit sensor and an upper limit sensor are fixedly provided on the support assembly; a sensing sheet is fixedly provided on the lifting plate, and the sensing sheet can perform sensing operations with the lower limit sensor and the upper limit sensor respectively.

[0007] In one embodiment, the drive transmission assembly includes a drive motor that can rotate forward and reverse; a drive gear fixedly arranged on the output shaft of the drive motor; and two transmission gear structures that are respectively meshed and transmission connected with the drive gear, and the two transmission gear structures are respectively meshed and transmission connected with the corresponding screw assembly.

[0008] In one embodiment, the screw assembly includes a driven gear, which is meshed and transmission-connected with the corresponding transmission gear structure; a second bearing fixedly arranged on the support assembly; a sleeve fixedly penetrating the support plate; and a screw body movably penetrating the second bearing and fixedly connected to the driven gear, which is transmission-connected to the sleeve.

[0009] In one embodiment, the support mechanism includes a shell assembly, which is a hollow cavity; a front universal wheel group and a rear fixed wheel group respectively rotatably arranged on the front and rear sides of the lower end of the shell assembly; a plurality of guide wheels respectively rotatably arranged on the upper end of the shell assembly; and a plurality of counterweight blocks respectively fixedly arranged in the shell assembly.

[0010] In one embodiment, the driving mechanism includes a supporting rotating assembly; a driving wheel assembly rotatably arranged below the supporting rotating assembly; a swing arm assembly rotatably arranged above the supporting rotating assembly and hinged to the shell assembly; an angle identification assembly that is arranged through the swing arm assembly and is meshingly connected to the supporting rotating assembly, which can monitor the rotation angle between the driving mechanism and the shell assembly in real time.

[0011] In one embodiment, the driving lifting mechanism includes a manual lifting component and an automatic lifting component, which are respectively arranged in the shell component and are respectively connected to the lifting plate on the swing arm component; the manual lifting component includes a first mounting seat, a lifting rod and a rotating handle, the first mounting seat is fixedly installed in the shell component, the lifting rod is slidably penetrated and arranged on the first mounting seat and is connected to the lifting plate, and the rotating handle is rotatably arranged on the first mounting seat and is connected to the lifting rod; the automatic lifting component includes a second mounting seat, an electric push rod and a rotating block, the second mounting seat is fixedly installed in the shell component; the electric push rod is fixedly arranged on the second mounting seat; the rotating block is rotatably connected to the second mounting seat, and its two ends are respectively connected to the electric push rod and the lifting plate.

[0012] In one embodiment, the latch lifting mechanism includes a latch assembly, which is movably arranged in the above-mentioned shell assembly; an automatic latch lowering assembly and a manual latch lowering assembly respectively connected to the latch assembly.

[0013] In one embodiment, the latch assembly includes a third mounting seat, which is fixed in the shell assembly; a guide shaft longitudinally fixedly arranged on the third mounting seat; a latch shaft structure that is movably arranged on the guide shaft and movably passes through the third mounting seat, and the automatic latch lowering assembly and the manual latch lowering assembly can be respectively connected to the latch shaft structure in a transmission manner; and an elastic member that is movably arranged on the guide shaft and is arranged between the third mounting seat and the latch shaft structure.

[0014] In one embodiment, it further includes an electric control mechanism, a power supply, a scanning monitoring mechanism and a display button mechanism; the electric control mechanism and the power supply are respectively arranged in the supporting mechanism, and the electric control mechanism is electrically connected to the driving mechanism, the driving lifting mechanism, the latch lifting mechanism, the rear lifting mechanism, the power supply, the scanning monitoring mechanism and the display button mechanism respectively; the scanning monitoring mechanism is arranged on the side of the supporting mechanism; and the display button mechanism is arranged throughout the supporting mechanism.

[0015] Compared with the prior art, the beneficial effects of the latent traction AGV with the rear lifting function of the present invention are as follows: The present invention discloses a driving motor in a latent traction AGV with a rear-end jacking function, which rotates forward and reversely. The driving motor drives two transmission gear structures to rotate synchronously through a driving gear. The two transmission gear structures drive corresponding screw rod assemblies to move. The two screw rod assemblies drive the jacking plate to perform a lifting operation. The jacking plate drives the directional wheels at the rear of the material vehicle to break away from contact with the ground, which effectively solves the problem that when the existing latent traction AGV tows the material vehicle to turn, the uneven directional wheels of the two accelerate the wear of the directional wheel surfaces and the ground, and at the same time greatly increases the service life of the rear directional wheel group and the directional wheels of the material vehicle and the surface coating of the floor. By respectively arranging upper and lower limit sensors on the support assembly and arranging a sensing sheet on the jacking plate, the driving motor is controlled to stop working through the induction of the sensing sheet and the two limit sensors, thereby realizing the function of limiting the lifting and lowering movement of the jacking plate. When the driving wheel assembly in a latent traction AGV with a rear-end lifting function drives the outer ring of the slewing bearing to rotate, the outer ring of the slewing bearing sequentially drives the pinion gear and the output shaft of the angle encoder to rotate, so that the angle encoder obtains a position signal of the driving wheel assembly rotating along the axial direction of the slewing bearing, thereby realizing the identification operation of the rotation angle between the driving mechanism and the suspended AGV body; at the same time, the driving wheel assembly adopts an integrated driving wheel, so that the driving mechanism has fewer parts, thereby facilitating the assembly operation of the driving mechanism; The present invention provides a latent traction AGV with a rear-end jacking function by respectively arranging a manual lifting component and an automatic lifting component, both of which can drive the first drive integrated wheel and the second drive integrated wheel in the driving mechanism to separate from the contact with the ground through a lifting plate. In the case of power failure or control failure, the manual lifting component can be used to manually lift the driving mechanism; at the same time, the latch component is driven downward by the latch automatic descending component or the latch manual descending component, thereby realizing the separation operation of the latch component and the material vehicle. In the case of power failure or control failure, the latch manual descending component can be used to manually realize the separation operation of the latent traction AGV and the material vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a structural schematic diagram of a latent traction AGV with a rear-end lifting function according to the present invention; Figure 2 yes Figure 1 The structure schematic diagram of a latent traction AGV with a rear-end lifting function according to the present invention from another perspective is shown; Figure 3 yes Figure 1 The exploded structural diagram of a latent traction AGV with a vehicle tail lifting function of the present invention is shown, including a driving mechanism, a driving lifting mechanism, a latch lifting mechanism and a tail lifting mechanism; Figure 4 yes Figure 3 A schematic diagram of the structure of the driving mechanism shown; Figure 5 yes Figure 4 Schematic diagram of the exploded structure of the driving mechanism shown; Figure 6 yes Figure 3 The structural diagram of the driving and lifting mechanism is shown; Figure 7 is Figure 3 the structural schematic diagram of the bolt lifting mechanism shown; Figure 8 is Figure 3 the structural schematic diagram of the tail lifting mechanism shown; Figure 9 is Figure 8 the exploded structural schematic diagram of the tail lifting mechanism shown, including a drive transmission component and a lifting plate; Figure 10 is Figure 9 the exploded structural schematic diagram of the drive transmission component shown; Figure 11 is Figure 9 the structural schematic diagram of the lifting plate shown.

[0018] Indications in the figure: 10, support mechanism; 11, housing assembly; 111, main housing; 1111, through hole; 1112, buffer; 1113, brush; 112, cover plate; 1121, movable door; 12, front universal wheel set; 13, rear fixed wheel set; 14, guide wheel; 15, counterweight; 20, drive mechanism; 21, support rotating assembly; 211, support plate; 2111, hinge seat; 212, slewing bearing; 2121, external gear; 22, drive wheel assembly; 221, first mounting bracket; 222, first drive integral wheel; 223, second drive integral wheel; 224, shaft structure; 23, swing arm assembly; 231, swing arm body; 2311, hinge hole; 232, drive spring structure; 233, mechanical limit structure; 234, lifting plate; 24, angle recognition assembly; 241, mounting plate; 242, angle encoder; 243, pinion; 30, drive lifting mechanism; 31, manual lifting assembly; 311, first mounting seat; 312, lifting rod; 313, rotating handle; 32, automatic lifting assembly; 321, second mounting seat; 322, electric push rod; 323, rotating block; 40, bolt lifting mechanism; 41, bolt assembly; 411, third mounting seat; 412, first guide shaft; 413, bolt shaft structure; 414, elastic member; 42, bolt automatic descent assembly; 421, rotating motor; 422, eccentric block; 43, bolt manual descent assembly; 431, mounting cavity; 432, lever; 433, return spring; 50, vehicle tail lifting mechanism; 51, support assembly; 511, second mounting bracket; 512, fixing plate; 5121, second mounting hole; 513, lower limit sensor; 514, upper limit sensor; 52, drive transmission assembly; 521, drive motor; 522, drive gear; 523, transmission gear structure; 5231, first bearing; 5232, rotating shaft; 5233, transmission gear body; 53, lead screw assembly; 531, driven gear; 5311, fastening nut; 532, second bearing; 533, lead screw body; 534, bushing; 54, lifting plate; 541, bushing mounting hole; 542, induction piece; 60, electric control mechanism; 61, charging interface; 70, power supply; 80, scanning and monitoring mechanism; 81, radar; 82, depth camera; 90, display and button mechanism; 91, display screen; 92, button. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figures 1 - 3 As shown, a latent traction AGV with a rear-end lifting function of the present invention mainly includes a support mechanism 10, a driving mechanism 20, a driving lifting mechanism 30, a latch lifting mechanism 40, a rear-end lifting mechanism 50, an electric control mechanism 60, a power supply 70, a scanning monitoring mechanism 80 and a display button mechanism 90; the support mechanism 10 is a supporting body, and the material cart can be detachably arranged on the support mechanism 10; the driving mechanism 20 is transmission-connected with the support mechanism 10, and it drives the support mechanism 10 to move; the driving lifting mechanism 30 is arranged in the support mechanism 10 and is transmission-connected with the driving mechanism 20, and it can drive the driving mechanism 20 to break away from the contact connection with the ground, thereby facilitating the transfer of the AGV; the latch lifting mechanism 40 moves through the support mechanism 10, and the hooking and unhooking operations of the latent traction AGV and the material cart can be realized through the latch lifting mechanism 40; the rear-end lifting mechanism 50 moves through the tail end arranged in the support mechanism 10, and it can make a linear motion in the longitudinal direction, and the rear-end lifting mechanism 50 can be arranged on the support mechanism The rear end of the material vehicle on the support mechanism 10 is lifted up, so that the directional wheels arranged at the rear end of the material vehicle are separated from the contact connection with the ground, thereby preventing interference operation with the rear directional wheel group 13 on the support mechanism 10; the electric control mechanism 60 and the power supply 70 are fixedly arranged in the support mechanism 10 respectively, and the electric control mechanism 60 is electrically connected with the driving mechanism 20, the driving lifting mechanism 30, the latch lifting mechanism 40, the vehicle tail lifting mechanism 50, the power supply 70, the scanning monitoring mechanism 80, and the display button mechanism 90 respectively, and the power supply 70 provides power to the driving mechanism 20, the driving lifting mechanism 30, the latch lifting mechanism 40, the vehicle tail lifting mechanism 50, the electric control mechanism 60, the scanning monitoring mechanism 80, and the display button mechanism 90 respectively; the scanning monitoring mechanism 80 is arranged on the side of the support mechanism 10, and it performs real-time monitoring operation on the surrounding environment of the support mechanism 10; the display button mechanism 90 is arranged throughout the support mechanism 10, and the display button mechanism 90 is convenient for users to perform human-computer interaction operations with the latent traction AGV.

[0022] See also Figures 1 - 3As shown, in the present embodiment, the support mechanism 10 includes a shell assembly 11, a front universal wheel group 12, a rear fixed wheel group 13, a plurality of guide wheels 14 and a plurality of counterweights 15; the shell assembly 11 is a hollow cavity, which is the supporting body; the front universal wheel group 12 and the rear fixed wheel group 13 are rotatably arranged at the front and rear sides of the lower end of the shell assembly 11 respectively; the plurality of guide wheels 14 are rotatably arranged at the upper end of the shell assembly 11 respectively, and the sliding friction generated during the docking process between the shell assembly 11 and the material vehicle is avoided by the mutual cooperation of the plurality of guide wheels 14; the plurality of counterweights 15 are respectively fixedly arranged in the shell assembly 11, and the center of gravity position of the latent traction AGV is changed by the counterweights 15, so as to match different material vehicles.

[0023] See also Figures 1 - 3 As shown, in this embodiment, the housing assembly 11 includes a main housing 111 and a cover plate 112 . The main housing 111 is a hollow cavity with one end open; the cover plate 112 is fixedly disposed on the main housing 111 . Specifically, a plurality of through holes 1111 are provided on the main shell 111, and the latch lifting mechanism 40, the rear lifting mechanism 50, the electric control mechanism 60, the scanning monitoring mechanism 80 and the display button mechanism 90 respectively penetrate the main shell 111 through the corresponding through holes 1111; a buffer 1112 is provided on the side of the main shell 111, and the buffer 1112 is used to buffer the collision between the main shell 111 and external objects; a brush 1113 is also provided on the bottom of the main shell 111, and the brush 1113 is used to clean foreign objects lurking on the movement route of the traction AGV; a movable door 1121 is movably provided on the cover plate 112, and the position of the movable door 1121 corresponds to the position of the drive lifting mechanism 30, so as to facilitate manual operation of the drive lifting mechanism 30, thereby making the drive mechanism 20 disconnected from the contact with the ground.

[0024] See also Figures 1 - 5 As shown, in the present embodiment, the driving mechanism 20 mainly comprises a supporting rotating assembly 21, a driving wheel assembly 22, a swing arm assembly 23 and an angle identification assembly 24; the supporting rotating assembly 21 is a supporting body; the driving wheel assembly 22 is rotatably arranged below the supporting rotating assembly 21, and its two ends can float up and down relative to the supporting rotating assembly 21; the swing arm assembly 23 is rotatably arranged above the supporting rotating assembly 21 and is hinged to the shell assembly 11, and can rotate relative to the supporting rotating assembly 21; the angle identification assembly 24 is arranged through the swing arm assembly 23 and is meshed and transmission-connected with the supporting rotating assembly 21, and can monitor the rotation angle between the driving mechanism 20 and the shell assembly 11 in real time.

[0025] See also Figure 4 and Figure 5As shown, in this embodiment, the support rotation assembly 21 includes a support plate 211 and a slewing bearing 212; the support plate 211 is a supporting body, and the driving wheel assembly 22 is rotatably connected to the support plate 211; the slewing bearing 212 is arranged on the support plate 211 and its outer ring is fixedly connected to the support plate 211, and the inner ring of the slewing bearing 212 is fixedly connected to the swing arm assembly 23, and the swing arm assembly 23 can be rotated relative to the support plate 211 through the slewing bearing 212. Specifically, two hinge seats 2111 are symmetrically arranged at the lower end of the support plate 211, and the driving wheel assembly 22 is rotatably connected to the two hinge seats 2111 respectively; a plurality of fixing holes are arranged on the support plate 211, and the outer ring of the slewing bearing 212 is fixedly connected to the support plate 211 through the plurality of fixing holes; a plurality of external gears 2121 are arranged around the outer side of the slewing bearing 212, and the angle recognition assembly 24 is meshed and transmission-connected with the plurality of external gears 2121.

[0026] See also Figure 4 and Figure 5 As shown, in this embodiment, the driving wheel assembly 22 includes a first mounting bracket 221, a first driving integrated wheel 222, a second driving integrated wheel 223 and two rotating shaft structures 224; the first mounting bracket 221 is rotatably connected to the support plate 211 through two rotating shaft structures 224; the first driving integrated wheel 222 and the second driving integrated wheel 223 are respectively fixedly arranged on the first mounting bracket 221 and are respectively electrically connected to the electric control mechanism 60, and the walking or turning operation of the latent traction AGV is realized through the two. Specifically, two first mounting holes are symmetrically arranged on the first mounting bracket 221, and the two rotating shaft structures 224 are respectively connected to the two articulated seats 2111 through the corresponding first mounting holes; the first driving integrated wheel 222 and the second driving integrated wheel 223 both adopt the existing technology, so their specific structure and working process are not described here, as long as they meet the requirements of this application. Specifically, the rotating shaft structure 224 includes an oil-free sleeve and a rotating shaft body. The oil-free sleeve is fixedly arranged in the first mounting hole. The rotating shaft body is fixedly arranged on the hinge seat 2111 and is arranged in the oil-free sleeve. The first mounting bracket 221 rotates relative to the rotating shaft body through the oil-free sleeve, thereby realizing the up and down floating operation of the first drive integrated wheel 222 and the second drive integrated wheel 223 relative to the support plate 211.

[0027] See also Figure 4 and Figure 5As shown, the swing arm assembly 23 includes a swing arm body 231, at least one driving spring structure 232, at least two mechanical limiting structures 233 and a lifting plate 234; the swing arm body 231 is fixedly connected to the inner ring of the slewing bearing 212; at least one driving spring structure 232 is arranged at the upper end of the swing arm body 231, and the shell assembly 11 is connected to the at least one driving spring structure 232. The shell assembly 11 transmits the elastic force to the first drive integrated wheel 222 and the second drive integrated wheel 223 synchronously through the at least one driving spring structure 232, thereby increasing the positive pressure of the first drive integrated wheel 222 and the second drive integrated wheel 223 on the ground; at least two mechanical limiting structures 233 are respectively fixedly arranged on the swing arm body 231 and can be respectively contacted and connected with the support plate 211, thereby realizing the limiting operation of the floating angle of the first drive integrated wheel 222 and the second drive integrated wheel 223. In this embodiment, two driving spring structures 232 are respectively arranged at the upper end of the swing arm body 231; two mechanical limit structures 233 are respectively fixedly arranged on the swing arm body 231 and can be respectively contacted and connected with the support plate 211; the lifting plate 234 is fixedly arranged on one side of the swing arm body 231 and is arranged opposite to the hinged part of the housing assembly 11. Specifically, two hinge holes 2311 are arranged on the swing arm body 231, and the housing assembly 11 is hinged to the swing arm body 231 through the two hinge holes 2311.

[0028] See also Figure 5 As shown, in this embodiment, the driving spring structure 232 includes a fixing pin and a spring body, the fixing pin is fixedly arranged on the swing arm body 231; one end of the spring body is arranged on the fixing pin, and the other end thereof is connected to the housing assembly 11. Specifically, the mechanical limiting structure includes a first fixing plate and a limiting pin, the first fixing plate is fixedly arranged on the swing arm body 231; the limiting pin is fixedly arranged on the first fixing plate and penetrates the swing arm body 231 so as to be in contact with the support plate 211, thereby realizing the limiting operation of the floating angle of the first driving integrated wheel 222 and the second driving integrated wheel 223.

[0029] See also Figure 5 As shown, in this embodiment, the angle identification component 24 includes a mounting plate 241, an angle encoder 242 and a pinion 243; the mounting plate 241 is fixedly arranged on the swing arm body 231; the angle encoder 242 is fixedly arranged on the mounting plate 241 and its output shaft movably passes through the swing arm body 231, and it is electrically connected to the electric control mechanism 60; the pinion 243 is fixedly arranged on the output shaft of the angle encoder 242 and is meshingly and transmission-connected with a plurality of external gears 2121 on the outer ring of the slewing bearing 212.

[0030] See also Figure 3 and Figure 6As shown, in this embodiment, the driving lifting mechanism 30 includes a manual lifting component 31 and an automatic lifting component 32, which are respectively arranged in the housing component 11 and are respectively connected to the lifting plate 234, and the two can drive the first driving integrated wheel 222 and the second driving integrated wheel 223 in the driving mechanism 21 to break away from the contact connection with the ground through the lifting plate 234. Specifically, the manual lifting component 31 includes a first mounting seat 311, a lifting rod 312 and a rotating handle 313, the first mounting seat 311 is fixedly installed in the housing component 11; the lifting rod 312 is slidably arranged on the first mounting seat 311 and is connected to the lifting plate 234; the rotating handle 313 is rotatably arranged on the first mounting seat 311 and is connected to the lifting rod 312, and the lifting rod 312 is driven to drive the lifting plate 234 to move upward under the guidance of the first mounting seat 311 by pulling the rotating handle 313, so that the first driving integrated wheel 222 and the second driving integrated wheel 223 are separated from the contact connection with the ground. Specifically, the automatic lifting assembly 32 includes a second mounting seat 321, an electric push rod 322 and a rotating block 323; the second mounting seat 321 is fixedly mounted in the housing assembly 11; the electric push rod 322 is fixedly arranged on the second mounting seat 321 and is electrically connected to the electric control mechanism 60; the rotating block 323 is rotatably connected to the second mounting seat 321 and is transmission-connected to the electric push rod 322, which can be transmission-connected to the lifting plate 234, and the electric push rod 322 drives the rotating block 323 to drive the lifting plate 234 to move, so that the first drive integrated wheel 222 and the second drive integrated wheel 223 are separated from the contact connection with the ground. Specifically, the electric push rod 322 adopts the existing technology, so its specific structure and working process are not described here, as long as it meets the requirements of this application.

[0031] See also Figure 3 and Figure 7As shown, in the present embodiment, the latch lifting mechanism 40 includes a latch assembly 41, an automatic latch lowering assembly 42 and a manual latch lowering assembly 43; the latch assembly 41 is movably arranged in the shell assembly 11, and the latch assembly 41 can realize a detachable connection operation with the material cart; the automatic latch lowering assembly 42 and the manual latch lowering assembly 43 can be respectively connected to the latch assembly 41 in transmission, and the two can respectively drive the latch assembly 41 to move downward, thereby realizing a separation operation from the material cart. Specifically, the latch assembly 41 includes a third mounting seat 411, a guide shaft 412, a latch shaft structure 413 and an elastic member 414; the third mounting seat 411 is fixedly arranged in the shell assembly 11; the guide shaft 412 is longitudinally fixedly arranged on the third mounting seat 411; the latch shaft structure 413 is movably penetrated on the guide shaft 412 and movably penetrates the third mounting seat 411, and the guide shaft 412 is used to guide and limit the lifting and lowering movement of the latch shaft structure 413, and the automatic latch lowering assembly 42 and the manual latch lowering assembly 43 can be respectively connected to the latch shaft structure 413 in transmission; the elastic member 414 is movably penetrated on the guide shaft 412 and is arranged between the third mounting seat 411 and the latch shaft structure 413, which provides an upward supporting force to the latch shaft structure 413, so that the latch shaft structure 413 is engaged and connected with the material cart. Specifically, the automatic latch lowering assembly 42 includes a rotating motor 421 and an eccentric block 422. The rotating motor 421 is fixedly arranged on the side of the third mounting seat 411 and is electrically connected to the electric control mechanism 60, and its output shaft movably passes through the third mounting seat 411; the eccentric block 422 is fixedly arranged on the output shaft of the rotating motor 421 and is transmission-connected to the latch shaft structure 413. The rotating motor 421 drives the latch shaft structure 413 to move downward through the eccentric block 422, thereby automatically realizing the uncoupling operation of the latch shaft structure 413 from the material cart. Specifically, the manual latch lowering assembly 43 includes an installation cavity 431, a lever 432 and a return spring 433; the installation cavity 431 is fixedly arranged through the side of the shell assembly 11; the lever 432 is rotatably arranged through the installation cavity 431 and can be in contact and transmission connection with the latch shaft structure 413; one end of the return spring 433 is connected to the lever 432, and the other end of the return spring 433 is connected to the installation cavity 431. By pressing the lever 432, the force of the return spring 433 is overcome and the latch shaft structure 413 is in contact and transmission connection, driving the latch shaft structure 413 to move downward, thereby manually realizing the decoupling operation of the latch shaft structure 413 from the material cart.

[0032] See also Figure 3 , Figure 8 and Figure 9As shown, in this embodiment, the vehicle tail lifting mechanism 50 includes a support assembly 51, a drive transmission assembly 52, two screw rod assemblies 53, and a lifting plate 54; the support assembly 51 is fixedly installed in the housing assembly 11; the drive transmission assembly 52 is arranged on the support assembly 51; the two screw rod assemblies 53 are respectively rotatably arranged on the support assembly 51 and are respectively in transmission connection with the drive transmission assembly 52, and both of them are in transmission connection with the lifting plate 54. The lifting plate 54 movably penetrates through the cover plate 112. The drive transmission assembly 52 synchronously drives the two screw rod assemblies 53 to drive the lifting plate 54 to move in the longitudinal direction, and the lifting plate 54 drives the vehicle tail of the material vehicle to move upward so that the directional wheels arranged at the vehicle tail of the material vehicle are separated from the ground contact.

[0033] Please refer to Figure 8 and Figure 9 As shown, in this embodiment, the support assembly 51 includes a second mounting bracket 511, a fixing plate 512, a lower limit sensor 513, and an upper limit sensor 514; the second mounting bracket 511 is fixedly installed in the housing assembly 11; the fixing plate 512 is horizontally fixedly arranged on the second mounting bracket 511, and the drive transmission assembly 52 and the two screw rod assemblies 53 respectively penetrate through the fixing plate 512; the lower limit sensor 513 and the upper limit sensor 514 are respectively fixedly arranged on the second mounting bracket 511 and are respectively electrically connected to the electric control mechanism 60, and both of them perform induction and limit operations on the up and down lifting displacement of the lifting plate 54. Specifically, a plurality of second mounting holes 5121 are penetrated through the fixing plate 512, and the drive transmission assembly 52 and the two screw rod assemblies 53 respectively penetrate through the fixing plate 512 through the corresponding second mounting holes 5121; both the lower limit sensor 513 and the upper limit sensor 514 use photoelectric switches.

[0034] Please refer to Figures 8 - 10As shown, in the present embodiment, the driving transmission assembly 52 comprises a driving motor 521, a driving gear 522 and two transmission gear structures 523; the driving motor 521 is penetrated through the corresponding second mounting hole 5121 and is arranged on the fixed plate 512 and is electrically connected to the electric control mechanism 60, and it can be rotated forward and reversely; the driving gear 522 is fixedly arranged on the output shaft of the driving motor 521, and the driving motor 521 drives the driving gear 522 to rotate; the two transmission gear structures 523 are respectively rotatably arranged on the fixed plate 512 and are respectively meshed and connected with the driving gear 522 for transmission, and the two transmission gear structures 523 are respectively meshed and connected with the corresponding screw rod assemblies 53 for transmission, and the driving motor 521 synchronously drives the two transmission gear structures 523 to rotate through the driving gear 522, and the two transmission gear structures 523 synchronously drive the corresponding screw rod assemblies 53 to rotate. Specifically, the transmission gear structure 523 includes a first bearing 5231, a rotating shaft 5232 and a transmission gear body 5233; the first bearing 5231 is fixedly arranged in the corresponding second mounting hole 5121 on the fixed plate 512; one end of the rotating shaft 5232 is rotatably arranged in the first bearing 5231, and the other end thereof is fixedly connected to the transmission gear body 5233; the transmission gear body 5233 is respectively meshed and transmission-connected with the driving gear 522 and the corresponding screw assembly 53.

[0035] Please refer to Figure 9. In this embodiment, the screw assembly 53 includes a driven gear 531, a second bearing 532, a screw body 533 and a sleeve 534; the driven gear 531 is meshed and transmission-connected with the corresponding transmission gear body 5233; the second bearing 532 is fixedly disposed in the corresponding second mounting hole 5121 on the fixing plate 512; the sleeve 534 is fixedly penetrated on the lifting plate 54; the screw body 533 movably penetrates the second bearing 532 and is fixedly connected to the driven gear 531, which is transmission-connected to the sleeve 534, and the driven gear 531 drives the screw body 533 to rotate, thereby driving the sleeve 534 to move on the screw body 533. Specifically, a fastening nut is provided at the connection position between the driven gear 531 and the screw rod body 533, and the fastening effect of the fastening nut prevents the driven gear 531 and the screw rod body 533 from being separated; the screw rod body 533 adopts a ball screw; an internal thread is provided on the inner wall of the sleeve 534, which cooperates with the external thread on the screw rod body 533, so as to realize the movement of the sleeve 534 on the screw rod body 533.

[0036] See also Figure 8 , Figure 9 and Figure 11As shown, in this embodiment, two bushing mounting holes 541 are penetrated through the lifting plate 54, and two bushings 534 are respectively fixedly arranged through the corresponding bushing mounting holes 541; an induction piece 542 is also fixedly arranged on the lifting plate 54, and the induction piece 542 can respectively perform induction operations with the lower limit sensor 513 and the upper limit sensor 514, and transmit signals to the driving motor 521 to stop rotating, so as to limit the up and down lifting movement of the lifting plate 54.

[0037] Please refer to Figures 1 - 3 As shown, in this embodiment, the electric control mechanism 60 is electrically connected to the driving mechanism 20, the driving and lifting mechanism 30, the bolt lifting mechanism 40, the vehicle tail lifting mechanism 50, the power supply 70, the scanning and monitoring mechanism 80, and the display and button mechanism 90 respectively. The control technologies adopted are all existing technologies, so the specific control process and product models adopted will not be described in detail here, as long as they meet this application; specifically, the electric control mechanism 60 includes a charging interface 61, and the power supply 70 is charged through the charging interface 61; the power supply 70 uses a polymer lithium-ion battery. In this embodiment, the scanning and monitoring mechanism 80 includes a plurality of radars 81 and a depth camera 82. The plurality of radars 81 are respectively arranged on the side of the housing assembly 11 and electrically connected to the electric control mechanism 60, and the depth camera 82 is penetrated through the front end of the housing assembly 11 and electrically connected to the electric control mechanism 60, and the surrounding environment of the latent traction AGV is monitored in real time through the cooperation of the plurality of radars 81 and the depth camera 82. In this embodiment, the display and button mechanism 90 includes a display screen 91 and a plurality of buttons 92. The display screen 91 and the plurality of buttons 92 are respectively penetrated through the housing assembly 11 and respectively electrically connected to the electric control mechanism 60. At the same time, the display screen 91 performs human-computer interaction operations, and the plurality of buttons 92 include a power-on / off button, a reset button, a brake release button, and an emergency stop button.

[0038] It should be noted that the specific working process of a stealth towing AGV with a tail lifting function in the present invention is as follows: When the stealth towing AGV towed the material vehicle turns and the rear directional wheel set 13 interferes with the directional wheels of the material vehicle, the electric control mechanism 60 controls the driving motor 521 to rotate forward. It synchronously drives the rotation of two transmission gear structures 523 through the driving gear 522. The two transmission gear structures 523 respectively and synchronously drive the corresponding lead screw assemblies 53 to rotate. The two lead screw assemblies 53 drive the lifting plate 54 to move upward. When the sensing piece 542 on the lifting plate 54 moves into the upper limit sensor 514, the driving motor 521 stops rotating, realizing the lifting operation of the tail end of the material vehicle, so that the directional wheels at the tail end of the material vehicle are separated from the ground contact, thus facilitating the stealth towing AGV to tow the material vehicle to turn; When the stealth towing AGV completes towing the material vehicle to turn, the electric control mechanism 60 controls the driving motor 521 to rotate in reverse. It synchronously drives the two transmission gear structures 523 to rotate in the opposite direction through the driving gear 522. The two transmission gear structures 523 respectively and synchronously drive the corresponding lead screw assemblies 53 to rotate in the opposite direction. The two lead screw assemblies 53 drive the lifting plate 54 to move downward. When the sensing piece 542 on the lifting plate 54 moves into the lower limit sensor 513, the driving motor 521 stops rotating, and the lifting plate 54 returns to the position flush with the housing assembly 11, thus completing the lifting operation of the entire tail lifting mechanism 50.

[0039] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0040] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A latent traction AGV with a rear lift function, characterized in that: include: Support mechanism; A driving mechanism, which is drivingly connected to the supporting mechanism; A driving lifting mechanism, which is arranged in the supporting mechanism and is in transmission connection with the driving mechanism, and the driving lifting mechanism drives the driving mechanism to break away from the contact connection with the ground; A latch lifting mechanism, which is movably arranged in the support mechanism, and the latch lifting mechanism realizes a detachable connection between the latent traction AGV and the material vehicle; A rear lifting mechanism, which is movably arranged at the rear end of the support mechanism; Wherein, the rear-end lifting mechanism comprises a support assembly, which is fixedly installed in the support mechanism; A driving transmission assembly is arranged on the supporting assembly; two screw rod assemblies are respectively rotatably arranged on the supporting assembly and are respectively connected to the driving transmission assembly; a lifting plate connected to the two screw rod assemblies, which moves through the supporting mechanism, and the lifting plate drives the directional wheels at the rear of the material cart to break away from contact with the ground.

2. The latent traction AGV with rear lifting function according to claim 1 is characterized in that: A lower limit sensor and an upper limit sensor are fixedly arranged on the support assembly; a sensing sheet is fixedly arranged on the lifting plate, and the sensing sheet can perform sensing operations with the lower limit sensor and the upper limit sensor respectively.

3. The latent traction AGV with rear-end lifting function according to claim 1 is characterized in that: The drive transmission assembly includes a drive motor that can rotate forward and reverse; a drive gear fixedly arranged on the output shaft of the drive motor; and two transmission gear structures that are respectively meshed and transmission-connected with the drive gear, and the two transmission gear structures are respectively meshed and transmission-connected with the corresponding screw rod assemblies.

4. The latent traction AGV with rear-end lifting function according to claim 3 is characterized in that: The screw assembly includes a driven gear, which is meshed and transmission-connected with the corresponding transmission gear structure; a second bearing fixedly arranged on the support assembly; a shaft sleeve fixedly penetrating the lifting plate; and a screw body that movably penetrates the second bearing and is fixedly connected to the driven gear, and is transmission-connected to the shaft sleeve.

5. The latent traction AGV with rear lifting function according to claim 1 is characterized in that: The support mechanism includes a housing assembly which is a hollow cavity; a front universal wheel assembly and a rear directional wheel assembly which are rotatably arranged at the front and rear sides of the lower end of the housing assembly respectively; A plurality of guide wheels arranged at the upper end of the shell assembly are respectively rotated; and a plurality of counterweight blocks arranged in the shell assembly are respectively fixed.

6. The latent traction AGV with rear lifting function according to claim 5 is characterized in that: The driving mechanism includes a supporting rotating assembly; a driving wheel assembly rotatably arranged below the supporting rotating assembly; a swing arm assembly rotatably arranged above the supporting rotating assembly and hinged to the shell assembly; an angle identification assembly that is arranged through the swing arm assembly and is meshingly connected to the supporting rotating assembly, which can monitor the rotation angle between the driving mechanism and the shell assembly in real time.

7. The latent traction AGV with rear lift function according to claim 5, characterized in that: The driving lifting mechanism includes a manual lifting component and an automatic lifting component, both of which are respectively arranged in the shell component and are respectively connected to the lifting plate on the swing arm component; the manual lifting component includes a first mounting seat, a lifting rod and a rotating handle, the first mounting seat is fixedly installed in the shell component, the lifting rod is slidably penetrated and arranged on the first mounting seat and is connected to the lifting plate, and the rotating handle is rotatably arranged on the first mounting seat and is connected to the lifting rod; the automatic lifting component includes a second mounting seat, an electric push rod and a rotating block, the second mounting seat is fixedly installed in the shell component; the electric push rod is fixedly arranged on the second mounting seat; the rotating block is rotatably connected to the second mounting seat, and its two ends are respectively connected to the electric push rod and the lifting plate.

8. The latent traction AGV with rear lift function according to claim 5, characterized in that: The latch lifting mechanism comprises a latch assembly, which is movably arranged in the housing assembly; an automatic latch lowering assembly and a manual latch lowering assembly, which are respectively connected to the latch assembly in a transmission manner.

9. The latent traction AGV with fixed universal wheel switching function according to claim 8, characterized in that: The latch assembly includes a third mounting seat, which is fixedly arranged in the shell assembly; a guide shaft longitudinally fixedly arranged on the third mounting seat; a latch shaft structure that is movably arranged on the guide shaft and movably penetrates the third mounting seat, and the automatic latch lowering assembly and the manual latch lowering assembly can be respectively connected to the latch shaft structure in a transmission manner; an elastic member that is movably arranged on the guide shaft and is arranged between the third mounting seat and the latch shaft structure.

10. A latent traction AGV with a rear lift function according to any one of claims 1 to 9, characterized in that: It further includes an electric control mechanism, a power supply, a scanning monitoring mechanism and a display button mechanism; the electric control mechanism and the power supply are respectively arranged in the supporting mechanism, and the electric control mechanism is electrically connected to the driving mechanism, the driving lifting mechanism, the latch lifting mechanism, the rear lifting mechanism, the power supply, the scanning monitoring mechanism and the display button mechanism respectively; the scanning monitoring mechanism is arranged on the side of the supporting mechanism; and the display button mechanism is arranged throughout the supporting mechanism.

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