Air cushion type AGV (Automatic Guided Vehicle)

Abstract

The invention discloses an air cushion type AGV (Automatic Guided Vehicle). The air cushion type AGV comprises a vehicle body, two steering wheel assemblies, two universal wheel assemblies, four air cushion assemblies and an air pressure control system, the two steering wheel assemblies are arranged in a cavity of the vehicle body in a lifting mode and located on the left side and the right side of the vehicle body. The two universal wheel assemblies are arranged in a cavity of the vehicle body in a lifting mode and located at the front end and the rear end of the vehicle body. The four air cushion assemblies are located at the four corners in the cavity correspondingly. The air pressure control system is used for controlling operation of the air cushion assembly and located in the center of the cavity. The air cushion assembly is started through the air pressure control system, the vehicle body is suspended on the ground, meanwhile, the steering wheel assembly and the universal wheel assembly are lifted, contact with the ground is reduced, friction force and running resistance are reduced, the air cushion suspension can cross small-size obstacles and adapt to slightly uneven ground, friction traces between tires and the ground are eliminated, and the service life of the vehicle is prolonged. And the ground is protected.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV, and particularly relates to an air-cushion type AGV automatic guided vehicle. Background Art

[0002] In the fields of modern industrial production and logistics distribution, the demand for automated and intelligent transportation equipment is increasing day by day. An Automated Guided Vehicle (AGV), as a transportation tool that can automatically travel along a preset path, has been widely used in many industries such as automobile manufacturing, electronics, and logistics warehousing, significantly improving production efficiency and reducing labor costs.

[0003] Early AGVs mainly adopted rail-guided systems, which had a simple structure but poor flexibility. With the continuous progress of technology, wheeled AGVs have gradually emerged. They use methods such as magnetic strip guidance and laser guidance, improving the flexibility and adaptability of operation. However, the application of traditional wheeled AGVs is restricted in some scenarios with extremely high requirements for ground flatness, the need to avoid ground friction damage, and special requirements for operation flexibility. Specifically, in terms of running resistance, wheeled AGVs rely on the friction between the wheels and the ground to move forward, resulting in relatively large running resistance, especially in the case of heavy loads, with high energy consumption; in terms of ground adaptability, wheeled AGVs have high requirements for ground flatness, and defects such as potholes and protrusions on the ground may affect their running stability and even cause wheel damage; in terms of the impact on the ground, wheeled AGVs may cause wear to the ground during operation, especially in the case of frequent operation, and the ground damage is relatively obvious. Summary of the Invention

[0004] In view of the above problems, the present invention provides an air-cushion type AGV automatic guided vehicle to solve the problems of relatively large running resistance, inability to adapt to complex terrains, and easy wear on the ground of existing AGV automatic guided vehicles.

[0005] The present invention is implemented as follows: The present invention provides an air-cushion type AGV automatic guided vehicle, including a vehicle body; Two steering wheel assemblies, which are liftably arranged in the cavity of the vehicle body and are located on the left and right sides of the vehicle body; Two universal wheel assemblies, which are liftably arranged in the cavity of the vehicle body and are located at the front and rear ends of the vehicle body; Four air-cushion assemblies, which are respectively located at the four corners inside the cavity; An air pressure control system for controlling the operation of the air-cushion assemblies, which is located at the central position of the cavity.

[0006] Further, the vehicle body includes a top plate and a frame. The top plate is fixedly arranged at the top of the vehicle body. The steering wheel assembly and the universal wheel assembly are respectively lifted by four airbag cylinders between them and the top plate.

[0007] Further, the steering wheel assembly includes a first connecting plate. The top of the airbag cylinder is fixedly connected to the bottom of the top plate, and the bottom of the airbag cylinder is fixedly connected to the top of the first connecting plate. A first gear and a rotating seat are arranged at the bottom of the first connecting plate. The first gear is fixedly connected to the first connecting plate, and the rotating seat is rotatably connected to the first connecting plate. A steering motor is fixedly arranged on the rotating seat. The output shaft of the steering motor is fixedly connected with a second gear, and the second gear is meshed with the first gear. A traveling wheel is arranged on the rotating seat, and the traveling wheel is rotatably connected to the rotating seat through a first driving motor.

[0008] Further, the universal wheel assembly includes a second connecting plate. The top of the airbag cylinder is fixedly connected to the bottom of the top plate, and the bottom of the airbag cylinder is fixedly connected to the top of the second connecting plate. A universal wheel is fixedly connected to the bottom of the second connecting plate.

[0009] Further, the first connecting plate and the second connecting plate are both slidably connected to the top plate through a guiding assembly. The guiding assembly includes a plurality of first connecting bolts fixedly arranged at the bottom of the top plate. Corresponding to the top of the first connecting plate and the second connecting plate, a plurality of first guiding sleeves are fixedly connected. The first connecting bolts pass through the first guiding sleeves and are slidably connected with them. A stepped hole is formed inside the first guiding sleeve. A first spring is sleeved on the outside of the first connecting bolt. The first spring is located in the stepped hole. One end of the first spring abuts against the bottom end of the first connecting bolt, and the other end abuts against the end face where the large hole and the small hole of the stepped hole are combined.

[0010] Further, an adjusting assembly is further included, which is used to adjust the longitudinal movement of each air cushion assembly along the vehicle body.

[0011] Further, the adjusting assembly includes a bottom plate fixedly arranged at the lower part of the frame. A sliding seat is arranged above the bottom plate. The sliding seat is slidably connected to the bottom plate through a driving assembly, and the sliding seat is connected to the air cushion assembly.

[0012] Further, the driving assembly includes a second driving motor fixedly arranged on the bottom plate. A lead screw is fixedly connected to the output shaft of the second driving motor. The sliding seat is sleeved on the outside of the lead screw and is threadedly connected with it. A third gear is rotatably connected to one side of the sliding seat. A rack is fixedly connected to one side of the lead screw. The third gear is meshed with the rack. A transverse connecting plate is fixedly connected to the sliding seat.

[0013] Furthermore, the air cushion assembly includes a bearing plate, an airbag is provided at the bottom of the bearing plate, and the top of the bearing plate is fixedly connected to the transverse connecting plate through a connecting assembly.

[0014] Furthermore, the connecting assembly includes a second connecting bolt arranged vertically. One end of the second connecting bolt is connected to a longitudinal connecting plate, and the other end is fixedly connected to the top of the bearing plate. The longitudinal connecting plate is connected to the transverse connecting plate.

[0015] The beneficial effects of the present invention are as follows: An air-cushioned AGV automatic guided vehicle disclosed by the present invention adds an air cushion assembly to a traditional wheeled AGV trolley, and adopts a running system combining four air cushion assemblies, two steering wheel assemblies and two universal wheel assemblies. In an actual industrial workshop, the selection of the running system can be switched according to different needs to meet the on-site needs of the industrial workshop. The air-cushioned AGV has many advantages: in terms of running resistance, the air-cushioned AGV supports the vehicle body through an air cushion, and the running resistance is extremely small, which can effectively reduce energy consumption and improve energy utilization efficiency. In terms of ground adaptability, the air-cushioned AGV contacts the ground through an air cushion, and has relatively low requirements for the ground flatness, and can stably run under relatively complex ground conditions. In terms of the impact on the ground, the non-contact running mode of the air-cushioned AGV avoids abrasion of the ground and is suitable for places with high requirements for ground protection. When the automatic guided vehicle needs to run on a relatively flat ground, the air cushion assembly can be started through the air pressure control system to suspend the vehicle body above the ground. At the same time, the steering wheel assembly and the universal wheel assembly are lifted to reduce contact with the ground, reduce friction and running resistance. The air cushion suspension can cross small-size obstacles and adapt to slightly uneven ground. Its suspension running mode eliminates the friction marks between the tires and the ground and protects the ground. When the automatic guided vehicle needs to run on an uneven ground or perform precise positioning, steering and other operations, the air cushion assembly can be lowered to make the steering wheel assembly and the universal wheel assembly contact the ground. Through the steering and walking functions of the steering wheel assembly and the assistance of the universal wheel assembly, the stable running and precise control of the automatic guided vehicle can be realized. Description of the Drawings

[0016] Figure 1 is a schematic three-dimensional structure of the present invention Figure 1 ; Figure 2 is a schematic three-dimensional structure of the present invention Figure 2 ; Figure 3 is a schematic three-dimensional structure diagram of the vehicle body of the present invention; Figure 4 is a schematic three-dimensional structure diagram of the steering wheel assembly of the present invention; Figure 5It is a three-dimensional structural schematic diagram of the universal wheel assembly of the present invention; Figure 6 It is a cross-sectional view of the guiding assembly of the present invention; Figure 7 It is a three-dimensional structural schematic of the adjusting assembly of the present invention Figure 1 ; Figure 8 It is a three-dimensional structural schematic of the adjusting assembly of the present invention Figure 2 。

[0017] Explanation of reference numerals: 1. Vehicle body; 11. Top plate; 12. Frame; 13. Anti-collision strip; 14. Anti-collision block; 15. Bottom plate; 151. Longitudinal slot; 2. Steering wheel assembly; 20. First connecting plate; 21. Airbag cylinder; 22. First gear; 23. Rotating seat; 24. Steering motor; 25. Second gear; 26. Driving wheel; 27. First driving motor; 28. Absolute encoder; 29. Encoder gear; 3. Universal wheel assembly; 31. Second connecting plate; 32. Universal wheel; 4. Air cushion assembly; 41. Bearing plate; 42. Airbag; 5. Guiding assembly; 51. First connecting bolt; 52. First guide sleeve; 53. First spring; 6. Adjusting assembly; 61. Sliding seat; 62. Driving assembly; 621. Second driving motor; 622. Lead screw; 63. Transverse connecting plate; 631. Card slot; 64. Third gear; 65. Rack; 7. Connecting assembly; 71. Second connecting bolt; 72. Longitudinal connecting plate; 73. Fixed seat; 74. Guide wheel; 75. Guide rod; 76. Third connecting bolt; 77. Bearing; 78. Second spring. Detailed implementation manners

[0018] 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. Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0019] Such as Figures 1 to 2The shown air-cushioned AGV automatic guided vehicle of the present invention includes a vehicle body 1, two steering wheel assemblies 2, two universal wheel assemblies 3, four air-cushion assemblies 4, and a pneumatic control system (not shown in the figure); a cavity is formed inside the vehicle body 1, and the two steering wheel assemblies 2 are arranged in a lifting manner in the cavity of the vehicle body 1 and are located on the left and right sides of the vehicle body 1; the two universal wheel assemblies 3 are arranged in a lifting manner in the cavity of the vehicle body 1 and are located at the front end and the rear end of the vehicle body 1; the four air-cushion assemblies 4 are respectively located at the four corners inside the cavity; the pneumatic control system is used to control the operation of the air-cushion assemblies 4, is located at the central position of the cavity, and is connected to each air-cushion assembly 4 through pipelines to control its inflation and deflation.

[0020] As Figures 1 to 3 shown, the vehicle body 1 includes a top plate 11 and a vehicle frame 12, and the top plate 11 is fixedly arranged on the top of the vehicle frame 12 of the vehicle body 1. The vehicle frame 12 is welded by a plurality of plate bodies into a frame structure to improve the strength, stiffness and bearing capacity of the entire vehicle body 1. A plurality of cavities are formed on the vehicle frame 12, and the steering wheel assemblies 2, the universal wheel assemblies 3, the air-cushion assemblies 4 and the pneumatic control system are respectively installed in the cavities. Specifically, the two steering wheel assemblies 2 are arranged in a row along the width direction of the vehicle frame 12 and are symmetrically arranged on the left and right sides of the vehicle frame 12. The two universal wheel assemblies 3 are arranged in a row along the length direction of the vehicle frame 12 and are symmetrically arranged at the front and rear ends of the vehicle frame 12. The central connection lines of the two steering wheel assemblies 2 and the central connection lines of the two universal wheel assemblies 3 respectively coincide with the vertical symmetry axis and the horizontal symmetry axis of the vehicle body 1. Anti-collision strips 13 and anti-collision blocks 14 are symmetrically arranged at the front end and the rear end of the vehicle frame 12, and the anti-collision surfaces of the anti-collision blocks 14 protrude from the anti-collision surfaces of the anti-collision strips 13. Among them, the number of the anti-collision strips 13 is two, and the length direction thereof is parallel to the width direction of the vehicle frame 12. The number of the anti-collision blocks 14 is four, and two anti-collision blocks 14 are respectively arranged at the front end and the rear end of the vehicle frame 12. The two anti-collision blocks 14 at the front end and the rear end are both arranged in a row along the width direction of the vehicle frame 12 and are arranged close to the corners of the vehicle frame 12. In this embodiment, the anti-collision strip 13 is made of an elastic material (such as rubber, polyurethane) or a honeycomb energy-absorbing structure. When the air-cushioned AGV automatic guided vehicle collides with an obstacle (such as a shelf, a wall, other equipment or personnel), the impact energy is absorbed through its own deformation, and the rigid collision force between the vehicle body 1 and the obstacle is reduced, so as to avoid damage to the structure of the vehicle body 1 or damage to the target object. The anti-collision strip 13 is designed to be arc-shaped and can guide the vehicle body 1 to deviate from the obstacle through physical contact during a slight collision. The anti-collision block 14 protrudes from the anti-collision strip 13, and by preferentially contacting the obstacle, the transmission of the collision energy to key components such as the steering wheel assembly 2, the air-cushion assembly 4, and the universal wheel assembly 3 is isolated, reducing the maintenance cost.

[0021] As Figure 4As shown in the figure, the steering wheel assembly 2 and the caster wheel assembly 3 are respectively lifted by four airbag cylinders 21 between them and the top plate 11. The airbag cylinder 21 is a mature product sold on the market and can be selected according to needs. Specifically, the steering wheel assembly 2 includes a first connecting plate 20. The first connecting plate 20 is located below the top plate 11. The top of the airbag cylinder 21 is fixedly connected to the bottom of the top plate 11, and the bottom of the airbag cylinder 21 is fixedly connected to the top of the first connecting plate 20. When the pneumatic control system supplies air to the airbag cylinder 21, the airbag expands and pushes the first connecting plate 20 downward, so that the steering wheel assembly 2 or the caster wheel assembly 3 contacts the ground; conversely, after exhausting, the airbag contracts, driving the steering wheel assembly 2 or the caster wheel assembly 3 to retract into the vehicle body 1 to disengage from the ground.

[0022] A first gear 22 and a rotating seat 23 are coaxially provided at the bottom of the first connecting plate 20. The first gear 22 is fixedly connected to the first connecting plate 20, and the rotating seat 23 is rotatably connected to the first connecting plate 20. A steering motor 24 is fixedly provided on the rotating seat 23. The output shaft of the steering motor 24 is fixedly connected to a second gear 25, and the second gear 25 is meshed with the first gear 22. A traveling wheel 26 is provided on the rotating seat 23. The traveling wheel 26 is rotatably connected to the rotating seat 23 through a first driving motor 27. An absolute encoder 28 is also fixedly provided on the rotating seat 23. The absolute encoder 28 is connected to an encoder gear 29 through a connecting shaft (not shown in the figure), and the encoder gear 29 is meshed with the first gear 22. When the steering motor 24 drives the second gear 25 to rotate, since the second gear 25 is meshed with the first gear 22, while the second gear 25 rotates self - rotatably, it circumferentially revolves around the first gear 22 and drives the rotating seat 23 to rotate relative to the first connecting plate 20, thereby realizing the steering of the traveling wheel 26. The traveling wheel 26 is driven by the first driving motor 27 and is connected to the wheel axle through a speed reducer to realize the traveling of the AGV guide vehicle. When the rotating seat 23 rotates relative to the first connecting plate 20, since the encoder gear 29 is meshed with the first gear 22, the encoder gear 29 rotates as the rotating seat 23 rotates. The encoder gear 29 drives the code disk of the absolute encoder 28 to rotate through the connecting shaft, so that the absolute encoder 28 can read the position of the code disk in real time and generate a digital signal corresponding to the rotation angle of the rotating seat 23, thereby enabling the steering angle of the traveling wheel 26 to be obtained in real time.

[0023] As Figure 5 shown in the figure, the caster wheel assembly 3 includes a second connecting plate 31. The top of the airbag cylinder 21 is fixedly connected to the bottom of the top plate 11, and the bottom of the airbag cylinder 21 is fixedly connected to the top of the second connecting plate 31. A caster wheel 32 is fixedly connected to the bottom of the second connecting plate 31. The caster wheel 32 adopts an omnidirectional wheel structure and can freely rotate to adapt to the moving requirements in different directions. The second connecting plate 31 is lifted by the airbag cylinder 21 to ensure that the caster wheel 32 provides auxiliary support for the AGV guide vehicle in the non - air cushion mode.

[0024] As Figure 6 shown, to improve the lifting stability of the steering wheel assembly 2 and the caster wheel assembly 3, the first connecting plate 20 and the second connecting plate 31 are both slidably connected to the top plate 11 through the guiding assembly 5. The number of the guiding assemblies 5 is four, and they are evenly arranged between the first connecting plate 20 and the top plate 11 or between the second connecting plate 31 and the top plate 11. The guiding assembly 5 includes a plurality of first connecting bolts 51 fixedly arranged at the bottom of the top plate 11. Corresponding to the top of the first connecting plate 20 and the second connecting plate 31, a plurality of first guiding sleeves 52 are fixedly connected. The first connecting bolts 51 pass through the first guiding sleeves 52 and are slidably connected thereto. A stepped hole is formed inside the first guiding sleeve 52, and a first spring 53 is sleeved on the outer side of the first connecting bolt 51. The first spring 53 is located in the stepped hole. One end of the first spring 53 abuts against the bottom end of the first connecting bolt 51, and the other end abuts against the end face where the large hole and the small hole of the stepped hole are combined, forming a buffer structure. During the lifting process, the first spring 53 can absorb the impact caused by the ground bumps and avoid rigid collisions. The matching arrangement of the first connecting bolts 51 and the first guiding sleeves 52 ensures the smooth lifting of the steering wheel assembly 2 and the caster wheel assembly 3 in the vertical direction.

[0025] Four air cushion assemblies 4 are respectively located at the four corners inside the cavity. The present invention further includes an adjusting assembly 6 for adjusting the longitudinal movement of each air cushion assembly 4 along the vehicle body 1. As Figure 7 and Figure 8 shown, the adjusting assembly 6 includes a bottom plate 15 fixedly arranged at the lower part of the vehicle frame 12. The bottom plate 15 is fixedly arranged at the lower position of the vehicle frame 12. A sliding seat 61 is arranged above the bottom plate 15. The sliding seat 61 is slidably connected to the bottom plate 15 through a driving assembly 62, and the sliding seat 61 is connected to the air cushion assembly 4. Specifically, the driving assembly 62 includes a second driving motor 621 fixedly arranged on the bottom plate 15. A lead screw 622 is fixedly connected to the output shaft of the second driving motor 621. The sliding seat 61 is sleeved on the outer side of the lead screw 622 and is threadedly connected thereto. A third gear 64 is rotatably connected to one side of the sliding seat 61. The third gear 64 is rotatably connected to one side of the sliding seat 61 through a rotating shaft. A rack 65 is fixedly connected to one side of the lead screw 622. The rack 65 is fixedly arranged on the top of the bottom plate 15. The length direction of the rack 65 is parallel to the axial direction of the lead screw 622. The third gear 64 is meshed with the rack 65 to ensure the movement of the sliding seat 61 along the axial direction of the lead screw 622. When the second driving motor 621 is started, its output shaft rotates to drive the lead screw 622 to rotate. The lead screw 622 rotates to drive the sliding seat 61 threadedly connected thereto to move. Since the third gear 64 on the sliding seat 61 is meshed with the rack 65, the sliding seat 61 reciprocally moves along the axial direction of the lead screw 622.

[0026] A transverse connecting plate 63 is fixedly connected to the sliding seat 61, and the length direction of the transverse connecting plate 63 is perpendicular to the axial direction of the lead screw 622. The air cushion assembly 4 is located below the bottom plate 15. The air cushion assembly 4 includes a bearing plate 41. An airbag 42 is provided at the bottom of the bearing plate 41. The top of the bearing plate 41 is fixedly connected to the transverse connecting plate 63 through a connecting assembly 7. Two long strip holes 151 are formed in the bottom plate 15, so that the connecting assembly 7 passes through the long strip holes 151 and is respectively connected to the transverse connecting plate 63 and the bearing plate 41. The number of the connecting assemblies 7 is two, and they are symmetrically arranged at both ends of the transverse connecting plate 63. The connecting assembly 7 includes second connecting bolts 71 arranged vertically, and the number of the second connecting bolts 71 is two. In this embodiment, the number of the longitudinal connecting plates 72 is two, and the two longitudinal connecting plates 72 are located at both ends of the transverse connecting plate 63. The total number of the second connecting bolts 71 is four. Two second connecting bolts 71 are taken as a group. One end of each group is connected to the longitudinal connecting plate 72 at the top, and the other end is connected to the bearing plate 41 at the bottom. Both ends of the longitudinal connecting plate 72 are respectively connected to the two second connecting bolts 71, and the middle part of the longitudinal connecting plate 72 is connected to the transverse connecting plate 63.

[0027] A fixing seat 73 is sleeved on the middle part of the second connecting bolt 71. The fixing seat 73 is located between the longitudinal connecting plate 72 and the bottom plate 15. A second spring 78 is also sleeved on the outer side of the second connecting bolt 71. One end of the second spring 78 abuts against the bottom of the longitudinal connecting plate 72, and the other end abuts against the top of the fixing seat 73. Guide wheels 74 are symmetrically arranged on both sides of the fixing seat 73. The guide wheels 74 are respectively rotatably connected to the fixing seat 73 through rotating shafts. A plurality of guide rods 75 are provided on the top of the bottom plate 15. The guide rods 75 are arranged corresponding to the guide wheels 74, that is, the number and positions of the guide rods 75 are arranged in cooperation with the guide wheels 74. Among them, guide rods 75 are symmetrically arranged on both sides of the long strip hole 151, and the length directions of the two guide rods 75 are parallel to the length direction of the long strip hole 151. The lateral offset moment is offset by the symmetrically distributed guide rods 75 on both sides, so as to prevent the air cushion assembly 4 from tilting due to unilateral force. The guide groove of the guide wheel 74 is an arc-shaped structure, and the guide rod 75 is a cylindrical structure. The guide wheel 74 is sleeved on the corresponding guide rod 75 and moves along the length direction of the guide rod 75.

[0028] Both ends of the transverse connecting plate 63 are respectively connected to the longitudinal connecting plates 72 on the corresponding sides. Specifically, clamping grooves 631 are symmetrically formed at both ends of the transverse connecting plate 63, and a third connecting bolt 76 is fixedly connected to the middle of the longitudinal connecting plate 72. A threaded section is provided at the bottom of the third connecting bolt 76, and a nut (not shown in the figure) is screwed on the outside thereof. The top of the third connecting bolt 76 is a polished rod, and a bearing 77 is rotatably connected to the outside thereof. The outer circumference of the bearing 77 abuts against the inner wall of the clamping groove 631. When the air cushion assembly 4 moves longitudinally along the long strip hole 151, a slight angular deflection may occur between the longitudinal connecting plate 72 and the transverse connecting plate 63 due to assembly errors or uneven loads. The rolling friction characteristics of the bearing 77 (compared with sliding friction) can greatly reduce the resistance at the connection part, ensure that the sliding adjustment action of the transverse connecting plate 63 is smoother, and avoid jamming. The rolling contact design between the bearing 77 and the inner wall of the clamping groove 631 can automatically compensate for the axis alignment deviation between the transverse connecting plate 63 and the longitudinal connecting plate 72, and avoid bending of the third connecting bolt 76 or deformation of the transverse connecting plate 63 and the longitudinal connecting plate 72 caused by forced constraint.

[0029] Start the second drive motor 621, the rotation of its output shaft drives the lead screw 622 to rotate, the rotation of the lead screw 622 drives the sliding seat 61 screwed thereto to move along the axial direction of the lead screw 622, the movement of the sliding seat 61 drives the transverse connecting plate 63 fixedly connected thereto to move, the movement of the transverse connecting plate 63 drives the longitudinal connecting plates 72 at both ends thereof to move, and the longitudinal connecting plates 72 drive the air cushion assembly 4 to move along the length direction of the vehicle body 1 through the connecting assembly 7.

[0030] Through the cooperation of the long strip holes 151 on the bottom plate 15 with the connection assembly 7 and the drive assembly 62, the air cushion assembly 4 can slide longitudinally along the vehicle body 1 to adapt to different load distribution requirements. When the load of the vehicle body 1 is light and rapid movement is required, shortening the distance between the two longitudinal air cushion assemblies 4 can reduce the support area of the airbag 42, thereby reducing air resistance and improving the movement efficiency of the vehicle body 1. When the load of the vehicle body 1 is heavy, lengthening the distance between the two longitudinal air cushion assemblies 4 can increase the support area of the airbag 42, disperse the load, and reduce the burden on each airbag 42, thereby improving the load-bearing capacity of the vehicle body 1. Moreover, in a narrow or rapidly turning environment, shortening the distance between the two longitudinal air cushion assemblies 4 can reduce the turning radius of the vehicle body 1, improve the flexibility of the vehicle body 1, and the center of gravity of the vehicle body 1 will be closer to the central position, reducing the risk of rollover. In an environment with more flat and straight driving, lengthening the distance between the two longitudinal air cushion assemblies 4 can improve the straight-line driving stability of the vehicle body 1, increase the support area of the vehicle body 1, and reduce the unstable factors caused by the shaking of the vehicle body 1. At the same time, the constraint between the guide wheel 74 and the guide rod 75 ensures the accuracy of the moving track and avoids deviation or jamming. The elastic support of the second spring 78 combined with the rigid limit of the fixed seat 73 allows the bearing plate 41 to float in the vertical direction to absorb the impact of uneven ground, and also prevents the airbag 42 from failing due to overload compression.

[0031] The air pressure control system is used to control the operation of the air cushion assembly 4 and is located at the central position of the cavity. The air pressure control system includes an air pump, and the output end of the air pump is respectively connected to each air cushion assembly 4 and each airbag cylinder 21 through a plurality of connected air supply pipelines. The air pump is connected to the high-pressure air system, and the high-pressure air system provides driving power for the air cushion assembly 4. Control valves are respectively arranged on each air supply pipeline to independently control the on-off and opening degree of each pipeline, so as to realize the independent charging and discharging of each air cushion assembly 4 and each airbag cylinder 21. Pressure sensors are installed on the periphery of each air cushion assembly 4 to monitor the internal pressure of each air cushion assembly 4 in real time to ensure its stable operation under various working conditions. It also includes a PLC controller, which receives the instructions of the AGV automatic guided vehicle, combines the data of each pressure sensor, and adjusts the opening degree of each control valve and the start and stop of the air pump.

[0032] In this embodiment, high-pressure air is injected into the airbag 42 of the air cushion assembly 4 through an air pump (which can also be a blower). These high-pressure air form a layer of air cushion with a certain thickness under the object, separating the object from the support surface. Since the object and the support surface are no longer in direct contact but are separated by the air cushion, the friction between the two is greatly reduced. This significantly reduces the resistance suffered by the object during driving, enables it to move more easily, and can travel on various different surfaces, including uneven ground, water surfaces, etc.

[0033] The air pressure inside the airbag 42 needs to maintain a certain balance. On the one hand, sufficient pressure should be provided to support the weight of the object so that the object can be suspended above the air cushion assembly 4; on the other hand, it is necessary to ensure that the pressure is not too high to prevent excessive air leakage from the edge of the airbag 42, which may affect the stability and load-bearing capacity of the airbag 42. To enable the air cushion assembly 4 to move, corresponding propulsion devices such as propellers and jet engines are also required to provide forward thrust. This is prior art and will not be elaborated here. The steering of the air cushion assembly 4 is achieved by changing the direction of the propulsion force. In this embodiment, by controlling the air discharge at the edge of the airbag 42, the shape and pressure distribution of the airbag 42 are changed, thereby steering the object. Specifically, by injecting high-pressure air towards the edge of the airbag in a specific direction, the shape and pressure distribution of the airbag can be changed. For example, injecting air flow towards the left-side airbag will cause the AGV to turn right, and vice versa. In addition, by adjusting the inflation pressure and air flow rate of the airbag 42, operations such as the lifting, steering, forward and backward movement of the AGV can be controlled. For example, increasing the air pressure causes the airbag to expand and the AGV to rise; decreasing the air pressure causes the airbag to contract and the AGV to descend.

[0034] When the AGV automated guided vehicle issues a "switch to air cushion mode" command, the PLC controller starts the air pump, opens the control valve, and inflates the four-corner air cushion assembly 4. The pressure sensor continuously feedbacks the pressure values of each air cushion assembly 4. If the pressure of a certain air cushion assembly 4 is lower than the threshold (such as due to heavy load), the PLC controller increases the opening degree of the corresponding control valve to replenish air until the balanced state is reached. When the pressure of all air cushion assemblies 4 meets the standard, the air pump enters the intermittent working mode to only compensate for minor leaks. When the AGV automated guided vehicle issues an "air cushion exhaust" command, the PLC controller closes the inflation end of the control valve and opens the exhaust end, and the gas in the airbag 42 of the air cushion assembly 4 is quickly discharged. After the airbag 42 contracts, the second spring 78 pushes the bearing plate 41 downward, and the traveling wheels 26 and the omnidirectional wheels 32 touch the ground.

[0035] The air cushion type AGV automated guided vehicle of the present invention has two modes during operation: (1) Air cushion mode: When the AGV automated guided vehicle needs to move quickly on a smooth ground, the airbag 42 of the air cushion assembly 4 inflates and expands, lifting the vehicle body 1 so that the traveling wheels 26 of the steering wheel assembly 2 and the omnidirectional wheels 32 of the omnidirectional wheel assembly 3 leave the ground. The vehicle body 1 is suspended by the air cushion and realizes low-friction movement through the air pressure difference.

[0036] (2) Wheel mode: When on a rough ground or precise positioning is required, the airbag 42 of the air cushion assembly 4 exhausts and contracts, and the traveling wheels 26 of the steering wheel assembly 2 and the omnidirectional wheels 32 of the omnidirectional wheel assembly 3 descend to contact the ground, and the traveling direction is controlled by the traveling wheels 26 and the steering motor 24.

[0037] The working principle of the air cushion type AGV automated guided vehicle of the present invention is: (1)Task Assignment: The staff sends task instructions to the AGV through the PLC controller, including information such as the starting position, target position, and requirements for goods handling.

[0038] (2)Path Planning: The AGV is equipped with sensors, which can be lidar, vision, ultrasonic, etc. It scans the surrounding environment in real time, collects information on obstacles, paths, and landmarks, and combines with the pre-constructed environmental map to form a dynamic real-time map. According to the task requirements and environmental information, it combines its own navigation system and map information to plan the best driving path from the starting position to the target position.

[0039] (3)Driving and Navigation: During the driving process, the AGV obtains its own position information and attitude information in real time through the navigation system, compares it with the preset path, and continuously adjusts the driving direction and speed through the drive system and steering system to ensure accurate driving along the path. At the same time, the AGV also uses sensors to sense the surrounding environment. When encountering obstacles, it will automatically stop or avoid.

[0040] (4)Goods Loading and Unloading: After reaching the target position, the AGV will complete the loading or unloading operation of the goods through the corresponding mechanism according to the requirements of goods loading and unloading.

[0041] For the air-cushioned AGV automatic guided vehicle of the present invention, when the automatic guided vehicle needs to run on a relatively flat ground, the air-cushion assembly 4 can be started through the air pressure control system, so that the vehicle body 1 floats on the ground. At the same time, the steering wheel assembly 2 and the omnidirectional wheel assembly 3 are raised, reducing the contact with the ground, reducing the friction and running resistance. The air-cushion suspension can cross small-size obstacles and adapt to slightly uneven ground. Its suspension operation mode eliminates the friction marks between the tires and the ground, protecting the ground; when the automatic guided vehicle needs to run on uneven ground or perform precise positioning, steering and other operations, the air-cushion assembly 4 can be lowered, so that the steering wheel assembly 2 and the omnidirectional wheel assembly 3 are in contact with the ground. Through the steering and walking functions of the steering wheel assembly 2 and the assistance of the omnidirectional wheel assembly 3, the stable operation and precise control of the automatic guided vehicle are realized.

[0042] Although the present invention discloses preferred specific embodiments for achieving the above purposes, it is not intended to limit the structural features of the present invention. Any person skilled in the art should know that under the technical spirit of the present invention, any easily conceived changes or modifications are possible and are all covered by the patent application scope of the present invention.

Claims

1. An air-cushioned AGV automatic guided vehicle, characterized in that, Comprising: Vehicle body; Two steering wheel assemblies, which are arranged in a lifting manner in the cavity of the vehicle body and are located on the left and right sides of the vehicle body; Two universal wheel assemblies, which are arranged in a lifting manner in the cavity of the vehicle body and are located at the front and rear ends of the vehicle body; Four air cushion assemblies, which are respectively located at the four corners in the cavity; A pneumatic control system for controlling the operation of the air cushion assemblies, which is located at the central position of the cavity.

2. The air-cushioned AGV automatic guided vehicle according to claim 1, characterized in that, The vehicle body includes a top plate and a frame. The top plate is fixedly arranged on the top of the vehicle body. The steering wheel assemblies and the universal wheel assemblies are respectively lifted by four airbag cylinders between the top plate.

3. The air-cushioned AGV automatic guided vehicle according to claim 2, wherein, The steering wheel assembly includes a first connecting plate. The top of the airbag cylinder is fixedly connected to the bottom of the top plate, and the bottom of the airbag cylinder is fixedly connected to the top of the first connecting plate. A first gear and a rotating seat are arranged at the bottom of the first connecting plate. The first gear is fixedly connected to the first connecting plate. The rotating seat is rotatably connected to the first connecting plate. A steering motor is fixedly arranged on the rotating seat. The output shaft of the steering motor is fixedly connected to a second gear. The second gear is meshed with the first gear. A traveling wheel is arranged on the rotating seat. The traveling wheel is rotatably connected to the rotating seat through a first driving motor.

4. The air-cushioned AGV automatic guided vehicle according to claim 3, characterized in that The universal wheel assembly includes a second connecting plate. The top of the airbag cylinder is fixedly connected to the bottom of the top plate, and the bottom of the airbag cylinder is fixedly connected to the top of the second connecting plate. A universal wheel is fixedly connected to the bottom of the second connecting plate.

5. The air-cushioned AGV automatic guided vehicle according to claim 4, characterized in that, The first connecting plate and the second connecting plate are both slidably connected to the top plate through a guiding assembly. The guiding assembly includes a plurality of first connecting bolts fixedly arranged at the bottom of the top plate. A plurality of first guiding sleeves are correspondingly fixedly connected to the tops of the first connecting plate and the second connecting plate. The first connecting bolts pass through the first guiding sleeves and are slidably connected to them. A stepped hole is formed inside the first guiding sleeve. A first spring is sleeved outside the first connecting bolt. The first spring is located in the stepped hole. One end of the first spring abuts against the bottom end of the first connecting bolt, and the other end abuts against the end face where the large hole and the small hole of the stepped hole are combined.

6. The air-cushioned AGV automatic guided vehicle according to claim 2, wherein It further includes an adjusting assembly for adjusting the longitudinal movement of each air cushion assembly along the vehicle body.

7. The air-cushioned AGV automatic guided vehicle according to claim 6, characterized in that, The adjusting assembly includes a bottom plate fixedly arranged at the lower part of the frame. A sliding seat is arranged above the bottom plate. The sliding seat is slidably connected to the bottom plate through a driving assembly. The sliding seat is connected to the air cushion assembly.

8. The air-cushioned AGV automatic guided vehicle according to claim 7, wherein The driving assembly includes a second driving motor fixedly arranged on the bottom plate. A lead screw is fixedly connected to the output shaft of the second driving motor. The sliding seat is sleeved outside the lead screw and is threadedly connected to it. A third gear is rotatably connected to one side of the sliding seat. A rack is fixedly connected to one side of the lead screw. The third gear is meshed with the rack. A transverse connecting plate is fixedly connected to the sliding seat.

9. The air-cushioned AGV automatic guided vehicle according to claim 8, characterized in that, The air cushion assembly includes a bearing plate. An airbag is arranged at the bottom of the bearing plate. The top of the bearing plate is fixedly connected to the transverse connecting plate through a connecting assembly.

10. The air-cushioned AGV automatic guided vehicle according to claim 9, characterized in that, The connecting component includes a second connecting bolt arranged vertically. One end of the second connecting bolt is connected with a longitudinal connecting plate, and the other end is fixedly connected to the top of the bearing plate. The longitudinal connecting plate is connected to the transverse connecting plate.

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