Heavy-load AGV mobile robot

Abstract

The utility model discloses a heavy-load AGV mobile robot. The problem that an AGV mobile robot cannot complete a complex transportation track is effectively solved. Comprising a rack, a table top is arranged above the rack, a balance beam is arranged at the front end of the bottom of the rack, a first steering wheel and a first universal wheel are arranged at the two ends of the balance beam respectively, a second steering wheel and a second universal wheel are arranged on the two sides of the rear end of the bottom of the rack respectively, and the first steering wheel and the second steering wheel are located at the opposite angles of the bottom of the rack; the first steering wheel comprises a slewing bearing seat fixedly connected with the rack, the slewing bearing seat comprises an inner ring and an outer ring which rotate relative to each other, the outer ring is fixedly connected with the rack, a wheel frame is arranged at the bottom of the inner ring, a driving wheel is arranged on the wheel frame, a steering motor is further arranged on the wheel frame, and the steering motor controls the driving wheel to steer; the robot is simple and ingenious in structure and convenient to use, the two sets of steering wheel structures interact, various complex actions such as in-situ rotation, longitudinal and transverse movement and *-shaped walking can be achieved, and flexible operation in various scenes is met.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV robots, in particular to a heavy-load AGV mobile robot. Background Art

[0002] AGV mobile robots are mainly used in material handling in factory production. AGV mobile robots can complete material handling tasks efficiently, accurately and flexibly in factory production.

[0003] However, the existing AGV mobile robots can only move forward and turn, and cannot achieve more complex moving trajectories, so their scope of use is limited. Utility Model Content

[0004] In order to overcome the defects of the prior art, the utility model provides a heavy-load AGV mobile robot, which effectively solves the problem that the AGV mobile robot cannot complete complex transportation tracks.

[0005] The technical solution to the technical problem is: a heavy-load AGV mobile robot, comprising a frame, a table is arranged above the frame, a balance beam is arranged at the front end of the bottom of the frame, a first steering wheel and a first universal wheel are arranged at both ends of the balance beam, a second steering wheel and a second universal wheel are arranged at both sides of the rear end of the bottom of the frame, and the first steering wheel and the second steering wheel are located at opposite corners of the bottom of the frame;

[0006] The first steering wheel includes a slewing support seat fixedly connected to the frame, the slewing support seat includes an inner ring and an outer ring that rotate with each other, the outer ring is fixedly connected to the frame, a wheel frame is arranged at the bottom of the inner ring, a driving wheel is arranged on the wheel frame, a steering motor is also arranged on the wheel frame, a steering gear is arranged on the output shaft of the steering motor, a gear ring is arranged on the outer side of the outer ring, and the steering gear and the gear ring are meshed to form a structure in which the steering motor controls the steering of the driving wheel.

[0007] Preferably, a laser navigation radar is arranged on the outer diagonal side of the frame.

[0008] Preferably, a plurality of hydraulic cylinders are fixed in the frame, and the tops of the hydraulic cylinders are connected to the table top.

[0009] Preferably, anti-collision induction magnetic strips are arranged around the frame.

[0010] Preferably, an electric control box is arranged in the rack, and a power supply and a controller are arranged in the electric control box.

[0011] Preferably, a driving motor is provided on the side of the wheel frame.

[0012] The utility model has a simple and ingenious structure and is easy to use. The two sets of steering wheel structures interact with each other to realize various complex actions such as rotation on the spot, longitudinal and transverse movement, and cross-shaped walking, thereby meeting flexible operations in various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a heavy-load AGV mobile robot of the utility model.

[0014] Figure 2 It is a schematic diagram of the bottom structure of a heavy-load AGV mobile robot of the utility model.

[0015] Figure 3 It is a main structural schematic diagram of a heavy-load AGV mobile robot of the utility model.

[0016] Figure 4 This is a heavy-load AGV mobile robot Figure 3 Schematic cross-sectional view of AA.

[0017] Figure 5 The utility model is a structural schematic diagram of a heavy-load AGV mobile robot with the table removed.

[0018] Figure 6 The utility model is a structural schematic diagram of a steering wheel in a heavy-load AGV mobile robot.

[0019] Figure 7 This is a heavy-load AGV mobile robot Figure 2 Enlarged schematic diagram at point A in the middle. DETAILED DESCRIPTION

[0020] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings.

[0021] Depend on Figures 1 to 7 It can be seen that a heavy-load AGV mobile robot includes a frame 1, a table 2 is arranged above the frame 1, a balance beam 3 is arranged at the front end of the bottom of the frame 1, a first steering wheel 4 and a first universal wheel 5 are arranged at both ends of the balance beam 3, and a second steering wheel 6 and a second universal wheel 7 are arranged at both sides of the rear end of the bottom of the frame 1, and the first steering wheel 4 and the second steering wheel 6 are located at the diagonal corners of the bottom of the frame 1;

[0022] The first steering wheel 4 includes a slewing support seat fixedly connected to the frame 1, the slewing support seat includes an inner ring 8 and an outer ring 9 that rotate with each other, the outer ring 9 is fixedly connected to the frame 1, a wheel frame 10 is arranged at the bottom of the inner ring 8, a driving wheel 11 is arranged on the wheel frame 10, a steering motor 12 is also arranged on the wheel frame 10, a steering gear 13 is arranged on the output shaft of the steering motor 12, a gear ring is arranged on the outer side of the outer ring 9, and the steering gear 13 is meshed with the gear ring to form a structure in which the steering motor 12 controls the steering of the driving wheel 11.

[0023] When the utility model is used in a specific way,

[0024] Two sets of power are arranged at the front and rear of the bottom of the frame 1, respectively including a steering wheel and a universal wheel. The first steering wheel 4 and the second steering wheel 6 have the same structure, and the first universal wheel 5 and the second universal wheel 7 have the same structure. The first steering wheel 4 and the second steering wheel 6 play the role of driving and steering, and control the movement of the frame 1 to complete various travel trajectories such as forward movement, steering and rotation on the spot. The first universal wheel 5 and the second universal wheel 7 serve as auxiliary wheels, play a supporting role, and assist in steering to ensure that the equipment completes the steering smoothly.

[0025] The specific steps of the device when turning are as follows: according to the planning of the travel route, first the steering motor 12 controls the steering gear 13 to rotate, so that the wheel frame 10 rotates a certain angle relative to the outer ring 9, and then the driving wheel 11 drives the frame 1 to move along the deflection direction of the driving wheel 11, and the first steering wheel 4 and the second steering wheel 6 act at the same time. When the first steering wheel 4 and the second steering wheel 6 face the same direction and rotate in the same direction, the frame 1 can be driven to move forward or backward in the direction of the direction. When the first steering wheel 4 and the second steering wheel 6 deflect in the length direction of the frame 1 and turn in opposite directions, the frame 1 can be driven to rotate in place to achieve complex operations such as U-turns. When the first steering wheel 4 and the second steering wheel 6 face different directions and rotate in the same direction, more complex travel trajectories such as serpentine advancement can be achieved.

[0026] The first universal wheel 5 and the second universal wheel 7 both adopt a double-wheel coaxial structure to provide a higher load-bearing capacity.

[0027] In this device, a laser navigation radar 14 is set on the outer side of the diagonal of the frame 1, with built-in SLAM self-built map technology, which can travel according to the set route. The laser navigation radar 14 can scan and detect 270 degrees, automatically stop when encountering pedestrians or obstacles, and automatically drive when the obstacles disappear.

[0028] A plurality of hydraulic cylinders 15 are fixed in the frame 1, and the tops of the hydraulic cylinders 15 are connected to the table 2, with a lifting height of about 15 cm, which is convenient for transporting and lifting objects.

[0029] Anti-collision induction magnetic strips 16 are arranged around the rack 1. The machine stops immediately when a collision occurs, thus avoiding a deeper collision and protecting the equipment.

[0030] The vehicle is 3 meters long, 2 meters wide, 0.6 meters high, can carry 5 tons, and has a chassis ground clearance of 10 centimeters. An electric control box 17 is arranged in the frame 1. The electric control box 17 is equipped with a power supply and a controller. The power supply adopts a lithium battery with a long battery life and a short charging time.

[0031] A driving motor 18 is disposed on the side of the wheel frame 10 , and the driving motor 18 directly drives the driving wheel 11 to provide strong power.

[0032] Compared with the prior art, the utility model has the following beneficial effects: through the front and rear power groups, complex travel trajectories such as forward, backward, turning, rotating on the spot, and serpentine are realized, thereby improving the use range of the equipment.

Claims

1. A heavy-load AGV mobile robot, characterized in that: The machine comprises a frame (1), a table (2) is arranged above the frame (1), a balance beam (3) is arranged at the front end of the bottom of the frame (1), a first steering wheel (4) and a first universal wheel (5) are arranged at both ends of the balance beam (3), a second steering wheel (6) and a second universal wheel (7) are arranged at both sides of the rear end of the bottom of the frame (1), and the first steering wheel (4) and the second steering wheel (6) are located at opposite corners of the bottom of the frame (1); The first steering wheel (4) comprises a slewing bearing seat fixedly connected to the frame (1), the slewing bearing seat comprising an inner ring (8) and an outer ring (9) which rotate relative to each other, the outer ring (9) being fixedly connected to the frame (1), a wheel frame (10) being arranged at the bottom of the inner ring (8), a driving wheel (11) being arranged on the wheel frame (10), a steering motor (12) being arranged on the wheel frame (10), a steering gear (13) being arranged on the output shaft of the steering motor (12), a gear ring being arranged on the outer side of the outer ring (9), the steering gear (13) being meshed with the gear ring to form a structure in which the steering motor (12) controls the steering of the driving wheel (11).

2. A heavy-load AGV mobile robot according to claim 1, characterized in that: A laser navigation radar (14) is arranged on the outer side of the diagonal of the frame (1).

3. A heavy-load AGV mobile robot according to claim 1, characterized in that: A plurality of hydraulic cylinders (15) are fixed inside the frame (1), and the tops of the hydraulic cylinders (15) are connected to the table top (2).

4. A heavy-load AGV mobile robot according to claim 1, characterized in that: Anti-collision induction magnetic strips (16) are arranged around the frame (1).

5. The heavy-load AGV mobile robot according to claim 1, characterized in that: An electric control box (17) is arranged in the frame (1), and a power supply and a controller are arranged in the electric control box (17).

6. The heavy-load AGV mobile robot according to claim 1, characterized in that: A driving motor (18) is arranged on the side of the wheel frame (10).

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