Multi-angle steering AGV robot

Abstract

The utility model discloses a multi-angle steering AGV robot, and belongs to the technical field of AGV robots. The multi-angle steering AGV robot comprises an AGV trolley, an ejection mechanism is arranged at the top of the AGV trolley, a moving assembly is arranged at the bottom of the AGV trolley, and a steering mechanism is arranged at the bottom of the AGV trolley; the steering mechanism comprises a connecting frame fixed to the inner bottom wall of the AGV, a hydraulic cylinder is fixedly connected to the middle of the connecting frame, and a hydraulic rod is slidably connected to the interior of the hydraulic cylinder. Through the cooperation of the connecting frame, the hydraulic rod, the supporting disc and the rotating mechanism, the AGV trolley can be steered at multiple angles, through the arrangement of the mode, the steering direction can be adjusted in situ, the problem that an AGV robot is likely to collide when the steering diameter of the AGV robot is too large in a narrow warehouse is solved, and the AGV trolley can be steered at multiple angles. And the application range of the AGV robot in various complex terrains is further greatly expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV robots, in particular to a multi-angle steering AGV robot. Background Art

[0002] At present, AGV robots are mainly used in material handling in factory production. AGV robots can complete material handling tasks efficiently, accurately and flexibly in factory production. As a basic handling tool, AGV robots have a wide range of applications, such as production and processing, home appliance production, electronic manufacturing, intelligent warehousing, express logistics and other industries. Among them, production and processing and express logistics are currently the most widely used areas for AGV.

[0003] For example, in the prior art, the Chinese patent authorization number is CN209814150U, the application date is 2019-02-14, and the name is an AGV robot, including a trolley, the trolley includes a frame body, a plurality of independent suspension devices are installed in the frame body, each independent suspension device is equipped with a Mecanum wheel on one side, each Mecanum wheel is equipped with a travel motor to control its rotation on one side, and a sensing component is provided on the front side of the frame body; the upper side of the frame body supports and fixes the working flat plate, and the upper side of the working flat plate is fixedly connected to the transfer device. Advantages of the utility model: The wheels of the AGV robot provided by the utility model adopt Mecanum wheels, which can realize the all-round walking of the intelligent mobile trolley, and the induction radar on the front side of the intelligent mobile trolley can sense the obstacles in front during the walking process, and the induction radar transmits the induction signal to the controller, and the controller can control the travel motor to prevent collision during the walking process.

[0004] However, the above patent still has the disadvantage that the steering angle range of the current AGV robot is limited, which makes it inconvenient to perform multi-angle steering. Therefore, the steering direction cannot be adjusted on the spot, which easily causes the AGV robot to collide in narrow warehouses due to the large turning diameter, further greatly reducing the application scope of the AGV robot in various complex terrains.

[0005] Therefore, in response to this problem, the utility model provides a multi-angle steering AGV robot. Utility Model Content

[0006] The utility model aims to solve the problems in the prior art and proposes a multi-angle steering AGV robot.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A multi-angle steering AGV robot comprises an AGV trolley, a top of the AGV trolley is provided with an ejection mechanism, a bottom of the AGV trolley is provided with a moving component, and a bottom of the AGV trolley is provided with a steering mechanism; wherein the steering mechanism comprises a connecting frame fixed to the inner bottom wall of the AGV trolley, a hydraulic cylinder is fixedly connected to the middle of the connecting frame, a hydraulic rod is slidably connected to the inside of the hydraulic cylinder, an end of the hydraulic rod passes through the inner bottom wall of the AGV trolley and extends through a bearing to be rotatably connected to a support plate, a rotating mechanism is fixedly connected above the support plate, and the rotating mechanism is used to rotate the hydraulic cylinder.

[0009] Preferably, an auxiliary mechanism is fixedly connected to the inner bottom wall of the AGV trolley, and a universal wheel is fixedly connected to the end of the auxiliary mechanism.

[0010] Preferably, the auxiliary mechanism comprises a telescopic cylinder fixed on the inner bottom wall of the AGV trolley, a telescopic rod is slidably connected inside the telescopic cylinder, and an end of the telescopic rod passes through the AGV trolley and extends and is fixed on the universal wheel.

[0011] Preferably, a return spring is sleeved on the surface of the telescopic rod, and the return spring is fixed inside the telescopic cylinder.

[0012] Preferably, the rotating mechanism comprises a worm fixed just above the support plate, the top of the support plate is connected to the end of the worm through a driving part, the surface of the worm is meshedly connected with a worm wheel, and the worm wheel is fixed to the surface of the hydraulic rod.

[0013] Preferably, a guide rod is fixedly connected to the top of the worm wheel, and the end of the guide rod passes through the interior of the AGV trolley.

[0014] Preferably, the ejection mechanism comprises an electric slide rail fixed inside the AGV trolley, an ejection plate is arranged on the top of the AGV trolley, and the electric slide rail is used to adjust the ejection plate up and down.

[0015] Compared with the prior art, the utility model provides a multi-angle steering AGV robot, which has the following beneficial effects:

[0016] The multi-angle steering AGV robot can perform multi-angle steering through the cooperation of the connecting frame, hydraulic rod, support plate and rotating mechanism. Through this setting, the steering direction can be adjusted on the spot, avoiding the problem of collision caused by the large steering diameter of the AGV robot in a narrow warehouse, and further greatly improving the application range of the AGV robot in various complex terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a structural schematic diagram of a multi-angle steering AGV robot proposed by the utility model;

[0018] Figure 2 This is a schematic diagram of the steering mechanism structure of a multi-angle steering AGV robot proposed by the utility model;

[0019] Figure 3 This is a schematic diagram of the cutaway structure of a multi-angle steering AGV robot proposed by the utility model;

[0020] Figure 4 This is a schematic diagram of the auxiliary mechanism structure of a multi-angle steering AGV robot proposed by the utility model;

[0021] Figure 5 The schematic diagram of the top view of the structure of a multi-angle steering AGV robot proposed by the utility model.

[0022] In the figure: 1. AGV trolley; 2. Ejection mechanism; 21. Electric slide rail; 22. Ejection plate; 3. Moving assembly; 4. Steering mechanism; 41. Connecting frame; 42. Hydraulic cylinder; 43. Hydraulic rod; 44. Support plate; 45. Rotating mechanism; 46. Guide rod; 451. Worm; 452. Worm wheel; 5. Auxiliary mechanism; 51. Telescopic cylinder; 52. Telescopic rod; 53. Return spring; 6. Universal wheel. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0024] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0025] Reference Figure 1-Figure 5A multi-angle steering AGV robot includes an AGV trolley 1, an ejection mechanism 2 is arranged on the top of the AGV trolley 1, a moving component 3 is arranged on the bottom of the AGV trolley 1, and a steering mechanism 4 is arranged on the bottom of the AGV trolley 1; wherein the steering mechanism 4 includes a connecting frame 41 fixed to the inner bottom wall of the AGV trolley 1, a hydraulic cylinder 42 is fixedly connected to the middle of the connecting frame 41, a hydraulic rod 43 is slidably connected to the inside of the hydraulic cylinder 42, an end of the hydraulic rod 43 passes through the inner bottom wall of the AGV trolley 1 and extends through a bearing to be rotatably connected to a support plate 44, a rotating mechanism 45 is fixedly connected above the support plate 44, and the rotating mechanism 45 is used to rotate the hydraulic cylinder 42.

[0026] In the utility model, when in use, firstly, the top ejection mechanism 2 of the AGV trolley 1 is driven to enable it to jack up the goods, and then, under the setting of the moving component 3, the AGV trolley 1 can drive the goods to move synchronously. When the goods need to change their position, the steering mechanism 4 inside the AGV trolley 1 is driven, and under the drive of the hydraulic cylinder 42 fixed by the connecting frame 41, the hydraulic rod 43 inside the hydraulic cylinder 42 can be displaced downward, and the support plate 44 is fitted to the ground through the displacement of the hydraulic rod 43. As the hydraulic cylinder 42 continues to work, the AGV trolley 1 can be lifted up as a whole. At this time, the rotating mechanism 45 is driven to rotate the hydraulic rod 43. Since the support plate 44 and the hydraulic rod 43 are connected by bearings, the hydraulic rod 43 will only drive the AGV trolley 1 to perform multi-angle steering. This can avoid the inconvenience of the steering diameter of the moving component 3 being too large, and further improve the flexibility of the robot when working.

[0027] In addition, a suction cup is provided at the bottom of the support plate 44 to increase the stability of the bottom of the support plate 44, and the ejection mechanism 2 is driven by a motor to control the rotation of the drive wheel.

[0028] Reference Figure 2 The inner bottom wall of the AGV trolley 1 is fixedly connected with an auxiliary mechanism 5, and the end of the auxiliary mechanism 5 is fixedly connected with a universal wheel 6.

[0029] In the utility model, the auxiliary mechanism 5 can be adjusted synchronously according to the up and down adjustment of the steering mechanism 4, so that the universal wheel 6 can be fitted to the ground, and when the AGV trolley 1 rotates, it can play an auxiliary supporting role, so as to further improve the steering stability of the AGV trolley 1.

[0030] Reference Figure 3 The auxiliary mechanism 5 includes a telescopic cylinder 51 fixed on the inner bottom wall of the AGV trolley 1, and a telescopic rod 52 is slidably connected inside the telescopic cylinder 51. The end of the telescopic rod 52 passes through the AGV trolley 1 and extends and is fixed on the universal wheel 6.

[0031] In the present invention, the telescopic cylinder 51 is used to guide and limit the telescopic rod 52, so that the universal wheel 6 can be driven to move under its own gravity, so that the universal wheel 6 can be rotated in contact with the ground.

[0032] Reference Figure 4 A return spring 53 is sleeved on the surface of the telescopic rod 52 , and the return spring 53 is fixed inside the telescopic tube 51 .

[0033] In the present invention, the resetting spring 53 can be used to stretch the telescopic rod 52 downwards under the action of the spring force, so that the universal wheel 6 fixed at the end of the auxiliary mechanism 5 can be closely attached to the ground for rotation.

[0034] Reference Figure 2 and Figure 3 The rotating mechanism 45 includes a worm 451 fixed directly above the support plate 44. The top of the support plate 44 is connected to the end of the worm 451 through a driving part. The surface of the worm 451 is meshingly connected with a worm wheel 452, and the worm wheel 452 is fixed to the surface of the hydraulic rod 43.

[0035] In the present invention, the worm 451 rotates to rotate the worm wheel 452 meshed on the surface. Since the worm wheel 452 is fixed on the surface of the hydraulic rod 43, the AGV trolley 1 is driven to rotate in situ when the hydraulic rod 43 rotates.

[0036] In addition, the driving unit is a servo motor.

[0037] Reference Figure 2 A guide rod 46 is fixedly connected to the top of the worm gear 452 , and the end of the guide rod 46 penetrates into the interior of the AGV trolley 1 .

[0038] In the present invention, the guide rod 46 is provided to limit the position between the worm wheel 452 and the AGV trolley 1, thereby ensuring that the AGV trolley 1 can rotate.

[0039] Reference Figure 5 The ejection mechanism 2 includes an electric slide rail 21 fixed inside the AGV trolley 1. An ejection plate 22 is arranged on the top of the AGV trolley 1. The electric slide rail 21 is used to adjust the ejection plate 22 up and down.

[0040] In the utility model, under the drive of the electric slide rail 21, the ejection plate 22 can be controlled to adjust up and down, so that the goods can be lifted and transported.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-angle steering AGV robot, comprising an AGV vehicle (1), characterized in that: The top of the AGV trolley (1) is provided with an ejection mechanism (2), the bottom of the AGV trolley (1) is provided with a moving component (3), and the bottom of the AGV trolley (1) is provided with a steering mechanism (4); The steering mechanism (4) comprises a connecting frame (41) fixed to the inner bottom wall of the AGV trolley (1), a hydraulic cylinder (42) is fixedly connected to the middle of the connecting frame (41), a hydraulic rod (43) is slidably connected to the inside of the hydraulic cylinder (42), an end of the hydraulic rod (43) passes through the inner bottom wall of the AGV trolley (1) and extends through a bearing to be rotatably connected to a support plate (44), a rotating mechanism (45) is fixedly connected above the support plate (44), and the rotating mechanism (45) is used to rotate the hydraulic cylinder (42).

2. The multi-angle steering AGV robot according to claim 1, characterized in that: The inner bottom wall of the AGV trolley (1) is fixedly connected to an auxiliary mechanism (5), and the end of the auxiliary mechanism (5) is fixedly connected to a universal wheel (6).

3. The multi-angle steering AGV robot according to claim 2, characterized in that: The auxiliary mechanism (5) comprises a telescopic cylinder (51) fixed on the inner bottom wall of the AGV trolley (1), the interior of the telescopic cylinder (51) is slidably connected with a telescopic rod (52), and the end of the telescopic rod (52) passes through the AGV trolley (1) and extends and is fixed on the universal wheel (6).

4. The multi-angle steering AGV robot according to claim 3, characterized in that: A return spring (53) is sleeved on the surface of the telescopic rod (52), and the return spring (53) is fixed inside the telescopic cylinder (51).

5. The multi-angle steering AGV robot according to claim 1, characterized in that: The rotating mechanism (45) comprises a worm (451) fixed directly above the support plate (44); the top of the support plate (44) is connected to the end of the worm (451) via a driving portion; the surface of the worm (451) is meshingly connected with a worm wheel (452); and the worm wheel (452) is fixed to the surface of the hydraulic rod (43).

6. The multi-angle steering AGV robot according to claim 5, characterized in that: The top of the worm wheel (452) is fixedly connected to a guide rod (46), and the end of the guide rod (46) penetrates into the interior of the AGV trolley (1).

7. The multi-angle steering AGV robot according to claim 1, characterized in that: The ejection mechanism (2) comprises an electric slide rail (21) fixed inside the AGV trolley (1); an ejection plate (22) is arranged on the top of the AGV trolley (1); and the electric slide rail (21) is used to adjust the ejection plate (22) up and down.

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