Omnidirectional driving structure and method for heavy-load AGV robot

Abstract

The invention discloses a heavy-load AGV robot omni-directional driving structure and method, and belongs to the technical field of automatic carrying equipment. The structure comprises a frame, a left arm, a right arm, a left holding clamp, a right holding clamp, a first telescopic driving unit, a second telescopic driving unit, an omnidirectional driving wheel and a roller pin row. The left arm and the right arm are movable, and the left holding clamp and the right holding clamp are located above the left arm and the right arm. The first telescopic driving unit drives the left and right arms to adjust the distance to adapt to objects with different widths; the second telescopic driving unit drives the holding clamp to realize clamping and loosening; the omni-directional driving wheels are distributed on the left arm and the right arm to achieve omni-directional movement. The roller pin row is arranged on the inner side of the arm body, the top plane is used for bearing objects, and the slopes are connected to guide the objects to fall. By means of the modular design, self-adaptive clamping, high-maneuverability transportation in a narrow space and stable landing of heavy-load objects of multiple specifications such as a switch cabinet are achieved.

Description

Technical Field

[0001] This invention belongs to the field of automated handling equipment technology, specifically relating to an omnidirectional drive structure and method for a heavy-duty AGV robot. Background Technology

[0002] In the construction and upgrading of power systems, the installation of indoor substation switchgear is a critical and demanding task. As core equipment, switchgear is typically heavy (some even weigh around 2000 kg) and varies in size (width ranging from 550 mm to 1000 mm). Its installation environment is mostly enclosed or semi-enclosed indoor spaces, often characterized by narrow passageways and limited turning space (some passageways are even less than 1.5 meters wide), posing significant challenges to the transportation and precise placement of large equipment. Summary of the Invention

[0003] The purpose of this invention is to provide an omnidirectional drive structure and method for heavy-duty AGV robots, so as to at least solve or improve one of the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an omnidirectional drive structure for a heavy-duty AGV robot, comprising: The frame is equipped with a left arm and a right arm that can move in opposite directions, as well as a left gripping clamp and a right gripping clamp that can move in opposite directions; the left gripping clamp is located on the same side as the left arm and is positioned above the left arm; the right gripping clamp is located on the same side as the right arm and is positioned above the right arm. The first telescopic drive unit is mounted on the frame. The output end of the first telescopic drive unit is connected to the left arm and the right arm respectively, and is used to drive the left arm and the right arm to move to adjust the distance between them, so as to adapt to objects of different widths. The second telescopic drive unit is mounted on the vehicle frame. The output end of the second telescopic drive unit is connected to the left clamp and the right clamp respectively, and is used to drive the left clamp and the right clamp to move to adjust the distance between them. Omnidirectional drive wheels, at least four in total, mounted on the left and right arms respectively; Multiple needle roller rows are arranged on the inner sides of the left and right arms respectively; each needle roller row has a top plane for supporting the object and an inclined surface connected to the top plane for guiding the object into place.

[0005] By incorporating a laterally movable left and right arm and a gripping structure above them, along with a needle roller array featuring a support plane and a guiding ramp on the inner side of the arm, a complete heavy-duty handling solution is constructed. This structure enables adaptive gripping of objects of varying widths and adapts to multiple object sizes through arm spacing adjustment; the distributed omnidirectional drive wheel layout enhances stability under heavy loads; and the unique ramp guiding mechanism ensures smooth object placement, solving the technical problems of traditional AGVs in multi-size adaptation, heavy-load stability, and precise placement.

[0006] Furthermore, the first telescopic drive unit includes: The servo motor is fixedly mounted on the vehicle frame. The ball screw mechanism includes a bidirectional screw with a left-hand threaded section and a right-hand threaded section, and a servo motor drives the ball screw mechanism to rotate via a synchronous belt or coupling. The left lead screw nut and the right lead screw nut are respectively matched with the left-hand lead screw section and the right-hand lead screw section; The left lead screw nut is fixedly connected to the left arm, and the right lead screw nut is fixedly connected to the right arm, so that when the servo motor drives the ball screw mechanism to rotate, the left arm and the right arm can move synchronously in opposite directions.

[0007] The transmission scheme adopts a servo motor-driven bidirectional lead screw, which ensures the precise reverse movement of the left and right arms through mechanical forced synchronization. This enables the arms to move synchronously in opposite directions, ensuring the accuracy and stability of arm distance adjustment and providing a reliable mechanical guarantee for the precise clamping and placement of objects.

[0008] Furthermore, the second telescopic drive unit is a cylinder, and the piston rod end of the cylinder is connected to the left gripper and the right gripper respectively.

[0009] Using a cylinder as the gripper drive element provides a fast-response, simple-structure gripping solution. The linear motion characteristics of the cylinder match the gripping requirements, providing stable gripping force and good control performance, ensuring the stability of the object during transportation.

[0010] Furthermore, the needle roller array includes two mounting brackets and multiple needle rollers that are rotatably disposed between the two mounting brackets; the side profile of the mounting bracket is a right trapezoid, wherein the plane containing the right angle side is the top plane and the plane containing the hypotenuse side is the inclined plane.

[0011] The combination of a right-angled trapezoidal mounting bracket and needle rollers achieves the dual functions of support and guidance. The needle roller structure reduces frictional resistance, and the clear division of function between the flat and inclined surfaces ensures support stability and smooth placement, providing effective structural support for the stable transfer of objects.

[0012] Furthermore, the needle rollers arranged on the left and right arms have their inclined surfaces set in pairs opposite each other.

[0013] The relatively inclined surfaces form a natural guide channel, which guides the cabinet during placement, ensuring that the items slide smoothly along the predetermined trajectory, improving the accuracy and reliability of placement, and avoiding jamming problems during placement.

[0014] Furthermore, the omnidirectional drive wheels are omnidirectional steering wheels, each of which integrates a drive motor and an independent steering motor.

[0015] The application of omnidirectional steering wheels enables flexible omnidirectional movement, giving AGVs excellent maneuverability in confined spaces. Independent control of each steering wheel allows the AGV to achieve multiple movement modes, improving its ability to navigate in restricted environments.

[0016] Furthermore, the omnidirectional drive wheels are equipped with electromagnetic brakes.

[0017] The electromagnetic braking system provides reliable safety for heavy-duty operations. It prevents equipment slippage during stopping or positioning, ensuring operational safety, and is particularly suitable for applications requiring precise positioning of heavy objects.

[0018] Furthermore, the left and right arms are welded from high-strength steel plates, and the guide rod of the internal telescopic structure has a diameter of 50mm; the adjustment range of the left and right arms driven by the first telescopic drive unit is 940mm to 1700mm.

[0019] The use of high-strength steel plate welded structure and guide rods of a specific diameter ensures structural rigidity under heavy loads. A wide range of adjustability enhances adaptability to objects of different sizes, improving the equipment's versatility and usability.

[0020] Furthermore, it also includes a dual-loop control system, which includes: The position loop is used to monitor the extension and retraction positions of the left and right arms in real time via an encoder; The force ring is used to detect the clamping force of the left and right grippers through pressure sensors and dynamically adjust the output of the second telescopic drive unit.

[0021] The dual closed-loop control system enables real-time monitoring and dynamic adjustment of process parameters. The position loop ensures adjustment accuracy, while the force loop ensures clamping safety. The two work together to protect the object from damage and ensure the stability of the transportation process.

[0022] In a second aspect, the present invention provides a method for object handling and placement based on an omnidirectional drive structure of a heavy-duty AGV robot, comprising the following steps: Receive the size information of the object to be moved, control the first telescopic drive unit to move, drive the left and right arms to move, and adjust the distance between them to the target position that is adapted to the width of the object; Control the second telescopic drive unit to move the left and right gripping clamps toward each other to clamp the object, and use the top plane of the needle roller row to support the object. Activate the omnidirectional drive wheels to move the AGV carrying the object to the target position; Upon reaching the target position, the second telescopic drive unit is controlled to move, driving the left and right gripping clamps to move in opposite directions to release the object; then the first telescopic drive unit is controlled to move the left and right arms in opposite directions to widen the gap. During this process, the object slides down the inclined plane of the needle roller under its own gravity until it lands smoothly on the preset foundation.

[0023] This method organically combines mechanical structure with control processes to form a complete automated operation solution. Through standardized process control, it achieves precise operation throughout the entire process from picking up and transporting to placement, improving operational efficiency and reliability. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a three-dimensional structural diagram of an omnidirectional drive structure for a heavy-duty AGV robot according to an embodiment of the present invention; Figure 2 for Figure 1 Enlarged view of the structure at point A in the middle; Figure 3 This is a plan view of an omnidirectional drive structure for a heavy-duty AGV robot according to an embodiment of the present invention; The components are: 1. Frame; 2. Left arm; 3. Right arm; 41. Top plane; 42. Sloping surface; 51. Left gripping clamp; 52. Right gripping clamp; 6. Omnidirectional drive wheel; 7. Battery pack; 8. Needle roller array; 81. Mounting bracket; 82. Needle roller; 9. Radar; 10. Control box. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0026] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0027] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. It should be noted in the description of this invention that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Example 1 like Figures 1-3 As shown, a heavy-duty AGV robot omnidirectional drive structure includes: The frame 1 is provided with a left arm 2 and a right arm 3 that can move in opposite directions, as well as a left gripping clamp 51 and a right gripping clamp 52 that can move in opposite directions; the left gripping clamp 51 and the left arm 2 are arranged on the same side, and the left gripping clamp 51 is located above the left arm 2; the right gripping clamp 52 and the right arm 3 are arranged on the same side, and the right gripping clamp 52 is located above the right arm 3. The first telescopic drive unit is installed on the frame 1. The output end of the first telescopic drive unit is connected to the left arm 2 and the right arm 3 respectively, and is used to drive the left arm 2 and the right arm 3 to move to adjust the distance between them, so as to adapt to objects of different widths. The second telescopic drive unit is installed on the frame 1. The output end of the second telescopic drive unit is connected to the left holding clamp 51 and the right holding clamp 52 respectively, and is used to drive the left holding clamp 51 and the right holding clamp 52 to move to adjust the distance between them. At least four omnidirectional drive wheels 6 are respectively mounted on the left arm 2 and the right arm 3; Multiple needle roller rows 8 are provided and are respectively arranged on the inner sides of the left arm 2 and the right arm 3; each needle roller row 8 has a top plane 41 for supporting the object and an inclined surface 42 connected to the top plane 41 for guiding the object to fall.

[0030] In one embodiment, the first telescopic drive unit includes: A servo motor is fixedly mounted on the vehicle frame 1; A ball screw mechanism, including a bidirectional screw with a left-hand threaded section and a right-hand threaded section, wherein the servo motor drives the ball screw mechanism to rotate via a synchronous belt or coupling; The left lead screw nut and the right lead screw nut are respectively engaged with the left-hand lead screw section and the right-hand lead screw section; The left lead screw nut is fixedly connected to the left arm 2, and the right lead screw nut is fixedly connected to the right arm 3, so that when the servo motor drives the ball screw mechanism to rotate, the left arm 2 and the right arm 3 can move synchronously in opposite directions.

[0031] In one embodiment, the second telescopic drive unit is a cylinder, and the piston rod end of the cylinder is connected to the left gripping clamp 51 and the right gripping clamp 52 respectively.

[0032] In one embodiment, the needle roller array 8 includes two mounting brackets 81 and a plurality of needle rollers 82 that are rotatably disposed between the two mounting brackets 81; the side profile of the mounting bracket 81 is a right trapezoid, wherein the plane containing the right angle side is the top plane 41 and the plane containing the hypotenuse side is the inclined plane 42.

[0033] In one embodiment, eight sets of needle roller rows 8 are arranged on the upper surfaces of the left arm 2 and the right arm 3, respectively. Each set of needle roller rows 8 contains 16mm diameter needle rollers 82. The needle roller rows 8 are designed with a 45° inclined surface. During transportation, they support the switch cabinet 60mm above the ground. When the switch cabinet is placed, the arm body moves outward by 150mm, and the inclined surface 42 guides the cabinet to fall smoothly onto the base track. The left clamp 51 and the right clamp 52 are driven by cylinders and can automatically adjust the clamping force of 500~1000N according to the width of the cabinet to prevent shaking during transportation.

[0034] Optionally, the left grip 51 and the right grip 52 are equipped with rubber cushioning pads. In one embodiment, the needle roller rows 8 arranged on the left arm 2 and the right arm 3 have their inclined surfaces 42 arranged opposite each other.

[0035] In one embodiment, the omnidirectional drive wheel 6 is an omnidirectional steering wheel, and each omnidirectional steering wheel integrates a drive motor and an independent steering motor.

[0036] In one embodiment, the omnidirectional drive wheel 6 is equipped with an electromagnetic braking device.

[0037] In one embodiment, the left arm 2 and the right arm 3 are welded from 5mm thick high-strength steel plates, and the guide rod of the internal telescopic structure has a diameter of 50mm; the first telescopic drive unit drives the left arm 2 and the right arm 3 to adjust within a range of 940mm to 1700mm with an adjustment accuracy of ±1mm, which is suitable for switch cabinets with a width of 550~1000mm.

[0038] In one embodiment, a dual-closed-loop control system is further included, the dual-closed-loop control system comprising: The position ring is used to monitor the telescopic positions of the left arm 2 and the right arm 3 in real time through the encoder to ensure that the inner distance adjustment error is <±2mm; The force ring is used to detect the clamping force of the left clamping clamp 51 and the right clamping clamp 52 through the pressure sensor, and dynamically adjust the output of the second telescopic drive unit, that is, dynamically adjust the cylinder pressure to avoid excessive clamping that could cause the cabinet to deform.

[0039] The above embodiment provides an omnidirectional drive structure for a heavy-duty AGV robot, the core of which is a frame 1 system with symmetrical and retractable double arms. With the longitudinal centerline of the frame 1 as the axis of symmetry, the left and right parts are arranged in a mirror-symmetrical manner.

[0040] In one embodiment, the frame 1, serving as the foundational load-bearing platform of the entire structure, is primarily constructed by welding together load-bearing crossbeams, a left arm 2 fixing sleeve, and a right arm 3 fixing sleeve, forming a robust frame. The left arm 2 and right arm 3 are key moving components of this invention. The left arm 2 and right arm 3, respectively, form sliding pairs with the left arm 2 and right arm 3 fixing sleeves on the frame 1 via internal guide rods, thereby achieving precise and stable linear movement along the transverse direction of the frame 1, i.e., perpendicular to the AGV's forward direction. Both the left arm 2 and right arm 3 are constructed from 5mm thick high-strength steel plates welded into a box-shaped structure, ensuring structural deformation <0.5mm under a 2000kg load.

[0041] Optionally, the diameter of the guide rod is preferably 50 mm.

[0042] In one embodiment, the first telescopic drive unit is a power source that drives the left arm 2 and the right arm 3 to move synchronously in opposite directions. It is mounted on the load-bearing crossbeam of the frame 1 and is located between the left arm 2 and the right arm 3.

[0043] The servo motor is fixedly mounted in the center of the frame 1 via a motor mount. The bidirectional lead screw, i.e., the ball screw mechanism, is supported by a bearing housing and arranged parallel to the load-bearing crossbeam. The middle of this lead screw is connected to the output shaft of the servo motor via a synchronous belt or coupling, thus being driven to rotate by the servo motor. One end of the lead screw has a left-hand thread, and the other end has a right-hand thread. The left lead screw nut mates with the left-hand threaded section and is rigidly fixed to the bottom or side of the left arm 2 via a connecting block. The right lead screw nut mates with the right-hand threaded section and is similarly rigidly fixed to the bottom or side of the right arm 3 via a connecting block.

[0044] When the servo motor receives a control signal, it drives the bidirectional lead screw to rotate. Because the left and right lead screw nuts engage with threads of opposite directions and are constrained by an anti-rotation structure, they will produce synchronous, opposite-direction linear motions as the lead screws rotate. The left lead screw nut drives the left arm 2, and the right lead screw nut drives the right arm 3, thus achieving precise adjustment of the distance between the two arms. The adjustment range is mechanically and programmatically limited to between 940mm and 1700mm to accommodate switchgear with widths of 550mm to 1000mm, while also allowing for operational redundancy.

[0045] In one embodiment, a second telescopic drive unit, mounted on the frame 1 and positioned above the first telescopic drive unit, is used to achieve the final clamping and releasing of the object. As an example, the second telescopic drive unit can be a cylinder, with its cylinder body fixedly mounted on the frame 1. The two piston rod ends of the cylinder are respectively connected to the ends of the left gripper 51 and the right gripper 52 via hinged seats or connecting plates.

[0046] When the switchgear needs to be removed, the piston rod of the cylinder retracts, driving the left clamping clamp 51 and the right clamping clamp 52 to move in opposite directions, pressing their rubber buffer pads against the pre-set clamping surfaces on the side of the switchgear. The clamping force can be dynamically adjusted within the range of 500~1000N via force ring control. After transportation is complete, the piston rod extends, the clamping clamps open, and the switchgear is released.

[0047] In one embodiment, to achieve high mobility of the AGV in confined spaces, the drive wheels adopt a distributed omnidirectional layout. The four omnidirectional drive wheels 6 are respectively installed under the left arm 2 and the right arm 3.

[0048] As an example, the omnidirectional drive wheel 6 is preferably an omnidirectional steering wheel. Each omnidirectional steering wheel integrates a 750W drive motor to provide forward power and an independent steering motor to control the direction of the wheel. The two motors work together to support the wheel to rotate in any direction (360°), thereby enabling the AGV to move straight, diagonally, laterally, and rotate in place with zero turning radius.

[0049] Preferably, each omnidirectional steering wheel is equipped with an electromagnetic brake. When the AGV is stationary or receives a positioning command, the electromagnetic brake automatically locks to prevent the AGV from slipping under load and ensure safety.

[0050] In one embodiment, multiple needle roller arrays 8 are respectively bolted to the inner surfaces of the left arm 2 and the right arm 3, i.e., the side facing the switchgear. Each needle roller array 8 includes two mounting brackets 81 with right-angled trapezoidal sides, and multiple 16mm diameter needle rollers 82 that are rolled between the two mounting brackets 81. After installation, the plane containing the right-angled side of the trapezoid forms the top plane 41, which supports the bottom edge of the switchgear during transportation, keeping it 60mm off the ground. The plane containing the hypotenuse of the trapezoid forms the inclined plane 42. Furthermore, the inclined plane 42 of the needle roller array 8 on the left arm 2 and the inclined plane 42 of the needle roller array 8 on the right arm 3 face each other, together forming a "V"-shaped guide channel.

[0051] Supporting phase: After the switch cabinet is lifted by the clamp, its bottom edge rests precisely on the top plane 41 of the needle roller array 8 on the left arm 2 and the right arm 3. The presence of the needle rollers 82 transforms sliding friction into rolling friction, facilitating minor positional adjustments between the cabinet and the AGV when adjusting the arm spacing.

[0052] Positioning Phase: Once the AGV reaches the installation foundation, such as above the track, the first telescopic drive unit activates, driving the left arm 2 and right arm 3 to move outward approximately 150mm. As the arms separate, the span between the bottom support points of the switch cabinet increases. Under the influence of gravity, the cabinet slides downward along the inclined plane 42 of the left and right needle roller rows 8 and towards the center. This 45° inclined plane 42 effectively guides and limits the cabinet's descent, ensuring it lands precisely and smoothly on the pre-set foundation track, achieving a high-precision docking within ±3mm.

[0053] Through the coordinated operation of the above components, this invention successfully integrates multiple functions such as multi-specification adaptive operation, heavy-load stable transportation, and high-precision positioning, perfectly solving the pain points in the prior art.

[0054] In some embodiments, a control box 10 and a battery pack 9 are also provided on the frame 1. The control box 10 integrates a control unit for controlling the omnidirectional drive structure of the heavy-duty AGV robot, and the battery pack 9 is used to power the omnidirectional drive structure of the heavy-duty AGV robot.

[0055] In some alternative embodiments, radar 9 is provided on the ends of the left arm 2 and right arm 3 away from the frame 1 for real-time obstacle detection.

[0056] In summary, the structure of this application has the following advantages: Multi-specification adaptive: The arm distance adjustment range of 940~1700mm can cover all mainstream switch cabinets with a width of 550~1000mm, and the transportation and installation of cabinets of different specifications can be completed without changing the equipment; Strong stability under heavy load: Adopting high-strength steel and distributed load-bearing design, the structural deformation is <0.5mm under a 2000kg load. With the buffer clamping of the gripper, the tilt angle of the cabinet is <1° during transportation, solving the problem of slippage or tipping of traditional AGVs under heavy load. High maneuverability in narrow spaces: The omnidirectional steering wheel achieves zero turning radius, allowing for flexible turning within a 1.2m wide passage, increasing the throughput to 100% and avoiding the collision risk caused by the large turning radius of traditional AGVs; High-precision positioning: 8-axis needle roller guide with 42-axis inclined surface + dual closed-loop control, the docking error between the cabinet and the foundation track is <±3mm, meeting the installation accuracy requirements of substations and reducing secondary adjustment time; Modular structure: Each component is designed independently, which facilitates maintenance and upgrades. The replacement time for a single part is less than 30 minutes, improving equipment availability.

[0057] Example 2 A method for object handling and placement using a heavy-duty AGV robot with an omnidirectional drive structure includes the following steps: Receive the size information of the object to be transported, control the first telescopic drive unit to move, drive the left arm 2 and the right arm 3 to move, and adjust the distance between them to a target position that is adapted to the width of the object; Control the second telescopic drive unit to move the left gripping clamp 51 and the right gripping clamp 52 toward each other to clamp the object, and use the top plane 41 of the needle roller row 8 to support the object; Start the omnidirectional drive wheel 6 to move the AGV carrying the object to the target position; Upon reaching the target position, the second telescopic drive unit is controlled to move, driving the left gripping clamp 51 and the right gripping clamp 52 to move in opposite directions to release the object; then the first telescopic drive unit is controlled to move, driving the left arm 2 and the right arm 3 to move in opposite directions to widen the gap. During this process, the object slides down the inclined surface 42 of the needle roller row 8 under its own gravity until it is stably placed on the preset foundation.

[0058] Taking the installation of a switchgear with dimensions of 800×1500×2200mm as an example, the workflow is as follows: After receiving the switch cabinet size information, the AGV robot starts the telescopic drive unit, adjusting the inner distance between the left arm 2 and the right arm 3 from the initial 940mm to 1000mm, including a 20mm redundancy, and the position loop feedback signal indicates that the adjustment is complete. When the AGV travels to the switchgear storage area, the left gripper 51 and the right gripper 52 extend. After the pressure sensor detects the cabinet, the force ring controls the clamping force to 800N. The needle roller row 8 supports the cabinet 60mm off the ground. The initial position of the switchgear can be on a forklift. The left gripper 51 and the right gripper 52 clamp the switchgear from the forklift. The needle roller row 8 has two functions: one is to support the cabinet, and the other is that during the lowering stage, the left arm 2 and the right arm 3 move away from each other, and the switchgear falls smoothly on the needle roller row 8. The omnidirectional steering wheel drives the AGV to travel along the planned path. When encountering a corner in a 1.5m wide passage, the four steering wheels turn 90° simultaneously to achieve a zero-radius turn. The electromagnetic brake automatically locks when temporarily stopping. When the AGV reaches the installation position, the left arm 2 and the right arm 3 move outward by 150mm. The inclined surface 42 of the needle roller row 8 guides the cabinet to slide down to the base track at a 45° angle. The gripping clamp is gradually released. The double closed-loop control ensures that the positioning error is <±3mm. The arm retracts to its initial position, ready for the next operation.

[0059] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A heavy-duty AGV robot omnidirectional drive structure, characterized in that, include: The frame (1) is provided with a left arm (2) and a right arm (3) that can move in opposite directions, as well as a left gripping clamp (51) and a right gripping clamp (52) that can move in opposite directions; the left gripping clamp (51) and the left arm (2) are located on the same side, and the left gripping clamp (51) is located above the left arm (2); the right gripping clamp (52) and the right arm (3) are located on the same side, and the right gripping clamp (52) is located above the right arm (3); The first telescopic drive unit is installed on the frame (1). The output end of the first telescopic drive unit is connected to the left arm (2) and the right arm (3) respectively, and is used to drive the left arm (2) and the right arm (3) to move to adjust the distance between them, so as to adapt to objects of different widths. The second telescopic drive unit is installed on the frame (1). The output end of the second telescopic drive unit is connected to the left holding clamp (51) and the right holding clamp (52) respectively, and is used to drive the left holding clamp (51) and the right holding clamp (52) to move to adjust the distance between them. There are at least four omnidirectional drive wheels (6), which are mounted on the left arm (2) and the right arm (3) respectively; Multiple needle roller rows (8) are provided and are arranged on the inner sides of the left arm (2) and the right arm (3); each needle roller row (8) has a top plane (41) for supporting the object and an inclined surface (42) connected to the top plane (41) for guiding the object to fall.

2. The omnidirectional drive structure for heavy-duty AGV robots according to claim 1, characterized in that, The first telescopic drive unit includes: The servo motor is fixedly mounted on the frame (1); The ball screw mechanism includes a bidirectional screw with a left-hand threaded section and a right-hand threaded section, and a servo motor drives the ball screw mechanism to rotate via a synchronous belt or coupling. The left lead screw nut and the right lead screw nut are respectively matched with the left-hand lead screw section and the right-hand lead screw section; The left lead screw nut is fixedly connected to the left arm (2), and the right lead screw nut is fixedly connected to the right arm (3), so that when the servo motor drives the ball screw mechanism to rotate, the left arm (2) and the right arm (3) can move synchronously towards or in opposite directions.

3. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, The second telescopic drive unit is a cylinder, and the piston rod end of the cylinder is connected to the left gripper (51) and the right gripper (52) respectively.

4. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, The needle roller array (8) includes two mounting brackets (81) and multiple needle rollers (82) that are tumbled between the two mounting brackets (81); the side profile of the mounting bracket (81) is a right trapezoid, wherein the plane containing the right angle side is the top plane (41) and the plane containing the hypotenuse side is the inclined plane (42).

5. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, The needle rollers (8) arranged on the left arm (2) and right arm (3) have their inclined surfaces (42) arranged opposite each other.

6. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, The omnidirectional drive wheel (6) is an omnidirectional steering wheel, and each omnidirectional steering wheel integrates a drive motor and an independent steering motor.

7. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, The omnidirectional drive wheel (6) is equipped with an electromagnetic brake.

8. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, The left arm (2) and right arm (3) are welded from high-strength steel plates, and the guide rod of the internal telescopic structure has a diameter of 50mm; the adjustment range of the left arm (2) and right arm (3) driven by the first telescopic drive unit is 940mm to 1700mm.

9. The omnidirectional drive structure for a heavy-duty AGV robot according to claim 1, characterized in that, It also includes a dual-loop control system, which includes: A position loop is used to monitor the telescopic positions of the left arm (2) and the right arm (3) in real time via an encoder; The force ring is used to detect the clamping force of the left gripper (51) and the right gripper (52) through a pressure sensor and to dynamically adjust the output of the second telescopic drive unit.

10. A method for handling and positioning objects based on the omnidirectional drive structure of a heavy-duty AGV robot as described in claim 1, characterized in that, Includes the following steps: Receive the size information of the object to be moved, control the first telescopic drive unit to move, drive the left arm (2) and right arm (3) to move, and adjust the distance between them to the target position that is compatible with the width of the object; Control the second telescopic drive unit to drive the left gripping clamp (51) and the right gripping clamp (52) to move towards each other to clamp the object, and use the top plane (41) of the needle roller row (8) to support the object; Start the omnidirectional drive wheel (6) to move the AGV carrying the object to the target position; After reaching the target position, control the second telescopic drive unit to drive the left gripping clamp (51) and the right gripping clamp (52) to move in opposite directions to release the object; then control the first telescopic drive unit to drive the left arm (2) and the right arm (3) to move in opposite directions to widen the gap. During this process, the object slides down along the inclined surface (42) of the needle roller row (8) under its own gravity until it is smoothly placed on the preset foundation.

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