Seesaw dragging and lifting type AGV (Automatic Guided Vehicle)

Abstract

The invention provides a seesaw dragging lifting type AGV, and relates to the technical field of logistics transportation. The seesaw dragging lifting type AGV comprises an overall chassis assembly, the overall chassis assembly comprises an AGV body framework assembly and an AGV dragging framework assembly, the AGV body framework assembly is provided with first universal wheels, and the AGV dragging framework assembly is provided with second universal wheels; wherein the AGV dragging framework assembly is located on one side, in the length direction, of the AGV main body framework assembly, and the AGV dragging framework assembly is connected with the AGV main body framework assembly through a dragging hinge, so that the AGV dragging framework assembly can be rotationally arranged relative to the AGV main body framework assembly. According to the seesaw dragging and lifting type AGV, through the split type overall chassis assembly design, the overall posture balance capacity of the AGV during load change is improved, the problem that in the prior art, the stability of the AGV is poor when the AGV runs on a slope road surface is solved, and the working conditions of unbalance loading and heavy loading can be effectively coped with.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics transportation, in particular to a seesaw pull-pull lifting AGV. BACKGROUND

[0002] AGV (Automated Guided Vehicle, i.e. automated guided vehicle) as a key equipment to realize material handling automation, plays a vital role in the field of modern industrial automation, such as warehouse logistics and intelligent manufacturing scenarios. At present, the traditional AGV on the market generally adopts an integrated chassis structure, which usually includes an integral base, the walking mechanism of which is a fixed wheel layout, and is often equipped with an up-down floating suspension mechanism. Specifically, the driving mechanism and the buffer mechanism each have two sets, which are symmetrically arranged under the base through the buffer mechanism, and the driving wheel is connected with the output end of the driving mechanism. This design aims to provide basic movement and buffer functions in flat, regular working environment and light load conditions.

[0003] However, due to the traditional integrated chassis structure, the existing AGV often has poor stability and safety when facing complex road conditions, such as uneven ground or slopes. Especially in the automobile manufacturing, heavy equipment manufacturing and other industries, material handling is usually accompanied by high load and frequent direction adjustment, which puts higher requirements on the chassis design of AGV. The rigid connection of the integrated chassis causes the wheels to easily lose effective contact with the ground when encountering ground undulations, causing the risk of skidding, shaking or even overturning, which seriously affects the operation efficiency and safety of the AGV. In addition, the traditional AGV is difficult to cope with heavy or unbalanced load conditions, resulting in poor stability during acceleration, deceleration and slope driving, which is difficult to meet the growing demand of the industry.

[0004] At present, there is no effective solution to the above technical problems. SUMMARY

[0005] The main purpose of the present application is to provide a seesaw pull-pull lifting AGV to solve the problem of poor stability of AGV on slope road.

[0006] In order to achieve the above purpose, according to one aspect of the present application, a seesaw pull-pull lifting AGV is provided, comprising: an integral chassis assembly, the integral chassis assembly comprising an AGV main skeleton assembly and an AGV pull skeleton assembly, the AGV main skeleton assembly having a first universal wheel, and the AGV pull skeleton assembly having a second universal wheel; wherein the AGV pull skeleton assembly is located on one side of the length direction of the AGV main skeleton assembly, and the AGV pull skeleton assembly is connected with the AGV main skeleton assembly through a pull hinge, so that the AGV pull skeleton assembly is rotatably arranged relative to the AGV main skeleton assembly.

[0007] Further, the AGV main body framework assembly comprises: a main body bottom plate connected with the AGV pull framework assembly through a pull hinge, and a seesaw rotation shaft arranged on the main body bottom plate; and a seesaw extending along the width direction of the main body bottom plate, connected with the seesaw rotation shaft and capable of rotating around the seesaw rotation shaft, wherein the first universal wheel is at least two, and at least one first universal wheel is arranged on the first end of the seesaw and the second end of the seesaw.

[0008] Further, the AGV main body framework assembly further comprises: a differential drive motor arranged on the main body bottom plate, and two differential drive motors arranged opposite to each other along the width direction of the main body bottom plate; and a differential wheel corresponding to the differential drive motor, wherein the output end of the differential drive motor is connected with the corresponding differential wheel.

[0009] Further, the AGV pull framework assembly comprises: a pull bottom plate connected with the main body bottom plate through a pull hinge; and a damping adjustment device arranged on at least one of the pull bottom plate and the main body bottom plate, and used for adjusting the damping force when the pull hinge rotates.

[0010] Further, the pull hinge is two, and the two pull hinges are arranged at intervals along the width direction of the main body bottom plate, and the damping adjustment device is two, and the two damping adjustment devices are arranged corresponding to the two pull hinges.

[0011] Further, the seesaw pull lifting AGV further comprises an AGV electric control assembly, and the AGV electric control assembly comprises: a sensing and processing unit arranged on the main body bottom plate, and comprising a laser radar, an IMU, an industrial computer and a two-dimensional code scanner; a power and control unit arranged on the main body bottom plate, and comprising a motor driver, a line splitter, a brake resistor and an industrial switch; and a power supply and auxiliary sensing unit arranged on the pull bottom plate, and comprising an obstacle avoidance radar, a coupled input and output, a battery, a voltage converter and a contactor.

[0012] Further, the seesaw pull lifting AGV further comprises: an AGV lifting assembly connected with the AGV main body framework assembly, and capable of being rotatably arranged relative to the AGV main body framework assembly, and the height of the AGV lifting assembly is adjustably arranged along the height direction of the AGV main body framework assembly.

[0013] Further, the AGV lifting assembly comprises: a lifting mounting base, the bottom of the lifting mounting base is provided with a plurality of lifting legs, the lifting legs are connected with the AGV main body frame assembly; a rotary lifting mechanism, the rotary lifting mechanism is used for being connected with the AGV lifting tray, the rotary lifting mechanism is connected with the lifting mounting base through a plurality of screw rod adjusting mechanisms, the screw rod adjusting mechanisms are used for adjusting the distance between the rotary lifting mechanism and the lifting mounting base; a lifting dust cover, the lifting dust cover is arranged on the AGV main body frame assembly, and the lifting dust cover is arranged in extension along the circumference of the rotary lifting mechanism, so as to shield the lifting legs and at least part of the screw rod adjusting mechanisms.

[0014] Further, the seesaw drag-lift AGV further comprises: an AGV shell assembly, the AGV shell assembly is connected with the main body bottom plate and the drag bottom plate to form an accommodation space; wherein, the AGV shell assembly is provided with a touch edge strip, the touch edge strip is provided with a sensing element, and the sensing element is used for sensing a touch signal.

[0015] Further, the AGV shell assembly is further provided with an emergency stop button, a touch screen and a start button.

[0016] According to the technical scheme of the present application, the first universal wheel on the AGV main body frame assembly and the second universal wheel on the AGV drag frame assembly are independent of each other, can be flexibly adjusted according to the current ground inclination, can keep close to the ground even on a slope, ensures that the wheels always have good grip, provides sufficient traction for the driving wheels, and ensures smooth driving of the AGV on the slope; the AGV drag frame assembly is connected with the AGV main body frame assembly through the drag hinge, thereby forming a split overall chassis design, which allows the AGV drag frame assembly to rotate at a certain angle relative to the AGV main body frame assembly, and when driving on a slope, the AGV drag frame assembly can adjust its posture independently of the AGV main body frame assembly to maintain optimal contact with the ground, thereby increasing the slope adaptability of the AGV, and through the split chassis design, the weight of the vehicle body can be dispersed, reducing the pressure on individual wheels, further enhancing the stability and safety of driving; in addition, through the connection of the drag hinge, the AGV drag frame assembly can automatically adjust the angle with the AGV main body frame assembly according to the angle of the slope, so as to keep the center of gravity of the load and the AGV as a whole within a wider range, thereby significantly improving the stability under heavy load and reducing the risk of overturning or losing control. The seesaw drag-lift AGV of the present embodiment improves the overall posture balance ability of the AGV when the load changes through the split overall chassis assembly design, solves the problem of poor stability of the AGV when driving on a slope in the prior art, and can effectively cope with partial load and heavy load working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings accompanying the specification of this application serve to provide further understanding of the present application, the illustrative embodiments thereof, and its description, and do not constitute an improper limitation of the present application. In the drawings:

[0018] Figure 1 A structural schematic diagram of a first embodiment of a seesaw pull-lift AGV according to the present application is shown;

[0019] Figure 2 A structural schematic diagram of a second embodiment of a seesaw pull-lift AGV according to the present application is shown;

[0020] Figure 3 A structural schematic diagram of a third embodiment of a seesaw pull-lift AGV according to the present application is shown;

[0021] Figure 4 A structural schematic diagram of a fourth embodiment of a seesaw pull-lift AGV according to the present application is shown;

[0022] Figure 5 A structural schematic diagram of a fifth embodiment of a seesaw pull-lift AGV according to the present application is shown;

[0023] Figure 6 A structural schematic diagram of a sixth embodiment of a seesaw pull-lift AGV according to the present application is shown.

[0024] Among the above drawings, the following reference signs are included:

[0025] 1, AGV main skeleton assembly; 101, main body bottom plate; 102, differential drive motor; 103, differential wheel; 104, seesaw support; 105, seesaw rotating shaft; 106, seesaw; 107, first universal wheel;

[0026] 2, AGV pull skeleton assembly; 201, pull bottom plate; 202, pull hinge; 203, pull hinge damper; 204, universal wheel base; 205, second universal wheel;

[0027] 3, AGV electric control assembly; 301, laser radar; 302, IMU; 303, motor driver; 304, line splitter; 305, braking resistor; 306, industrial switch; 307, industrial computer; 308, two-dimensional code scanner; 309, obstacle avoidance radar; 310, coupled input and output; 311, battery; 312, voltage converter; 313, contactor;

[0028] 4, AGV lifting assembly; 401, rotating lifting mechanism; 402, lifting installation base; 403, lifting leg; 404, fixed flange; 405, lifting dust cover; 406, screw flange;

[0029] 5. AGV shell assembly; 501. main body side shell; 502. tractor side shell; 503. main body side touch strip; 504. tractor side touch strip; 505. charging brush plate; 506. manual charging port; 507. LED light; 508. antenna; 509. speaker; 510. emergency stop button; 511. nameplate; 512. touch screen; 513. start button;

[0030] 6. AGV lifting tray. DETAILED DESCRIPTION

[0031] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0032] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that the terms "comprise" and / or "include" as used in the specification indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the terms used herein can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms, and should not be interpreted as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided in order to make the present disclosure complete and comprehensive, and to adequately convey the ideas of these exemplary embodiments to those of ordinary skill in the art. In the drawings, the thickness of layers and regions can be exaggerated for clarity, and the same reference numerals are used to denote the same elements, so that a description thereof will be omitted.

[0035] Currently, the traditional AGV on the market generally adopts an integrated chassis structure, which has the following problems:

[0036] 1) The integrated chassis structure has poor adaptability to uneven road surfaces and slopes, leading to unstable driving and safety hazards: Since the four universal wheels in the integrated chassis structure are rigidly connected with the chassis, there is no effective overall adaptive mechanism. When the AGV drives on a road section with uneven ground and slope changes, the four universal wheels will randomly and alternately appear suspended in order to adapt to the road surface. This continuous wheel suspension directly causes the vehicle body to sway, seriously affecting the stability of driving. Especially during climbing, the driving wheels in the middle position are prone to suspension or excessive compression, which in turn causes driving wheel skidding, driving motor overload and other problems. This not only affects the safety of cargo transportation, but also may cause overload damage to AGV components, and even cause AGV to deviate from the predetermined track or lose control and collide, posing a major safety risk.

[0037] 2) The integrated chassis structure is not suitable for partial load and heavy load working conditions, and there is a "dilemma" in design: The floating suspension design of the traditional AGV is trapped in a difficult contradiction when dealing with partial load or heavy load working conditions. If the pre-pressure of the floating mechanism of the driving wheel is set too high to ensure sufficient ground friction force under heavy load, the pre-pressure of the spring will lift the vehicle body under empty vehicle conditions, causing the front or rear wheels to be suspended, which will cause great trouble for automatic charging, drilling into the rack and other operations. Conversely, if the pre-pressure is set too low, the friction force between the driving wheel and the ground will be insufficient due to the decrease in normal pressure caused by inertia when accelerating or decelerating with a load, which will easily cause the driving wheel to slip and the vehicle to lose control. Similarly, if the universal wheel is set to a floating form, similar problems will also be encountered: if the spring stiffness is too high, the driving wheel is prone to suspension and idling when passing over a pit; if the spring stiffness is too low, the vehicle body will sway severely when the load changes, resulting in poor stability and high risk.

[0038] In combination with Figures 1 to 6 According to the specific embodiments of the present application, a seesaw pull-and-lift AGV is provided.

[0039] The seesaw pull-and-lift AGV comprises: a whole chassis assembly, the whole chassis assembly comprising an AGV main body framework assembly 1 and an AGV pull framework assembly 2, the AGV main body framework assembly 1 having a first universal wheel 107, and the AGV pull framework assembly 2 having a second universal wheel 205; wherein the AGV pull framework assembly 2 is located on one side of the AGV main body framework assembly 1 in the length direction, and the AGV pull framework assembly 2 is connected with the AGV main body framework assembly 1 through a pull hinge 202, so that the AGV pull framework assembly 2 is rotatably arranged relative to the AGV main body framework assembly 1.

[0040] The first universal wheel 107 on the AGV main framework assembly 1 and the second universal wheel 205 on the AGV trailing framework assembly 2 are independent of each other, can be flexibly adjusted according to the current ground inclination, can keep close to the ground even on a slope, ensures that the wheels always have good grip, provides sufficient traction for the driving wheels, and ensures smooth driving of the AGV on the slope; the AGV trailing framework assembly 2 is connected with the AGV main framework assembly 1 through the trailing hinge 202, thereby forming a split overall chassis design, which allows the AGV trailing framework assembly 2 to rotate relative to the AGV main framework assembly 1 by a certain angle, and when driving on a slope, the AGV trailing framework assembly 2 can adjust its posture independently of the AGV main framework assembly 1 to maintain optimal contact with the ground, thereby increasing the slope adaptability of the AGV, and through the split chassis design, the weight of the vehicle body can be dispersed, the pressure on a single wheel can be reduced, and the stability and safety of driving can be further enhanced; in addition, through the connection of the trailing hinge 202, the AGV trailing framework assembly 2 can automatically adjust the angle with the AGV main framework assembly 1 according to the angle of the slope, so as to keep the center of gravity of the load and the AGV as a whole within a wider range, thereby significantly improving the stability under heavy load and reducing the risk of overturning or losing control. The seesaw trailing lifting AGV of the embodiment improves the overall posture balance ability of the AGV when the load changes, solves the problem of poor stability of the AGV when driving on a slope in the prior art, and can effectively cope with partial load and heavy load working conditions.

[0041] Further, the AGV main framework assembly 1 comprises: a main bottom plate 101 connected with the AGV trailing framework assembly 2 through the trailing hinge 202, the main bottom plate 101 being provided with a seesaw rotating shaft 105; a seesaw 106 extending along the width direction of the main bottom plate 101, the seesaw 106 being connected with the seesaw rotating shaft 105 and being capable of rotating circumferentially around the seesaw rotating shaft 105; wherein the first universal wheel 107 is at least two, and the first end of the seesaw 106 and the second end of the seesaw 106 are each provided with at least one first universal wheel 107.

[0042] In this embodiment, the seesaw 106 extends along the width direction of the main body bottom plate 101 and can rotate circumferentially around the seesaw rotation shaft 105. Both ends of the seesaw 106 are provided with first universal wheels 107. This design allows the AGV to automatically adjust when encountering uneven ground or slopes during driving, ensuring that at least one first universal wheel 107 is in contact with the ground, thereby ensuring that the drive wheels always effectively adhere to the ground and avoiding skidding during driving, enhancing the driving stability and safety of the AGV. In addition, through the dynamic balance of the seesaw, the AGV can better adapt to complex industrial environments, maintain a stable vehicle body, reduce cargo shaking during transportation, and improve overall transportation efficiency and operational performance.

[0043] Further, the AGV main body framework assembly 1 further comprises: a differential drive motor 102, the differential drive motor 102 is arranged on the main body bottom plate 101, and the differential drive motor 102 is two, the two differential drive motors 102 are arranged opposite along the width direction of the main body bottom plate 101; a differential wheel 103, the differential wheel 103 is two, the two differential wheels 103 are arranged one by one corresponding to the two differential drive motors 102, and the output end of the differential drive motor 102 is connected with the corresponding differential wheel 103.

[0044] In this embodiment, the main body bottom plate 101 carries two differential drive motors 102 and two differential wheels 103, wherein the two differential drive motors 102 are symmetrically arranged along the width direction of the main body bottom plate 101, and each drives a corresponding differential wheel 103. This symmetrical layout ensures balanced power output, improving the driving stability and steering accuracy of the AGV. The direct connection of the differential wheel 103 and the differential drive motor 102 ensures high power transmission efficiency and rapid response, enhancing the maneuverability and load capacity of the AGV. Through the differential drive principle, the two differential wheels 103 can independently adjust the speed according to the driving requirements, ensuring stable vehicle body, avoiding skidding, and ensuring smooth operation of the AGV under complex working conditions, improving the road adaptability of the AGV.

[0045] Further, the AGV tractor framework assembly 2 comprises: a tractor bottom plate 201, the tractor bottom plate 201 is connected with the main body bottom plate 101 through a tractor hinge 202; a damping adjustment device, the damping adjustment device is arranged on at least one of the tractor bottom plate 201 and the main body bottom plate 101, and the damping adjustment device is used for adjusting the damping force when the tractor hinge 202 rotates.

[0046] In this embodiment, the damping adjustment device is arranged on the tractor base plate 201 or the main body base plate 101, which is used to finely adjust the damping force of the tractor hinge 202 during rotation. This design ensures that the AGV can produce appropriate relative rotation between the AGV tractor frame assembly 2 and the AGV main body frame assembly 1 during driving, thereby optimizing the driving stability and maneuverability of the AGV when turning or encountering uneven road surfaces. The introduction of the damping adjustment device makes the movement of the AGV tractor frame assembly 2 more smooth, reduces the body sway caused by rapid turning or complex road surfaces, and thus improves the safety and efficiency of the overall AGV.

[0047] In specific applications, the damping adjustment device can use different forms of damping elements, such as hydraulic dampers, electromagnetic dampers, etc., to adapt to different working conditions.

[0048] Further, the tractor hinge 202 is two, and the two tractor hinges 202 are arranged along the width direction of the main body base plate 101, and the damping adjustment device is two, and the two damping adjustment devices are arranged one-to-one corresponding to the two tractor hinges 202.

[0049] In this embodiment, the two tractor hinges 202 are arranged along the width direction of the main body base plate 101, and the two damping adjustment devices are arranged one-to-one corresponding to the two tractor hinges 202. This configuration enhances the stability and flexibility of the split chassis structure. When the AGV encounters uneven ground or performs turning operations, the two tractor hinges allow the AGV tractor frame assembly 2 to produce a certain angle of rotation relative to the AGV main body frame assembly 1, and the damping adjustment device adjusts the rotation damping according to the actual working condition, ensuring stable driving and precise steering of the AGV in complex paths and terrain. Compared with single hinge design, the setting of double hinge and double damping adjustment device provides higher redundancy and smoothness, so that the AGV can still maintain good attitude control and response under the conditions of load change, ground mutation, etc., thereby improving the overall operation efficiency and safety.

[0050] In other embodiments, by adjusting the number and layout of the tractor hinges and the parameters of the damping adjustment device, the adaptability of the AGV to specific scenarios can be further optimized, such as enhancing the stability under heavy load and improving the maneuverability in narrow spaces.

[0051] Further, the seesaw tow-and-lift AGV further comprises an AGV electric control assembly 3, which comprises: a perception and processing unit, the perception and processing unit being arranged on the main body bottom plate 101, the perception and processing unit comprising a laser radar 301, an IMU 302, an industrial computer 307, and a two-dimensional code scanner 308; a power and control unit, the power and control unit being arranged on the main body bottom plate 101, the power and control unit comprising a motor driver 303, a splitter 304, a braking resistor 305, and an industrial switch 306; a power supply and auxiliary perception unit, the power supply and auxiliary perception unit being arranged on the tow-and-lift bottom plate 201, the power supply and auxiliary perception unit comprising an obstacle avoidance radar 309, a coupled input and output 310, a battery 311, a voltage converter 312, and a contactor 313.

[0052] In the present embodiment, the perception and processing unit comprises the laser radar 301, the IMU 302, the industrial computer 307, and the two-dimensional code scanner 308, which work cooperatively to realize environmental perception and path navigation; the power and control unit is composed of the motor driver 303, the splitter 304, the braking resistor 305, and the industrial switch 306, which is responsible for power transmission and control signal processing; and the power supply and auxiliary perception unit of the AGV tow-and-lift skeleton assembly 2 provides energy support for the AGV and enhances its safety performance. By reasonably arranging the perception and processing unit, the power and control unit, and the power supply and auxiliary perception unit on the main body bottom plate 101, not only the weight distribution of the AGV is optimized, but also the rationality of the circuit layout is improved, the signal interference is reduced, and the operation stability and safety of the equipment are strengthened.

[0053] Further, the seesaw tow-and-lift AGV further comprises: an AGV lifting assembly 4, the AGV lifting assembly 4 being connected with the AGV main body skeleton assembly 1, the AGV lifting assembly 4 being rotatably arranged relative to the AGV main body skeleton assembly 1, and the height of the AGV lifting assembly 4 being adjustably arranged along the height direction of the AGV main body skeleton assembly 1.

[0054] In the present embodiment, the AGV lifting assembly 4 can be adjusted in height in the vertical direction to adapt to different cargo handling requirements, and can also be rotated by a certain angle in the horizontal direction to assist the operation flexibility of the AGV when turning or passing through narrow passages. Through the adjustable height arrangement, the AGV can accurately pick up and place goods in different operating environments, such as shelves of different heights, improving the operating efficiency and safety. At the same time, the rotation function expands the maneuverability of the AGV, which can ensure smooth and efficient material transfer even in complex industrial environments, reducing the risk of operation delay or collision due to space limitations.

[0055] In other embodiments not shown, the AGV lifting assembly 4 can also be realized by other ways of rotation and height adjustment, such as horizontal movement, to meet the needs of more variable application scenarios. In this way, the active range and control accuracy of the AGV lifting assembly 4 are further improved, enhancing the adaptability and functionality of the AGV in diversified operating environments.

[0056] Further, the AGV lifting assembly 4 comprises: a lifting installation base 402, the bottom of the lifting installation base 402 is provided with a plurality of lifting legs 403, the lifting legs 403 are connected with the AGV main body framework assembly 1; a rotary lifting mechanism 401, the rotary lifting mechanism 401 is used for connecting with the AGV lifting tray 6, the rotary lifting mechanism 401 is connected with the lifting installation base 402 through a plurality of screw rod adjusting mechanisms, the screw rod adjusting mechanism is used for adjusting the distance between the rotary lifting mechanism 401 and the lifting installation base 402; a lifting dust cover 405, the lifting dust cover 405 is arranged on the AGV main body framework assembly 1, and the lifting dust cover 405 is arranged in extension along the circumference of the rotary lifting mechanism 401, so as to shield the lifting legs 403 and at least part of the screw rod adjusting mechanism.

[0057] In the embodiment, the bottom of the lifting installation base 402 is configured with a plurality of lifting legs 403, which are firmly connected with the AGV main body framework assembly 1, ensuring the stability of the lifting operation. The rotary lifting mechanism 401 is connected with the lifting installation base 402 through a plurality of screw rod adjusting mechanisms, which can smoothly adjust the distance between the rotary lifting mechanism 401 and the lifting installation base 402, realize the precise lifting of the AGV lifting tray 6, and adapt to the cargo carrying needs of different heights. The lifting dust cover 405 is arranged on the AGV main body framework assembly 1 and extends along the circumference of the rotary lifting mechanism 401, effectively shielding the lifting legs 403 and part of the screw rod adjusting mechanism, effectively preventing dust and foreign matter from invading the screw rod adjusting mechanism, affecting the long-term operation accuracy and reliability, and ensuring the cleanliness and protection of the internal mechanical structure. The setting of the AGV lifting assembly 4 in the embodiment optimizes the efficiency of cargo carrying, enhances the overall durability of the equipment, and enables the AGV to maintain a high-efficiency operating state in a dusty industrial environment for a long time.

[0058] Among them, the number and layout of the screw rod adjusting mechanism can be adjusted according to the specific application scenario and load demand to realize better lifting performance and equipment maintenance convenience. In other embodiments not shown, the shape and installation method of the lifting dust cover can also be changed according to actual needs to adapt to more complex use environments while maintaining good dustproof effect.

[0059] Further, the seesaw-pulling lifting AGV further comprises an AGV shell assembly 5 connected with the main body bottom plate 101 and the pulling bottom plate 201 to enclose a containing space; wherein a touch edge strip is arranged on the AGV shell assembly 5, and a sensing element is arranged in the touch edge strip, and the sensing element is used to sense a touch signal.

[0060] In the embodiment, the AGV shell assembly 5 is connected with the main body bottom plate 101 and the pulling bottom plate 201 to jointly enclose a space containing internal mechanical and electrical control components. The sensing elements are embedded in the touch edge strip arranged on the AGV shell assembly 5, and these sensing elements can sensitively sense a touch signal and realize instant feedback. When the AGV encounters an unexpected obstacle or contacts with a surrounding object during operation, the sensing elements in the touch edge strip quickly respond and immediately transmit the touch signal to the industrial computer 307 in the AGV electrical control assembly, and the industrial computer immediately starts an emergency braking program to control the differential drive motor 102 to stop running, effectively avoiding the hard collision of the AGV with the obstacle, and significantly improving the safety of the AGV in a complex industrial environment. The integrated design of the touch edge strip and the sensing element not only enhances the sensing ability of the AGV to the external environment, but also provides additional safety protection for the operator of the AGV and the surrounding staff.

[0061] In other embodiments, the position and shape of the touch edge strip can be adjusted according to the specific size and use scene of the AGV to optimize its protection effect and touch sensitivity, and to ensure that the AGV can quickly and accurately respond in various working conditions to avoid potential collision risks.

[0062] Further, the AGV shell assembly 5 is further provided with an emergency stop button 510, a touch screen 512 and a start button 513.

[0063] In the embodiment, the AGV shell assembly 5 is integrated with the emergency stop button 510, the touch screen 512 and the start button 513. This design ensures that the operator can quickly and intuitively control the start and stop of the AGV, input task instructions and monitor the device status through the touch screen 512, and the emergency stop button 510 provides safety shutdown protection in emergency situations. Overall, this integrated shell assembly not only improves the human-machine interaction experience of the AGV, but also enhances safety and operation convenience, making the device more reliable and efficient in a complex industrial environment.

[0064] According to different use scenes and requirements, the positions and layouts of the emergency stop button 510, the touch screen 512 and the start button 513 can be appropriately adjusted to optimize the usability and adaptability of the operation interface.

[0065] The application also provides a preferred embodiment of a seesaw-pulling lifting AGV.

[0066] The existing AGV with integrated chassis structure mainly has two problems: first, poor adaptability to complex road surfaces such as uneven ground and slopes, resulting in unstable driving, wheel suspension, and drive slipping; second, in the partial load and heavy load working conditions, the traditional floating suspension design is trapped in the "dilemma" of pre-pressure setting, which easily causes the vehicle body to sway or lose control.

[0067] The embodiment provides a seesaw pull-pull lifting AGV with excellent road surface adaptability and super load stability. Through the innovative combination of split chassis and seesaw suspension, the rigid constraint of the traditional integrated chassis is broken, enabling the AGV to intelligently cope with various challenges in complex industrial scenarios.

[0068] Specifically, the seesaw pull-pull lifting AGV includes an AGV main skeleton assembly 1, an AGV pull skeleton assembly 2, an AGV electric control assembly 3, an AGV lifting assembly 4, an AGV shell assembly 5, and an AGV lifting tray 6.

[0069] The AGV main skeleton assembly 1 is composed of a main bottom plate 101, a differential drive motor 102, a differential wheel 103, a seesaw support 104, a seesaw rotating shaft 105, a seesaw 106, and a first universal wheel 107. The AGV pull skeleton assembly 2 is composed of a pull bottom plate 201, a pull hinge 202, a pull hinge damping 203, a universal wheel base 204, and a second universal wheel 205. The AGV main skeleton assembly 1 and the AGV pull skeleton assembly 2 are fixed and integrated into a whole chassis assembly through the pull hinge 202.

[0070] Specifically, the main bottom plate 101 is installed on the top of the differential drive motor 102, and the differential wheel 103 is installed at the end of the differential drive motor 102 symmetrically. The seesaw support 104 passes through the main bottom plate 101 from bottom to top and is fixed and installed, with the force position being the flange of the seesaw support 104 and the contact surface of the main bottom plate 101, ensuring stable structure and easy maintenance. The seesaw 106 is connected with the seesaw support 104 through the seesaw rotating shaft 105, realizing front and rear balance adjustment. The first universal wheel 107 is fixed on both sides of the seesaw 106, and adapts to the ground fluctuation by swinging with the seesaw 106, ensuring that the driving wheel always sticks to the ground, avoiding suspension or slipping, thereby significantly improving the driving stability and adaptability to bumpy road surfaces, and enhancing the AGV driving stability. The pull hinge 202 and the pull hinge damping 203 are installed on the top of the pull bottom plate 201, and the pull hinge 202 is tightly connected with the main bottom plate 101. The pull hinge damping 203 effectively buffers the motion impact, improving the overall running stability. The universal wheel base 204 is installed on the top of the pull bottom plate 201, and the second universal wheel 205 is installed at the bottom of the universal wheel base 204, rotating with the universal wheel base 204 and flexibly coping with different ground environments.

[0071] The AGV main body framework assembly 1 forms a suspension structure with the seesaw 106 and the first universal wheel 107. When the AGV travels on different road sections, the seesaw 106 can swing around the seesaw rotating shaft 105, driving the first universal wheel 107 to adaptively adjust the contact state with the ground, adapt to the ups and downs of different road sections, ensure smooth travel, reduce the impact of bumps, and ensure the smoothness of AGV travel.

[0072] The AGV adopts a hinged towing design. The AGV main body framework assembly 1 and the AGV towing framework assembly 2 are connected through the towing hinge 202 to form a split chassis structure. During travel, the AGV towing framework assembly 2 can rotate relative to the AGV main body framework assembly 1 by a certain angle, improving the steering flexibility of the AGV in complex paths and making the AGV turn freely in complex paths, easily coping with working conditions such as narrow curves.

[0073] A damping and buffering piece is arranged between the seesaw 106 and the seesaw support 104 to relieve the impact force generated during the swinging of the seesaw 106, further optimizing the adaptive performance of the suspension structure to different road sections. It should be noted that, in addition to metal springs, rubber shock pads or hydraulic buffers can also be used between the seesaw 106 and the seesaw support 104 to adapt to different vibration frequencies.

[0074] The towing hinge 202 is provided with a damping adjustment device, which can adjust the damping force when the towing hinge 202 rotates according to the travel conditions of the AGV, so that the split chassis maintains appropriate linkage and stability under different road conditions.

[0075] The AGV main body framework assembly 1 and the AGV towing framework assembly 2 form a split chassis structure, which cooperates with the seesaw suspension mode to enable the AGV to adapt locally through the swinging of the seesaw 106 when passing through bumpy and slope-changing road sections, and to maintain overall posture balance through the relative rotation between the split chassis, improving the travel passability.

[0076] The assembly process of the main body framework assembly is as follows: first, the differential drive motor 102 is symmetrically installed on the top of the main body bottom plate 101, and the differential wheel 103 is installed at the output end of the motor. Then, the seesaw support 104 is inserted from the bottom to the top through the reserved hole on the main body bottom plate 101, and is fastened to the bottom plate through the flange by bolts, ensuring that the main stress surface is the contact surface of the flange and the bottom plate, and ensuring the stability of the structure. Then, the seesaw 106 is connected to the seesaw support 104 through the seesaw rotating shaft 105 to form a swingable hinge structure. Finally, the two first universal wheels 107 are installed at the two ends of the seesaw 106.

[0077] The assembly process of the trailer frame assembly is as follows: install the trailer hinge 202 and the trailer hinge damper 203 on the top front end of the trailer bottom plate 201. Install the universal wheel base 204 at the rear of the bottom plate, and install the second universal wheel 205 at the bottom of the base.

[0078] The overall chassis integration process is as follows: the AGV main frame assembly 1 is connected with the AGV trailer frame assembly 2 through the trailer hinge 202, and the hinge and the main body bottom plate 101 are tightly fixed using bolts and other fasteners, thereby forming a complete and relatively rotatable split chassis structure.

[0079] In this embodiment, the main body assembly forms a virtual stable three-point support through two drive wheels and a seesaw 106 hinge point, and the first universal wheel 107 at both ends of the seesaw 106 adapts to the ground, ensuring that the drive wheels will not be suspended. The trailer assembly provides adjustable auxiliary support force through the hinge damper, which does not affect the self-adaptation of the main body part, and enhances the overall stability, thereby solving the problem of one-point suspension caused by the traditional AGV "four-point rigid contact".

[0080] Further, the AGV electric control assembly 3 is composed of a laser radar 301, an IMU 302, a motor driver 303, a line splitter 304, a braking resistor 305, an industrial switch 306, an industrial computer 307, a two-dimensional code scanner 308, an obstacle avoidance radar 309, a coupling input and output 310, a battery 311, a voltage converter 312, and a contactor 313. The AGV electric control assembly 3 is fixed on the upper part of the AGV main frame assembly 1 and the AGV trailer frame assembly 2.

[0081] Among them, the laser radar 301, the IMU 302, the motor driver 303, the line splitter 304, the braking resistor 305, the industrial switch 306, and the industrial computer 307 are installed on the upper part of the AGV main frame assembly 1; the laser radar 301 is used for real-time environment perception, the IMU 302 provides accurate attitude data, the motor driver 303 controls power output, the line splitter 304 optimizes circuit layout, the braking resistor 305 ensures safe braking, the industrial switch 306 realizes high-speed data transmission, the industrial computer 307 handles core operations, and the two-dimensional code scanner 308 identifies path information, thereby improving the intelligent level of the AGV; the obstacle avoidance radar 309, the coupling input and output 310, the battery 311, the voltage converter 312, and the contactor 313 are installed on the upper part of the AGV trailer frame assembly 2; the obstacle avoidance radar 309 monitors the front obstacles in real time, the coupling input and output 310 ensures stable signal transmission, the battery 311 provides sustained power, the voltage converter 312 adjusts the voltage to be stable, and the contactor 313 controls the on-off of the circuit. The components work together to ensure efficient operation of the AGV.

[0082] The layout and functional principle of the electric control system are as follows:

[0083] The main body area layout: on the upper front side of the AGV main body framework assembly 1, the laser radar 301, the IMU 302, the industrial computer 307, the two-dimensional code scanner 308 and other core perception and processing units are sequentially installed. The rear layout motor driver 303, line splitter 304, brake resistor 305, industrial switch 306 and other power and control units.

[0084] The towing area layout: on the upper part of the AGV towing framework assembly 2, the power supply and auxiliary sensing unit are mainly arranged, including the obstacle avoidance radar 309, the coupled input and output 310, the battery 311, the voltage converter 312 and the contactor 313. Among them, the battery 311 can use lithium iron phosphate battery or lithium titanate battery to meet the different application emphases such as high safety or fast charging demand.

[0085] Through the partition layout mode in the embodiment, the weight distribution can be optimized, the cable length can be shortened, and the signal interference can be reduced. The battery 311 is an L-shaped overall structure, which is centrally installed on the towing framework, optimizing the weight distribution and enhancing the stability under heavy load. The laser radar 301, IMU 302 and other sensors work cooperatively to realize precise environmental perception and path planning, and improve the AGV operation efficiency.

[0086] The lifting assembly is responsible for the precise picking and releasing of goods. Specifically, the AGV lifting assembly 4 is composed of a rotary lifting mechanism 401, a lifting mounting base 402, a lifting leg 403, a fixed flange 404 and a lifting dust cover 405. The AGV lifting assembly 4 is fixed on the upper part of the AGV main body framework assembly 1 through the fixed flange 404, maintaining the lifting and rotating freedom. The AGV lifting tray 6 is fixed on the upper part of the AGV lifting assembly 4, and completes the lifting and rotating action with the AGV lifting assembly 4.

[0087] Among them, the rotary lifting mechanism 401 is fixed as a whole with the lifting mounting base 402 through three screw flanges 406, and realizes height adjustment through rotary drive to adapt to different goods handling needs; the lifting leg 403 is fixed at the bottom of the lifting mounting base 402 and is fixedly connected with the fixed flange 404 at the bottom end, and is fixed on the AGV main body framework assembly 1 as a whole to ensure the structural stability; the lifting dust cover 405 is fixed on the AGV main body framework assembly 1 and covers the three screw rods of the rotary lifting mechanism 401, effectively preventing dust from entering and avoiding friction between the screw rod and other wire harnesses, prolonging the service life.

[0088] The installation steps of the lifting mechanism are as follows:

[0089] The rotating lifting mechanism 401 is fixed as a whole with the lifting mounting base 402 through its three screw flanges 406. The upper end of the lifting leg 403 is fixed at the bottom of the lifting mounting base 402, and the lower end is firmly connected with the bottom plate of the AGV main framework assembly 1 through the fixing flange 404. The lifting dust cover 405 is installed on the main framework, completely covering the three screw rods, and plays a dustproof and protective role. The lifting tray is finally fixed at the top of the rotating lifting mechanism 401.

[0090] In this embodiment, the rotating lifting mechanism 401 of the lifting assembly is synchronously linked through three screw rods, realizing stable lifting and rotation, and adapting to different cargo handling requirements. The lifting leg 403 and the lifting dust cover 405 can ensure the stability and durability of the structure.

[0091] Further, the AGV shell assembly 5 is composed of a main side shell 501, a pulling side shell 502, a main side touch strip 503, a pulling side touch strip 504, a charging brush plate 505, a manual charging port 506, an LED lamp 507, an antenna 508, a loudspeaker 509, an emergency stop button 510, a nameplate 511, a touch screen 512, and a start button 513. The AGV shell assembly 5 covers the AGV main framework assembly 1 and the AGV pulling framework assembly 2.

[0092] Among them, the main side shell 501 covers the AGV main framework assembly 1, and the pulling side shell 502 covers the AGV pulling framework assembly 2, both of which are made of high-strength materials, effectively protecting the internal structure and improving the overall durability; the main side touch strip 503 and the pulling side touch strip 504 are respectively fixed on the edges of the main side shell 501 and the pulling side shell 502, made of soft material, sensing touch signals, timely feeding back to the control system, avoiding collision, and enhancing the safety of AGV operation; the charging brush plate 505, the manual charging port 506, the LED lamp 507, the antenna 508, the loudspeaker 509, the emergency stop button 510, the nameplate 511, the touch screen 512, and the start button 513 are respectively fixed on the AGV main side shell 501 and the pulling side shell 502; the charging brush plate 505 realizes convenient charging, the manual charging port 506 provides a backup charging method, the LED lamp 507 indicates the running state, the antenna 508 ensures stable communication, the loudspeaker 509 emits an alarm sound, the emergency stop button 510 stops the machine, the nameplate 511 marks information, the touch screen 512 is intuitive to operate, and the start button 513 controls start and stop. The cooperation of each part improves the comprehensive performance of AGV.

[0093] The integration principle of the shell and the safety assembly is as follows:

[0094] The AGV shell assembly 5 is wrapped outside the chassis and the electric control assembly, and serves as protection and aesthetics. The main body side shell 501 and the tractor side shell 502 cover the main body and the tractor assembly respectively, and are made of high-strength engineering plastic or metal plate. The safety and interaction elements such as the touch strip, the emergency stop button 510, the touch screen 512, and the start button 513 are installed at the corresponding positions of the shell according to the principle of human engineering.

[0095] In this embodiment, the shell assembly is made of high-strength material. The main body side touch strip 503 and the tractor side touch strip 504 sense the touch signal, and the emergency stop button 510 provides safety protection, thereby enhancing the overall durability and operation safety. The high-strength shell cooperates with the touch strip to ensure safety, and the diversified charging and control components make the device protection and operation more convenient and efficient.

[0096] The process of transporting materials by the AGV in this embodiment is as follows: during the start-up and navigation process, the operator issues task instructions through the touch screen 512 or the upper computer system, and the AGV realizes SLAM fusion navigation through the laser radar 301 and the two-dimensional code scanner 308, and travels along the predetermined path; during the road surface adaptation process, when the front wheels of the AGV encounter ground protrusions, one end of the seesaw 106 is lifted, and the other end is pressed down, ensuring that all wheels are always in contact with the ground, and the differential wheel 103 continuously obtains effective driving force; during the lifting and placing operation process, the AGV travels to the bottom of the shelf, the industrial computer 307 controls the three lead screws of the rotary lifting mechanism 401 to rise synchronously, the lifting tray is lifted to lift the goods, and then the AGV transports the goods to the target station, and the lead screw is lowered to complete the goods placing.

[0097] It should be noted that the AGV in this embodiment can be used as a general platform, and in addition to laser SLAM and two-dimensional code navigation, it can also seamlessly compatible with UWB, visual SLAM and other navigation methods, and only needs to update the algorithm in the industrial computer 307 and configure the corresponding sensors.

[0098] The AGV in this embodiment is particularly suitable for automobile manufacturing industry, heavy equipment manufacturing and traditional warehouse and other scenes.

[0099] Specifically, the structure characteristics of the seesaw tractor lifting AGV are as follows:

[0100] 1) Solve the problem of road adaptability and driving wheel ground adhesion by "seesaw suspension": in the front part of the AGV main skeleton assembly 1, two first universal wheels 107 are connected through a seesaw 106, which is hinged to the seesaw support 104 fixed on the main body bottom plate 101 through the seesaw rotating shaft 105. This structure constitutes a dynamic "three-point support" system. When the AGV drives on uneven road, the seesaw 106 can freely swing around the rotating shaft, so that the first universal wheels 107 on both sides can always adaptively maintain contact with the ground, effectively avoiding the suspension of a single wheel, ensuring that the driving wheel always obtains sufficient ground adhesion, improving the ground adhesion of the driving wheel, and solving the problem of slipping and shaking.

[0101] 2) Solve the problem of steering flexibility and overall posture balance by "hinged drag type split chassis": the AGV is divided into main skeleton assembly and drag skeleton assembly, which are connected through drag hinge 202, and equipped with adjustable drag hinge damper 203. This split structure allows the rear drag assembly to rotate relative to the main assembly at a certain angle when turning, and the damper at the hinge can effectively buffer the impact, allowing the front and rear chassis to maintain flexibility while coordinating movement and maintaining overall posture balance, especially on slopes and bumpy road sections.

[0102] 3) Optimize load and functional performance by "overall L-shaped battery layout and three-screw rod lifting mechanism": the battery 311 is designed as an L-shaped overall structure and is arranged centrally; the lifting mechanism uses a rotary lifting mechanism 401 to drive three screw rods to synchronize linkage. The overall battery 311 layout is conducive to weight distribution management and enhances stability under heavy load. The three-screw rod lifting mechanism provides smooth, powerful and reliable lifting and rotating functions, perfectly adapting to different height cargo handling needs, and its structural rigidity is much better than that of traditional gear linkage mechanisms.

[0103] The seesaw drag lifting AGV in this embodiment has the following beneficial effects:

[0104] 1) Stable and robust, excellent stability: the seesaw suspension structure cooperates with the first universal wheel 107 to make the AGV have strong road adaptability. Whether it is on the joint of the workshop floor, slight slope or bumpy road section, it can automatically adjust to keep the wheels on the ground, the vehicle body is stable, effectively avoiding the risk of cargo overturning and equipment damage, especially suitable for precise material handling with high stability requirements.

[0105] 2) Strong load capacity and high safety: The innovative three-point support and split auxiliary support structure, combined with the L-shaped battery layout and the solid sheet metal machining bottom plate, enable the AGV to handle strong load and heavy load conditions. Through reasonable weight distribution and auxiliary support, the AGV has stronger stability under heavy load / strong load conditions. The driving force of the drive wheel is proportional to the total weight, and the grip is strong, which eliminates the phenomenon of idling and slipping from the root, ensuring the safety and reliability of heavy load acceleration, deceleration, and slope start-stop.

[0106] Traditional rigid chassis and active leveling system uses an integrated rigid chassis, but integrates an electronic leveling system to detect the vehicle attitude through sensors and actively adjust the driving wheel torque or use adjustable legs to maintain level. It can improve stability and adaptability to a certain extent, but the response speed is slow and it relies on complex electronic control systems, which has low reliability. In rough road sections, active leveling may not be able to compensate in real time, resulting in wheel suspension. The AGV in this embodiment achieves instant adaptation through passive mechanical structure, which is simpler and more reliable.

[0107] Traditional multi-wheel drive and distributed control system usually increases the number of drive wheels, each wheel is independently driven and controlled, and is coordinated through algorithms to ensure ground adhesion and stability. Such a solution can provide good stability and load capacity, but the cost is extremely high, the software complexity is large, and it cannot solve the road adaptability problem caused by rigid chassis. The AGV in this embodiment simplifies the control requirements through mechanical structure, which is more suitable for industrial environment.

[0108] Traditional AGV usually uses a four-point suspension system, which uses independent springs or hydraulic suspension on each wheel to simulate a car suspension system. Each suspension point can adapt to ground fluctuations to ensure wheel adhesion. Some can achieve stability and road adaptability, but have limitations: in heavy load or strong load conditions, the suspension system may not be able to adjust synchronously, resulting in vehicle tilt or drive wheel slipping. In addition, this system lacks overall posture balancing mechanism and may not effectively respond to slope changes, and the cost is high and maintenance is complex. The AGV in this embodiment uses an innovative three-point support and split auxiliary support structure, combined with the L-shaped battery layout and the solid sheet metal machining bottom plate, enabling the AGV to handle strong load and heavy load conditions. Through reasonable weight distribution and auxiliary support, the AGV has stronger stability under heavy load / strong load conditions.

[0109] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof (e.g., "vertical ly", "horizontal ly", etc.) can refer to the relative positions of an apparatus or feature as shown in the drawings, and shall not be construed as limiting the present application to any particular spatial orientation. Furthermore, the terms "first", "second", third", etc. merely identify one of a number of similar features or steps in an embodiment, and are not intended to denote a spatial or chronological priority of such features or steps to one another. The terms "comprise", "comprising", "include", "including", and the like, as used herein, are specifically intended to be construed as open-ended terms (i.e., the terms do not exclude the presence of other elements or steps). It is specifically intended that any total number or range of steps or components to be

[0110] In addition, it should be understood that any numerical range recited herein includes all values from the lower and upper limits of that range. For example, if a concentration range is stated as 1% to 50%, it is intended that values ranging from 1% to 50%, such as 20%, are expressly enumerated. It is also understood that the endpoints of the ranges are not significant and are intended to be merely approximate. It is also understood that the description is not intended to be limited to the precise forms disclosed. Many modifications and variations are possible in light of the above teachings.

[0111] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0112] The preferred embodiments of the present application have been described above with the aid of drawing figures, which are intended to be illustrative only and not restrictive of the application. It will be apparent to those skilled in the art that modifications, improvements and variations of the application can be made without departing from the spirit and scope of the application. Accordingly, it is intended that all such modifications, improvements and variations be included within the scope of the present application.

Claims

1. A seesaw-type AGV with towing and lifting mechanism, characterized in that, include: An integrated chassis assembly, comprising an AGV main frame assembly (1) and an AGV towing frame assembly (2), wherein the AGV main frame assembly (1) has a first universal wheel (107) and the AGV towing frame assembly (2) has a second universal wheel (205). The AGV towing frame assembly (2) is located on one side of the AGV main frame assembly (1) along its length, and the AGV towing frame assembly (2) is connected to the AGV main frame assembly (1) via a towing hinge (202) so that the AGV towing frame assembly (2) is rotatably arranged relative to the AGV main frame assembly (1).

2. The seesaw-type AGV with towing and lifting mechanism according to claim 1, characterized in that, The AGV main frame assembly (1) includes: The main base plate (101) is connected to the AGV towing frame assembly (2) via the towing hinge (202), and a seesaw rotation shaft (105) is provided on the main base plate (101). A seesaw (106) is provided, which extends along the width direction of the main body base plate (101). The seesaw (106) is connected to the seesaw rotation axis (105), and the seesaw (106) can rotate circumferentially around the seesaw rotation axis (105). Among them, there are at least two first universal wheels (107), and at least one first universal wheel (107) is provided at the first end of the seesaw (106) and the second end of the seesaw (106).

3. The seesaw-type AGV with towing and lifting mechanism according to claim 2, characterized in that, The AGV main frame assembly (1) also includes: Differential drive motor (102), the differential drive motor (102) is disposed on the main body base plate (101), there are two differential drive motors (102), the two differential drive motors (102) are disposed opposite to each other along the width direction of the main body base plate (101); There are two differential wheels (103), and the two differential wheels (103) are arranged in a one-to-one correspondence with the two differential drive motors (102). The output end of the differential drive motor (102) is connected to the corresponding differential wheel (103).

4. The seesaw-type AGV with towing and lifting mechanism according to claim 2 or 3, characterized in that, The AGV towing frame assembly (2) includes: A drag base plate (201) is connected to the main body base plate (101) via a drag hinge (202); A damping adjustment device is provided on at least one of the drag base plate (201) and the main body base plate (101), and the damping adjustment device is used to adjust the damping force when the drag hinge (202) rotates.

5. The seesaw-type AGV with towing and lifting mechanism according to claim 4, characterized in that, There are two drag hinges (202), which are spaced apart along the width direction of the main body base plate (101). There are two damping adjustment devices, which are arranged one-to-one with the two drag hinges (202).

6. The seesaw-type AGV with towing and lifting mechanism according to claim 4, characterized in that, The seesaw-type AGV also includes an AGV electrical control component (3), which includes: The sensing and processing unit is disposed on the main body base plate (101) and includes a lidar (301), an IMU (302), an industrial control computer (307), and a QR code scanner (308). The power and control unit is mounted on the main body base plate (101) and includes a motor driver (303), a splitter (304), a braking resistor (305), and an industrial switch (306). A power supply and auxiliary sensing unit is disposed on the drag base plate (201). The power supply and auxiliary sensing unit includes an obstacle avoidance radar (309), a coupling input / output (310), a battery (311), a voltage converter (312), and a contactor (313).

7. The seesaw-type AGV with towing and lifting mechanism according to claim 1, characterized in that, The seesaw-type AGV also includes: AGV lifting assembly (4) is connected to the AGV main frame assembly (1). The AGV lifting assembly (4) is rotatably arranged relative to the AGV main frame assembly (1), and the height of the AGV lifting assembly (4) is adjustable along the height direction of the AGV main frame assembly (1).

8. The seesaw-type AGV with towing and lifting mechanism according to claim 7, characterized in that, The AGV lifting assembly (4) includes: A lifting mounting base (402) is provided with multiple lifting legs (403) at the bottom of the lifting mounting base (402), and the lifting legs (403) are connected to the AGV main frame assembly (1); A rotary lifting mechanism (401) is used to connect with the AGV lifting tray (6). The rotary lifting mechanism (401) is connected to the lifting mounting base (402) through multiple screw adjustment mechanisms. The screw adjustment mechanisms are used to adjust the distance between the rotary lifting mechanism (401) and the lifting mounting base (402). A lifting dust cover (405) is provided on the AGV main frame assembly (1), and the lifting dust cover (405) extends circumferentially along the rotating lifting mechanism (401) to cover the lifting support leg (403) and at least part of the screw adjustment mechanism.

9. The seesaw-type AGV with towing and lifting mechanism according to claim 4, characterized in that, The seesaw-type AGV also includes: AGV housing assembly (5), which is connected to the main body base plate (101) and the drag base plate (201) to form an enclosure space; The AGV housing assembly (5) is provided with a touch strip, and a sensing element is provided inside the touch strip. The sensing element is used to sense touch signals.

10. The seesaw-type AGV with towing and lifting mechanism according to claim 9, characterized in that, The AGV housing assembly (5) is also equipped with an emergency stop button (510), a touch screen (512), and a start button (513).

Images