A latent traction AGV with automatic distance adjusting function of directional wheels

Abstract

The application discloses a kind of latent traction AGV with the function of automatic distance adjustment of directional wheel, including support mechanism, drive mechanism, drive lifting mechanism, bolt lifting mechanism and mobile directional wheel mechanism;Mobile directional wheel mechanism includes support assembly;Drive assembly is arranged on support assembly;Directional wheel assembly is movably arranged below support assembly and is drivingly connected with drive assembly;At least one infrared diffuse reflection assembly is fixedly arranged on directional wheel assembly;Camera group is fixedly arranged on directional wheel assembly and faces ground.The application drives directional wheel assembly to move relative to support assembly by drive assembly, so that the directional wheel on directional wheel assembly overlaps or approaches the directional wheel axle distance of dolly, thereby avoiding or reducing the sliding friction degree of the main body of directional wheel and ground, effectively solving the problem that directional wheel in existing latent traction AGV needs to be frequently replaced.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, and in particular to a latent traction AGV with automatic directional wheel spacing adjustment function. Background Technology

[0002] The AGV (Automated Guided Vehicle) is an automated transportation device that can be hidden under the bottom of a cargo trolley. It is mainly used to tow vehicles loaded with goods, operating flexibly in limited spaces to achieve efficient cargo handling. The AGV features intelligent navigation, flexible adaptability, and safety and stability, making it suitable for scenarios such as warehouses and manufacturing. In the future, it will become more intelligent, improving the level of logistics automation.

[0003] In existing technologies, AGVs with concealed traction typically employ two omnidirectional wheels at the front, a drive mechanism in the middle, and two directional wheels at the rear. The wheel system of the material carrier typically uses two omnidirectional wheels at the front and two directional wheels at the rear. When the directional wheels on the AGV are not aligned with the directional wheels on the material carrier, and the AGV is turning while pulling the material carrier, the directional wheels of the AGV will struggle against each other, causing sliding friction with the ground and accelerating wear on both the directional wheels and the ground. Currently, this is mainly addressed by frequently replacing the directional wheels, which not only requires replacement time but also increases maintenance costs, thus failing to meet the actual usage requirements of AGVs with concealed traction. Therefore, this paper provides a wheel mechanism and a AGV with concealed traction to solve the above problems. Summary of the Invention

[0004] One of the objectives of this invention is to provide a submersible traction AGV with automatic adjustment function of directional wheels, so as to solve the problem of frequent replacement of directional wheels in existing submersible traction AGVs.

[0005] The present invention discloses a hidden traction AGV with automatic directional wheel spacing adjustment function, which can be achieved through the following technical solutions:

[0006] The present invention discloses a submersible traction AGV with automatic directional wheel distance adjustment function, comprising: a support mechanism; a drive mechanism, which is drivenly connected to the support mechanism; a drive lifting mechanism, which is disposed in the support mechanism and drivenly connected to the drive mechanism, the drive lifting mechanism driving the drive mechanism to disengage from contact with the ground; a pin lifting mechanism, which is movably disposed through the support mechanism, the pin lifting mechanism realizing a detachable connection between the submersible traction AGV and the material cart; and a movable directional wheel mechanism, which is rotatably disposed at the tail end of the support mechanism.

[0007] The movable directional wheel mechanism includes a support assembly; a drive assembly disposed on the support assembly; a directional wheel assembly movably disposed below the support assembly and drivenly connected to the drive assembly; at least one infrared diffuse reflection assembly fixedly disposed on the directional wheel assembly, which is capable of detecting the position of the directional wheel of the material cart; a camera assembly fixedly disposed on the directional wheel assembly and facing the ground, which is capable of recognizing markings on the ground; the drive assembly drives the directional wheel assembly to move relative to the support assembly, so that the directional wheel on the directional wheel assembly overlaps or approaches the directional wheel wheel of the material cart.

[0008] In one embodiment, the support assembly includes a support plate, and a first inductive switch and a second inductive switch are respectively fixedly disposed through the support plate; an inductive screw is fixedly disposed on the directional wheel assembly, and the inductive screw is capable of sensing operation with the first inductive switch and the second inductive switch respectively.

[0009] In one embodiment, at least one guide rail is fixedly provided at the bottom of the support plate; at least one guide seat is fixedly provided on the directional wheel assembly, and at least one guide seat is slidably disposed on the corresponding guide rail.

[0010] In one embodiment, the drive assembly includes a fixed base fixedly mounted on the support plate; a drive motor fixedly mounted on the fixed base, the output shaft of which movably passes through the fixed base and is capable of forward and reverse rotation; a drive gear driven on the output shaft of the drive motor; a transmission gear meshing with the drive gear; and a lead screw structure rotatably mounted on the support plate and driven by the transmission gear.

[0011] In one embodiment, the lead screw structure includes two lead screw support seats, which are respectively fixedly mounted on the support plate; a lead screw body is rotatably mounted on the two lead screw support seats via bearings and is connected to the transmission gear; and a slider is mounted on the lead screw body and fixedly connected to the directional wheel assembly.

[0012] In one embodiment, the directional wheel assembly further includes a sliding plate, which is pulsatorically connected to the drive assembly and slidably disposed on the support assembly; and two directional wheel bodies respectively rotatably disposed below the sliding plate.

[0013] In one embodiment, the drive mechanism includes a support rotation assembly; a drive wheel assembly rotatably disposed below the support rotation assembly; a swing arm assembly rotatably disposed above the support rotation assembly and hinged to the support mechanism; and an angle recognition assembly that is disposed through the swing arm assembly and meshed with the support rotation assembly, which is capable of monitoring the rotation angle between the drive mechanism and the support mechanism in real time.

[0014] In one embodiment, the drive lifting mechanism includes a manual lifting component and an automatic lifting component, both of which are respectively disposed in the support mechanism and are pulsatorically connected to the lifting plate on the swing arm assembly; the manual lifting component includes a first mounting base, a lifting rod, and a rotating handle, the first mounting base is fixedly installed in the support mechanism, the lifting rod is slidably disposed on the first mounting base and is pulsatorically connected to the lifting plate, and the rotating handle is rotatably disposed on the first mounting base and is pulsatorically connected to the lifting rod; the automatic lifting component includes a second mounting base, an electric push rod, and a rotating block, the second mounting base is fixedly installed in the support mechanism; the electric push rod is fixedly disposed on the second mounting base; the rotating block is rotatably connected to the second mounting base, and its two ends are pulsatorically connected to the electric push rod and the lifting plate, respectively.

[0015] In one embodiment, the pin lifting mechanism includes a pin assembly that is movably disposed within the support mechanism; an automatic pin lowering assembly and a manual pin lowering assembly that are respectively connected to the pin assembly in a transmission manner.

[0016] In one embodiment, the present invention provides a submersible traction AGV with automatic directional wheel distance adjustment function, further comprising an electronic control mechanism, a power supply, a scanning and monitoring mechanism, and a display button mechanism; the electronic control mechanism and the power supply are respectively disposed in a support mechanism, and the electronic control mechanism is electrically connected to the drive mechanism, the pin lifting mechanism, the drive lifting mechanism, the power supply, the scanning and monitoring mechanism, and the display button mechanism; the scanning and monitoring mechanism is disposed on the side of the support mechanism; the display button mechanism is disposed through the support mechanism.

[0017] The present invention discloses a hidden traction AGV with automatic directional wheel spacing adjustment function, which can be achieved through the following technical solutions:

[0018] This invention discloses a submersible traction AGV with automatic directional wheel spacing adjustment. The directional wheel assembly is driven by a drive component to move relative to a support component, causing the directional wheels on the directional wheel assembly to overlap or approach the directional wheels of the material cart. This ensures that the instantaneous center of gravity of the submersible traction AGV coincides with or is as close as possible to the instantaneous center of gravity of the material cart, thereby avoiding or reducing the degree of sliding friction between the directional wheel body and the ground. This effectively solves the problem of frequent directional wheel replacement in existing submersible traction AGVs. Simultaneously, by setting two inductive switches on the support component and inductive screws on the directional wheel assembly, the limiting operation of the directional wheel assembly is achieved through the sensing operation of the inductive screws and the two inductive switches.

[0019] In this invention, a submersible traction AGV with automatic directional wheel distance adjustment function has a drive wheel assembly that drives the outer ring of the slewing bearing to rotate. The outer ring of the slewing bearing then sequentially drives the pinion and the output shaft of the angle encoder to rotate, thereby enabling the angle encoder to obtain the position signal of the drive wheel assembly rotating along the axial direction of the slewing bearing, realizing the identification operation of the rotation angle between the drive mechanism and the suspended AGV body. At the same time, the drive wheel assembly adopts an integrated drive wheel, which reduces the number of parts in the drive mechanism, thus facilitating the assembly operation of the drive mechanism.

[0020] This invention discloses a submersible traction AGV with automatic directional wheel distance adjustment function. It is equipped with both a manual lifting component and an automatic lifting component. Both components can use a lifting plate to disengage the first and second integrated drive wheels in the drive mechanism from the ground. In the event of a power outage or control failure, the drive mechanism can be manually lifted using the manual lifting component. Simultaneously, the automatic or manual pin lowering component moves the pin assembly downwards, thereby disengaging the pin assembly from the material cart. In the event of a power outage or control failure, the manual pin lowering component allows for manual disengagement of the submersible traction AGV from the material cart. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a latent traction AGV with automatic directional wheel spacing adjustment function according to the present invention;

[0023] Figure 2 yes Figure 1The diagram shown is a structural schematic of a latent traction AGV with automatic directional wheel spacing adjustment function according to the present invention from another perspective.

[0024] Figure 3 yes Figure 1 The exploded structural diagram of a latent traction AGV with automatic directional wheel distance adjustment function of the present invention is shown, including a drive mechanism, a drive lifting mechanism, a pin lifting mechanism, and a moving directional wheel mechanism.

[0025] Figure 4 yes Figure 3 The diagram shows the structure of the drive mechanism.

[0026] Figure 5 yes Figure 4 An exploded view of the drive mechanism shown.

[0027] Figure 6 yes Figure 3 The diagram shows the structure of the drive lifting mechanism;

[0028] Figure 7 yes Figure 3 The diagram shows the structure of the pin lifting mechanism.

[0029] Figure 8 yes Figure 3 The diagram shows the structure of the movable directional wheel mechanism.

[0030] Figure 9 yes Figure 8 The exploded structural diagram of the mobile directional wheel mechanism shown includes a support assembly, a drive assembly, and a directional wheel assembly;

[0031] Figure 10 yes Figure 9 The diagram shows the structural schematic of the supporting components.

[0032] Figure 11 yes Figure 9 The diagram shows the structure of the driving component.

[0033] Figure 12 yes Figure 9 The diagram shows the structure of the directional wheel assembly.

[0034] The diagram indicates the following: 10, Support mechanism; 11, Housing assembly; 111, Main housing; 1111, Through hole; 1112, Buffer; 1113, Brush; 112, Cover plate; 1121, Movable door; 12, Front caster wheel assembly; 13, Guide wheel; 14, Counterweight; 20, Drive mechanism; 21, Support rotation assembly; 211, First support plate; 2111, Hinge seat; 212, Slewing bearing; 2121, External gear; 22, Drive wheel assembly; 221, Mounting bracket; 222, First integrated drive wheel; 223, Second integrated drive 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; 24 1. First mounting plate; 242. Angle encoder; 243. Pinion; 30. Drive lifting mechanism; 31. Manual lifting assembly; 311. First mounting base; 312. Lifting rod; 313. Rotating handle; 32. Automatic lifting assembly; 321. Second mounting base; 322. Electric push rod; 323. Rotating block; 40. Pin lifting mechanism; 41. Pin assembly; 411. Third mounting base; 412. First guide shaft; 413. Pin shaft structure; 414. Elastic element; 42. Automatic pin lowering assembly; 421. Rotary motor; 422. Eccentric block; 43. Manual pin lowering assembly; 431. Mounting cavity; 432. Lever; 433. Return spring; 50. Moving directional wheel mechanism; 51. Support assembly; 511. Second support plate; 5111. Guide rail; 512, First inductive switch; 513, Second inductive switch; 52, Drive assembly; 521, Mounting base; 522, Drive motor; 523, Drive gear; 524, Transmission gear; 525, Lead screw structure; 5251, Lead screw support; 5252, Lead screw body; 5253, Slider; 53, Directional wheel assembly; 531, Sliding plate; 5311, Connecting block; 5312, Guide seat; 532, Directional wheel body; 533, Inductive screw; 54, Infrared diffuse reflection assembly; 541, Second mounting plate; 542, Infrared diffuse reflection device; 55, Camera assembly; 551, Third mounting plate; 552, Camera body; 60, Electronic control mechanism; 61, Charging interface; 70, Power supply; 80, Scanning and monitoring mechanism; 81, Radar; 82, Depth camera; 90, Display button mechanism; 91, Display screen; 92, Button. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0037] Please see Figures 1-3 As shown, the present invention discloses a submersible traction AGV with automatic directional wheel adjustment function, comprising a support mechanism 10, a drive mechanism 20, a drive lifting mechanism 30, a pin lifting mechanism 40, a movable directional wheel mechanism 50, an electrical control mechanism 60, a power supply 70, a scanning and monitoring mechanism 80, and a display button mechanism 90. The support mechanism 10 serves as the main support, and the material cart is detachably mounted on the support mechanism 10. The drive mechanism 20 is connected to the support mechanism 10 and drives the support mechanism 10 to move. The drive lifting mechanism 30 is located within the support mechanism 10 and is connected to the drive mechanism 20, enabling the drive mechanism 20 to disengage from the ground, thus facilitating the transfer of the AGV. The pin lifting mechanism 40 extends through the support mechanism 10, enabling the hooking and unhooking operations of the submersible traction AGV and the material cart. The movable directional wheel mechanism 50 is rotatably mounted at the tail end of the support mechanism 10, allowing it to move and engage with the material cart. The directional wheels are flush with each other, thus preventing or reducing interference between the directional wheels in the moving directional wheel mechanism 50 and the directional wheels on the material cart. The electrical control mechanism 60 and the power supply 70 are fixedly installed in the support mechanism 10. The electrical control mechanism 60 is electrically connected to the drive mechanism 20, drive lifting mechanism 30, pin lifting mechanism 40, moving directional wheel mechanism 50, power supply 70, scanning and monitoring mechanism 80, and display button mechanism 90. The power supply 70 provides power to the drive mechanism 20, drive lifting mechanism 30, pin lifting mechanism 40, moving directional wheel mechanism 50, electrical control mechanism 60, scanning and monitoring mechanism 80, and display button mechanism 90. The scanning and monitoring mechanism 80 is located on the side of the support mechanism 10 and performs real-time monitoring of the surrounding environment of the support mechanism 10. The display button mechanism 90 is installed through the support mechanism 10, facilitating human-machine interaction between the user and the AGV.

[0038] Please see Figures 1-3As shown, in this embodiment, the support mechanism 10 includes a housing assembly 11, a front universal wheel set 12, multiple guide wheels 13, and multiple counterweights 14. The housing assembly 11 is a hollow cavity, which serves as the main support body. The front universal wheel set 12 is rotatably disposed on the front side of the lower end of the housing assembly 11. The multiple guide wheels 13 are respectively rotatably disposed on the upper end of the housing assembly 11. The mutual cooperation of the multiple guide wheels 13 avoids the sliding friction generated during the docking process between the housing assembly 11 and the material cart. The multiple counterweights 14 are respectively fixedly disposed in the housing assembly 11. The counterweights 14 change the center of gravity position of the lurking traction AGV, thereby matching different material carts.

[0039] Please see 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 open end; the cover plate 112 is fixedly mounted on the main housing 111. Specifically, the main housing 111 is provided with multiple through holes 1111, through which the pin lifting mechanism 40, the electronic control mechanism 60, the scanning and monitoring mechanism 80, and the display button mechanism 90 pass through the main housing 111 respectively; a buffer member 1112 is provided on the side of the main housing 111 to buffer the collision between the main housing 111 and external objects; a brush 1113 is also provided at the bottom of the main housing 111 to clean foreign objects lurking on the AGV's movement path; a movable door 1121 is movably provided on the cover plate 112, the position of which corresponds to the position of the drive lifting mechanism 30, facilitating manual operation of the drive lifting mechanism 30, thereby disengaging the drive mechanism 20 from contact with the ground.

[0040] Please see Figures 1-5 As shown, in this embodiment, the drive mechanism 20 mainly includes a support rotation assembly 21, a drive wheel assembly 22, a swing arm assembly 23, and an angle recognition assembly 24. The support rotation assembly 21 serves as the main support. The drive wheel assembly 22 is rotatably disposed below the support rotation assembly 21, and its two ends can float up and down relative to the support rotation assembly 21. The swing arm assembly 23 is rotatably disposed above the support rotation assembly 21 and hinged to the housing assembly 11, and can rotate relative to the support rotation assembly 21. The angle recognition assembly 24 is disposed through the swing arm assembly 23 and meshes with the support rotation assembly 21, and can monitor the rotation angle between the drive mechanism 20 and the housing assembly 11 in real time.

[0041] Please see Figure 4 and Figure 5As shown, in this embodiment, the supporting rotation assembly 21 includes a first support plate 211 and a slewing bearing 212. The first support plate 211 is the main support body, and the drive wheel assembly 22 is rotatably connected to the first support plate 211. The slewing bearing 212 is disposed on the first support plate 211, and its outer ring is fixedly connected to the first support plate 211. The inner ring of the slewing bearing 212 is fixedly connected to the swing arm assembly 23, and the swing arm assembly 23 can rotate relative to the first support plate 211 through the slewing bearing 212. Specifically, two hinge seats 2111 are symmetrically disposed at the lower end of the first support plate 211, and the drive wheel assembly 22 is rotatably connected to the two hinge seats 2111 respectively. The first support plate 211 is provided with multiple fixing holes, and the outer ring of the slewing bearing 212 is fixedly connected to the first support plate 211 through the multiple fixing holes. Multiple external gears 2121 are arranged around the outer side of the slewing bearing 212, and the angle recognition assembly 24 is meshed and connected to the multiple external gears 2121.

[0042] Please see Figure 4 and Figure 5 As shown, in this embodiment, the drive wheel assembly 22 includes a mounting bracket 221, a first integrated drive wheel 222, a second integrated drive wheel 223, and two rotating shaft structures 224. The mounting bracket 221 is rotatably connected to the first support plate 211 via the two rotating shaft structures 224. The first integrated drive wheel 222 and the second integrated drive wheel 223 are respectively fixedly mounted on the mounting bracket 221 and electrically connected to the electronic control mechanism 60, thereby enabling the AGV to move or turn. Specifically, the mounting bracket 221 has two symmetrically arranged first mounting holes, and the two rotating shaft structures 224 are respectively connected to two hinge seats 2111 through the corresponding first mounting holes. The first integrated drive wheel 222 and the second integrated drive wheel 223 both adopt existing technology, so their specific structure and working process are not described in detail here, as long as they meet the requirements of this application. Specifically, the rotating shaft structure 224 includes an oil-free bushing and a rotating shaft body. The oil-free bushing is fixedly installed in the first mounting hole, and the rotating shaft body is fixedly installed through the hinge seat 2111 and through the oil-free bushing. The mounting bracket 221 rotates relative to the rotating shaft body through the oil-free bushing, thereby realizing the up-and-down floating operation of the first drive wheel 222 and the second drive wheel 223 relative to the first support plate 211.

[0043] Please see Figure 4 and Figure 5As shown, the swing arm assembly 23 includes a swing arm body 231, at least one drive 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 drive spring structure 232 is disposed at the upper end of the swing arm body 231. The housing assembly 11 is connected to at least one drive spring structure 232. The housing assembly 11 transmits the elastic force synchronously to the first integrated drive wheel 222 and the second integrated drive wheel 223 through at least one drive spring structure 232, thereby increasing the normal pressure of the first integrated drive wheel 222 and the second integrated drive wheel 223 on the ground. At least two mechanical limiting structures 233 are respectively fixedly disposed through the swing arm body 231 and can respectively contact and connect with the first support plate 211, thereby realizing the limiting operation of the floating angle of the first integrated drive wheel 222 and the second integrated drive wheel 223. In this embodiment, two drive spring structures 232 are respectively disposed at the upper end of the swing arm body 231; two mechanical limiting structures 233 are respectively fixedly disposed through the swing arm body 231 and can respectively contact and connect with the first support plate 211; the lifting plate 234 is fixedly disposed on one side of the swing arm body 231 and is disposed opposite to the hinge portion of the housing assembly 11. Specifically, two hinge holes 2311 are provided through the swing arm body 231, and the housing assembly 11 is hinged to the swing arm body 231 through the two hinge holes 2311.

[0044] Please see Figure 5 As shown, in this embodiment, the drive spring structure 232 includes a fixing pin and a spring body. The fixing pin is fixedly mounted on the swing arm body 231. One end of the spring body is mounted on the fixing pin, and the other end 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 mounted on the swing arm body 231. The limiting pin is fixedly mounted through the first fixing plate and through the swing arm body 231, and can contact and connect with the first support plate 211, thereby realizing the limiting operation of the floating angle of the first integrated drive wheel 222 and the second integrated drive wheel 223.

[0045] Please see Figure 5 As shown, in this embodiment, the angle recognition component 24 includes a first mounting plate 241, an angle encoder 242, and a pinion 243; the first mounting plate 241 is fixedly mounted on the swing arm body 231; the angle encoder 242 is fixedly mounted on the first mounting plate 241 and its output shaft movably passes through the swing arm body 231, and it is electrically connected to the electronic control mechanism 60; the pinion 243 is fixedly mounted on the output shaft of the angle encoder 242 and meshes with multiple external gears 2121 on the outer ring of the slewing bearing 212 for transmission.

[0046] Please see Figure 3 and Figure 6As shown, in this embodiment, the drive lifting mechanism 30 includes a manual lifting component 31 and an automatic lifting component 32. The manual lifting component 31 and the automatic lifting component 32 are respectively disposed in the housing component 11 and are respectively connected to the lifting plate 234. They can respectively drive the first drive wheel 222 and the second drive wheel 223 in the drive mechanism 21 to disengage from contact with the ground through the lifting plate 234. Specifically, the manual lifting component 31 includes a first mounting base 311, a lifting rod 312, and a rotating handle 313. The first mounting base 311 is fixedly installed in the housing component 11; the lifting rod 312 is slidably disposed on the first mounting base 311 and is connected to the lifting plate 234; the rotating handle 313 is rotatably disposed on the first mounting base 311 and is connected to the lifting rod 312. By turning the rotating handle 313, the lifting rod 312 is driven by the first mounting base 311 to drive the lifting plate 234 upward, thereby causing the first drive wheel 222 and the second drive wheel 223 to disengage from contact with the ground. Specifically, the automatic lifting assembly 32 includes a second mounting base 321, an electric push rod 322, and a rotating block 323. The second mounting base 321 is fixedly installed in the housing assembly 11. The electric push rod 322 is fixedly mounted on the second mounting base 321 and electrically connected to the electric control mechanism 60. The rotating block 323 is rotatably connected to the second mounting base 321 and is driven by the electric push rod 322. It can be driven by the lifting plate 234. The electric push rod 322 drives the rotating block 323 to move the lifting plate 234, thereby causing the first integrated drive wheel 222 and the second integrated drive wheel 223 to disengage from contact with the ground. Specifically, the electric push rod 322 adopts existing technology, so its specific structure and working process will not be described in detail here, as long as it meets the requirements of this application.

[0047] Please see Figure 3 and Figure 7As shown, in this embodiment, the pin lifting mechanism 40 includes a pin assembly 41, an automatic pin lowering assembly 42, and a manual pin lowering assembly 43. The pin assembly 41 is movably disposed in the housing assembly 11, and the pin assembly 41 can be detachably connected to the material cart. The automatic pin lowering assembly 42 and the manual pin lowering assembly 43 can be drivenly connected to the pin assembly 41, and both can drive the pin assembly 41 to move downward, thereby realizing the disengagement operation from the material cart. Specifically, the pin assembly 41 includes a third mounting base 411, a guide shaft 412, a pin shaft structure 413, and an elastic element 414. The third mounting base 411 is fixedly disposed in the housing assembly 11. The guide shaft 412 is longitudinally fixedly disposed on the third mounting base 411. The pin shaft structure 413 is movably disposed through the guide shaft 412 and through the third mounting base 411. The guide shaft 412 guides and limits the lifting and lowering movement of the pin shaft structure 413. The automatic pin lowering assembly 42 and the manual pin lowering assembly 43 can be connected to the pin shaft structure 413 for transmission. The elastic element 414 is movably disposed through the guide shaft 412 and disposed between the third mounting base 411 and the pin shaft structure 413. It provides an upward supporting force to the pin shaft structure 413, thereby enabling the pin shaft structure 413 to engage with the material cart. Specifically, the automatic pin lowering assembly 42 includes a rotary motor 421 and an eccentric block 422. The rotary motor 421 is fixedly mounted on the side of the third mounting base 411 and electrically connected to the electrical control mechanism 60, with its output shaft movably passing through the third mounting base 411. The eccentric block 422 is fixedly mounted on the output shaft of the rotary motor 421 and is connected to the pin shaft structure 413 via a transmission connection. The rotary motor 421 drives the pin shaft structure 413 to move downward through the eccentric block 422, thereby automatically realizing the disengagement operation of the pin shaft structure 413 from the material cart. Specifically, the manual lowering pin assembly 43 includes a mounting cavity 431, a lever 432, and a return spring 433. The mounting cavity 431 is fixedly disposed through the side of the housing assembly 11. The lever 432 is rotatably disposed through the mounting cavity 431 and can contact and drive through the pin shaft structure 413. One end of the return spring 433 is connected to the lever 432, and the other end is connected to the mounting cavity 431. By pressing the lever 432, the force of the return spring 433 is overcome and contact is made with the pin shaft structure 413, thereby driving the pin shaft structure 413 to move downward, thus manually realizing the unhooking operation of the pin shaft structure 413 from the material cart.

[0048] Please see Figure 3 , Figure 8 and Figure 9As shown, the movable directional wheel mechanism 50 includes a support assembly 51, a drive assembly 52, a directional wheel assembly 53, at least one infrared diffuse reflection assembly 54, and a camera assembly 55. The support assembly 51 is a support body and is fixedly mounted on the housing assembly 11. The drive assembly 52 is disposed on the support assembly 51. The directional wheel assembly 53 is movably disposed below the support assembly 51 and is connected to the drive assembly 52 for transmission. The drive assembly 52 drives the directional wheel assembly 53 to move relative to the support assembly 51, thereby causing the directional wheel on the directional wheel assembly 53 to align with the directional wheel axle of the material cart. The instantaneous center of gravity of the lurking AGV is aligned with or as close as possible to the instantaneous center of gravity of the material cart; at least one infrared diffuse reflection component 54 is fixedly mounted on the directional wheel assembly 53, which detects the position of the directional wheel of the material cart to determine whether the directional wheel on the directional wheel assembly 53 is flush with the directional wheel of the material cart, thereby triggering a signal to stop the movement of the directional wheel assembly 53; a camera assembly 55 is fixedly mounted on the directional wheel assembly 53 and faces the ground, which can identify markings such as bottom codes, color strips and ground textures on the ground, thereby triggering a movement signal of the directional wheel assembly 53.

[0049] Please see Figures 8-10 As shown, in this embodiment, the support assembly 51 includes a second support plate 511, a first inductive switch 512, and a second inductive switch 513. The second support plate 511 is the main support body and is fixedly mounted on the housing assembly 11. The first inductive switch 512 and the second inductive switch 513 are respectively fixedly and through the second support plate 511, and can respectively perform sensing and limiting operations on the movement of the directional wheel assembly 53. Specifically, at least one guide rail 5111 is fixedly provided at the bottom of the second support plate 511, and the directional wheel assembly 53 is slidably mounted on at least one guide rail 5111. The movement of the directional wheel assembly 53 is guided by the guide rail 5111. In this embodiment, the two guide rails 5111 are fixedly and parallel to each other at the bottom of the second support plate 511 and are respectively connected to the directional wheel assembly 53.

[0050] Please see Figure 8 , Figure 9 and Figure 11As shown, in this embodiment, the drive assembly 52 includes a fixed base 521, a drive motor 522, a drive gear 523, a transmission gear 524, and a lead screw structure 525. The fixed base 521 is fixedly mounted on the second support plate 511. The drive motor 522 is fixedly mounted on the fixed base 521, and its output shaft movably passes through the fixed base 521, enabling it to rotate in both directions. The drive gear 523 is driven by the output shaft of the drive motor 522. The transmission gear 524 meshes with the drive gear 523 for transmission. The lead screw structure 525 is rotatably mounted on the second support plate 511 and is driven by the transmission gear 524. The directional wheel assembly 53 is driven by the lead screw structure 525. The drive motor 522 drives the directional wheel assembly 53 to move relative to the second support plate 511 through the drive gear 523, the transmission gear 524, and the lead screw structure 525 in sequence. Specifically, the lead screw structure 525 includes two lead screw support seats 5251, a lead screw body 5252, and a slider 5253; the two lead screw support seats 5251 are respectively fixedly mounted on the second support plate 511; the two ends of the lead screw body 5252 are rotatably mounted on the two lead screw support seats 5251 through bearings and are connected to the transmission gear 524; the slider 5253 is mounted on the lead screw body 5252 and is fixedly connected to the directional wheel assembly 53; the drive motor 522 drives the slider 5253 to move on the lead screw body 5252 in sequence through the drive gear 523, the transmission gear 524, and the lead screw body 5252, thereby driving the directional wheel assembly 53 to move relative to the second support plate 511.

[0051] Please see Figure 8 , Figure 9 and Figure 12 As shown, in this embodiment, the directional wheel assembly 53 includes a sliding plate 531, two directional wheel bodies 532, and a sensing screw 533; the sliding plate 531 is connected to the slider 5253 and is slidably disposed on at least one guide rail 5111; the two directional wheel bodies 532 are respectively rotatably disposed below the sliding plate 531, and both move with the movement of the sliding plate 531; the sensing screw 533 is fixedly disposed on the sliding plate 531 and can respectively perform sensing operations with the first sensing switch 512 and the second sensing switch 513, thereby transmitting a signal to the drive motor 522 to stop working. Specifically, a connecting block 5311 is fixedly provided on the sliding plate 531, which is fixedly connected to the slider 5253, so that the drive motor 522 drives the sliding plate 531 to move relative to the second support plate 511 in sequence through the drive gear 523, the transmission gear 524, and the lead screw structure 525; at least one guide seat 5312 is fixedly provided on the sliding plate 531, and at least one guide seat 5312 is slidably provided on the corresponding guide rail 5111. Through the cooperation of the guide rail 5111 and the guide seat 5312, the guiding operation of the directional wheel assembly 53 is realized.

[0052] Please see Figures 1-3As shown, in this embodiment, the electronic control mechanism 60 is electrically connected to the drive mechanism 20, the drive lifting mechanism 30, the pin lifting mechanism 40, the moving directional wheel mechanism 50, the power supply 70, the scanning and monitoring mechanism 80, and the display button mechanism 90. The control technologies used are all existing technologies, so the specific control process and product models are not detailed here, as long as they meet the requirements of this application. Specifically, the electronic control mechanism 60 includes a charging interface 61, through which the power supply 70 is charged. The power supply 70 uses a polymer lithium-ion battery. In this embodiment, the scanning and monitoring mechanism 80 includes multiple radars 81 and a depth camera 82. The multiple radars 81 are respectively disposed on the side of the housing assembly 11 and electrically connected to the electronic control mechanism 60. The depth camera 82 is disposed through the front end of the housing assembly 11 and electrically connected to the electronic control mechanism 60. The multiple radars 81 and the depth camera 82 work together to perform real-time monitoring of the surrounding environment of the lurking AGV. In this embodiment, the display button mechanism 90 includes a display screen 91 and multiple buttons 92. The display screen 91 and multiple buttons 92 are respectively disposed through the housing assembly 11 and are respectively electrically connected to the electronic control mechanism 60. At the same time, the display screen 91 performs human-machine interaction operation. The multiple buttons 92 include a power on / off button, a reset button, a brake release button, and an emergency stop button.

[0053] It should be noted that the specific working process of the lurking AGV with automatic adjustment function of directional wheels of the present invention is as follows: When the camera body 55 detects the ground marking that is about to turn, the drive motor 522 starts to work. It drives the directional wheel assembly 53 to move relative to the second support plate 511 through the drive gear 523, the transmission gear 524, and the lead screw structure 525 in sequence. At the same time, the infrared diffuse reflection device 54 detects the position of the directional wheel of the material cart in real time. When the directional wheel body 532 overlaps with or is as close as possible to the directional wheel wheel of the material cart, the drive motor 522 is controlled to stop working, so that the instantaneous center of the lurking AGV coincides with or is as close as possible to the instantaneous center of the material cart, thereby avoiding or reducing the degree of sliding friction between the directional wheel body 532 and the ground; at the same time, the sensing screw 533 performs sensing operation with the first sensing switch 512 and the second sensing switch 513 respectively, thereby realizing the limiting operation of the directional wheel assembly 53.

[0054] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A latent traction AGV with automatic directional wheel spacing adjustment function, characterized in that, include: Supporting institutions; A drive mechanism, which is connected in transmission to the support mechanism; A drive lifting mechanism is disposed in the support mechanism and is connected to the drive mechanism in a transmission manner. The drive lifting mechanism drives the drive mechanism to disengage from the contact connection with the ground. A pin lifting mechanism is movably installed in the support mechanism, and the pin lifting mechanism enables a detachable connection between the AGV and the material cart. A movable directional wheel mechanism, which is rotatably mounted at the tail end of the support mechanism; The movable directional wheel mechanism includes a support assembly; a drive assembly disposed on the support assembly; a directional wheel assembly movably disposed below the support assembly and drivenly connected to the drive assembly; at least one infrared diffuse reflection assembly fixedly disposed on the directional wheel assembly, which is capable of detecting the position of the directional wheel of the material cart; a camera assembly fixedly disposed on the directional wheel assembly and facing the ground, which is capable of recognizing markings on the ground; the drive assembly drives the directional wheel assembly to move relative to the support assembly, so that the directional wheel on the directional wheel assembly overlaps or approaches the directional wheel wheel of the material cart.

2. The latent traction AGV with automatic directional wheel spacing adjustment function according to claim 1, characterized in that, The support assembly includes a support plate, on which a first inductive switch and a second inductive switch are fixedly disposed and penetrated respectively; an inductive screw is fixedly disposed on the directional wheel assembly, and the inductive screw is capable of sensing operation with the first inductive switch and the second inductive switch respectively.

3. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 2, characterized in that, At least one guide rail is fixedly provided at the bottom of the support plate; at least one guide seat is fixedly provided on the directional wheel assembly, and at least one guide seat is slidably provided on the corresponding guide rail.

4. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 2, characterized in that, The drive assembly includes a fixed base fixedly mounted on the support plate; a drive motor fixedly mounted on the fixed base, the output shaft of which movably passes through the fixed base and is capable of forward and reverse rotation; a drive gear driven on the output shaft of the drive motor; a transmission gear meshing with the drive gear; and a lead screw structure rotatably mounted on the support plate and driven by the transmission gear.

5. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 4, characterized in that, The lead screw structure includes two lead screw support seats, which are respectively fixedly mounted on the support plate; a lead screw body is rotatably mounted on the two lead screw support seats through bearings and is connected to the transmission gear; and a slider is mounted on the lead screw body and fixedly connected to the directional wheel assembly.

6. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 1, characterized in that, The directional wheel assembly also includes a sliding plate, which is connected to the drive assembly and slidably disposed on the support assembly; and two directional wheel bodies respectively rotatably disposed below the sliding plate.

7. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 1, characterized in that, The drive mechanism includes a support rotation assembly; a drive wheel assembly rotatably disposed below the support rotation assembly; a swing arm assembly rotatably disposed above the support rotation assembly and hinged to the support mechanism; and an angle recognition assembly that is disposed through the swing arm assembly and meshes with the support rotation assembly, which can monitor the rotation angle between the drive mechanism and the support mechanism in real time.

8. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 7, characterized in that, The drive lifting mechanism includes a manual lifting component and an automatic lifting component, both of which are respectively disposed in the support mechanism and are pulsatorically connected to the lifting plate on the swing arm assembly. The manual lifting component includes a first mounting base, a lifting rod, and a rotating handle. The first mounting base is fixedly installed in the support mechanism. The lifting rod is slidably disposed on the first mounting base and is pulsatorically connected to the lifting plate. The rotating handle is rotatably disposed on the first mounting base and is pulsatorically connected to the lifting rod. The automatic lifting component includes a second mounting base, an electric push rod, and a rotating block. The second mounting base is fixedly installed in the support mechanism. The electric push rod is fixedly disposed on the second mounting base. The rotating block is rotatably connected to the second mounting base, and its two ends are pulsatorically connected to the electric push rod and the lifting plate, respectively.

9. A latent traction AGV with automatic directional wheel spacing adjustment function according to claim 1, characterized in that, The pin lifting mechanism includes a pin assembly that is movably disposed within the support mechanism; and an automatic pin lowering assembly and a manual pin lowering assembly that are respectively connected to the pin assembly in a transmission manner.

10. A latent traction AGV with automatic directional wheel spacing adjustment function according to any one of claims 1-9, characterized in that, It further includes an electronic control mechanism, a power supply, a scanning and monitoring mechanism, and a display button mechanism; the electronic control mechanism and the power supply are respectively disposed in the support mechanism, and the electronic control mechanism is electrically connected to the drive mechanism, the pin lifting mechanism, the drive lifting mechanism, the power supply, the scanning and monitoring mechanism, and the display button mechanism; the scanning and monitoring mechanism is disposed on the side of the support mechanism; the display button mechanism is disposed through the support mechanism.

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