Double-machine cooperative AGV (Automatic Guided Vehicle) robot

Abstract

The utility model relates to the technical field of AGV robots, in particular to a double-machine cooperative AGV robot which comprises two symmetrically-arranged AGV robot bodies, one AGV robot body is connected with a first hinge seat, the other AGV robot body is connected with a second hinge seat, and the second hinge seat is connected with a third hinge seat. A connecting rod mechanism with the adjustable length is connected between the first hinge base and the second hinge base in a hinged mode. The AGV robot further comprises a telescopic bearing frame body, one end of the telescopic bearing frame body is connected with a hinged connecting base assembly, the other end of the telescopic bearing frame body is connected with a rotary connecting base assembly, and the hinged connecting base assembly is located on the left inclined upper portion of the first hinged base and connected with the top of the AGV robot body. The rotary connecting base assembly is located on the right inclined upper portion of the second hinge base and connected with the top of the AGV robot body. The AGV robot is reasonable in structure, the length of the telescopic bearing frame body can be increased, the bearing area of the AGV robot is enlarged, and the working efficiency of the AGV robot for transporting materials with large size and light weight is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV robots, in particular to an AGV robot with dual-machine cooperation. Background Art

[0002] An AGV robot, that is, an automatic guided vehicle, is a robot that can be automatically guided and moved. They track ground markers through vision, magnetic navigation, laser, etc. to achieve functions such as automatic navigation, movement, multi-sensor control, and network interaction. AGV robots achieve various tasks by receiving and interpreting built-in computer code instructions, including transporting materials, assembling parts, warehouse management, etc. They use different navigation methods, such as magnetic strip guidance, laser guidance, RFID guidance, etc., to automatically transport materials to designated locations. During the process of using an AGV robot to transport materials, when loading materials with a large volume and a light weight, in order to improve the transportation efficiency, more materials are often placed on the AGV robot for transportation, and the AGV robot transports the materials to the designated area.

[0003] Regarding the above related technologies, the inventor found that the material loading area of the existing AGV robots is not convenient to adjust. Within the load range of the AGV robots, the loading area cannot be appropriately adjusted according to the type of transported materials to transport more materials, that is, the transportation efficiency of the AGV robots is reduced. Summary of the Utility Model

[0004] The main technical problem to be solved by the utility model is to provide an AGV robot with dual-machine cooperation. The length of the telescopic loading frame can be extended, expanding the loading area of the AGV robot and improving the working efficiency of the AGV robot in transporting materials with a large volume and a light weight.

[0005] To solve the above technical problem, a technical solution adopted by the utility model is: to provide an AGV robot with dual-machine cooperation, including: two symmetrically arranged AGV robot bodies. One of the AGV robot bodies is connected with a hinge seat one, and the other AGV robot body is connected with a hinge seat two. A connecting rod mechanism with adjustable length is hinged between the hinge seat one and the hinge seat two. The connecting rod mechanism can swing in the vertical direction relative to the hinge seat one, and the connecting rod mechanism can swing in the horizontal direction relative to the hinge seat two;

[0006] It further includes a telescopic loading frame. One end of the telescopic loading frame is connected with a hinged connection seat assembly, and the other end is connected with a rotary connection seat assembly. The hinged connection seat assembly is located at the upper left of the hinge seat one and is connected with the top of the AGV robot body. The rotary connection seat assembly is located at the upper right of the hinge seat two and is connected with the top of the AGV robot body.

[0007] By adopting the above technical solution, when transporting materials with large volume and light weight, the connecting rod mechanism is adjusted to increase its length, thereby increasing the distance between the two AGV robot bodies. As the distance between the two AGV robot bodies increases, the length of the telescopic carrier frame is enlarged, that is, the bearing area of the telescopic carrier frame is enlarged, and the working efficiency of the AGV robot for transporting materials with large volume and light weight is improved. Since the connecting rod mechanism can swing in the vertical direction relative to the hinge seat one and one end of the telescopic carrier frame is connected to the AGV robot body through the articulated connecting seat assembly, it is convenient for the two AGV robot bodies to have good contact performance with the ground when going uphill and downhill, enhancing the stability of the AGV robot body during driving; since the connecting rod mechanism can swing in the horizontal direction relative to the hinge seat two and the other end of the telescopic carrier frame is connected to the AGV robot body through the rotary connecting seat assembly, it is convenient for the two AGV robot bodies to cooperate in turning.

[0008] In a preferred example of the present utility model, it can be further configured that: the connecting rod mechanism includes a first strip-shaped rack and a second strip-shaped rack meshed with it, and further includes a rectangular frame sleeved outside the first strip-shaped rack and the second strip-shaped rack. The inner cavity width of the rectangular frame is greater than the sum of the thicknesses of the first strip-shaped rack and the second strip-shaped rack. A wing bolt is spirally penetrated through the rectangular frame. One end of the first strip-shaped rack is connected to the hinge seat one through a pin shaft, and one end of the second strip-shaped rack is connected to the hinge seat two through a pin shaft.

[0009] By adopting the above technical solution, after loosening the wing bolt, the first strip-shaped rack and the second strip-shaped rack move towards or away from each other and then are meshed and connected, that is, the length of the connecting rod mechanism is adjusted. Rotate and lock the wing bolt so that its end is in close contact with the second strip-shaped rack, so that the first strip-shaped rack and the second strip-shaped rack are tightly meshed and connected, achieving the purpose of fixedly connecting the first strip-shaped rack and the second strip-shaped rack. The structure is simple and the operation is convenient.

[0010] In a preferred example of the present utility model, it can be further configured that: the telescopic carrier frame includes a plurality of outer pipe bodies arranged in a linear array. Inner pipe bodies are respectively arranged inside the outer pipe bodies. The outer ends of the outer pipe bodies are connected with first connecting pipes, and the outer ends of the inner pipe bodies are connected with second connecting pipes.

[0011] By adopting the above technical solution, the inner pipe body slides inside the outer pipe body, and the distance between the first connecting pipe and the second connecting pipe changes, thereby adjusting the length of the telescopic carrier frame, that is, adjusting the bearing area of the telescopic carrier frame.

[0012] In a preferred example, the present utility model can be further configured as follows: The articulated connection seat assembly includes a support shaft and a plurality of fixed tubes sleeved on the support shaft at intervals. The outer circle of the fixed tube is connected to the telescopic carrier frame body. A plurality of support blocks are connected to the support shaft at intervals, and the support blocks are connected to the top of the corresponding AGV robot body.

[0013] By adopting the above technical solution, since the support shaft is rotatably connected to the fixed tube, it is convenient for the angle between the telescopic carrier frame body and the slope to change during the uphill or downhill process of the AGV robot body.

[0014] In a preferred example, the present utility model can be further configured as follows: The rotary connection seat assembly includes a slewing bearing and a fixed block. The slewing bearing is connected to the top of the corresponding AGV robot body, and the slewing bearing is connected to the telescopic carrier frame body through the fixed block.

[0015] By adopting the above technical solution, since the slewing bearing is connected to the telescopic carrier frame body through the fixed block, it is convenient for the telescopic carrier frame body to rotate relative to the AGV robot body, improving the smoothness of the AGV robot body turning.

[0016] In summary, the present utility model includes at least one of the following beneficial technical effects:

[0017] Adjust the connecting rod mechanism to increase its length. The connecting rod mechanism drives the distance between the two AGV robot bodies to change, thereby changing the length of the telescopic carrier frame body, that is, increasing the load-bearing area of the telescopic carrier frame body, and improving the working efficiency of the AGV robot for transporting materials with large volume and light weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, where:

[0019] Figure 1 is a schematic structural diagram of a preferred embodiment of a dual-machine collaborative AGV robot of the present utility model.

[0020] Figure 2 is Figure 1 a schematic structural diagram of the articulated connection seat assembly in

[0021] Figure 3 is Figure 1 a schematic structural diagram of the rotary connection seat assembly in

[0022] In the figure: 1. AGV robot body; 2. First hinge seat; 3. Second hinge seat; 40. Connecting rod mechanism;

[0023] 50. Telescopic carrier frame; 60. Hinged connection seat assembly; 70. Rotary connection seat assembly;

[0024] 41. First bar rack; 42. Second bar rack; 43. Rectangular frame; 44. Butterfly bolt;

[0025] 51. Outer tube body; 52. Inner tube body; 53. First connecting pipe; 54. Second connecting pipe;

[0026] 61. Support shaft; 62. Fixed pipe; 63. Support block;

[0027] 71. Slewing bearing; 72. Fixed block. Detailed implementation mode

[0028] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustration and explanation of the present invention, and are not used to limit the present utility model.

[0029] It should be noted that these drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present utility model in a schematic manner. Therefore, they only show the components related to the present utility model.

[0030] Refer to Figures 1 to 3 , a double-machine collaborative AGV robot disclosed by the present utility model, comprising: two symmetrically arranged AGV robot bodies 1, one of the AGV robot bodies 1 is connected with a first hinge seat 2, and the other AGV robot body 1 is connected with a second hinge seat 3. A connecting rod mechanism 40 with adjustable length is hinged between the first hinge seat 2 and the second hinge seat 3. The connecting rod mechanism 40 can swing in the vertical direction relative to the first hinge seat 2, and the connecting rod mechanism 40 can swing in the horizontal direction relative to the second hinge seat 3; according to actual needs, one AGV robot body 1 can be used as the active one, and the other AGV robot body 1 can be used as the driven one.

[0031] The connecting rod mechanism 40 includes a first bar-shaped rack 41 and a second bar-shaped rack 42 meshed and connected therewith, and further includes a rectangular frame 43 sleeved outside the first bar-shaped rack 41 and the second bar-shaped rack 42. The inner cavity width of the rectangular frame 43 is greater than the sum of the thicknesses of the first bar-shaped rack 41 and the second bar-shaped rack 42. A wing bolt 44 is spirally penetrated through the rectangular frame 43. One end of the first bar-shaped rack 41 is connected to the first hinge seat 2 through a pin shaft, and one end of the second bar-shaped rack 42 is connected to the second hinge seat 3 through a pin shaft; after loosening the wing bolt 44, the first bar-shaped rack 41 and the second bar-shaped rack 42 move towards or away from each other and then are meshed and connected, that is, the length of the connecting rod mechanism 40 is adjusted, and the distance between the two AGV robot bodies 1 is also changed. Rotate and lock the wing bolt 44 so that its end is in close contact with the second bar-shaped rack 42, so that the first bar-shaped rack 41 and the second bar-shaped rack 42 are tightly meshed and connected, achieving the purpose of fixedly connecting the first bar-shaped rack 41 and the second bar-shaped rack 42. The structure is simple and the operation is convenient.

[0032] It further includes a telescopic carrier 50. The telescopic carrier 50 includes a plurality of outer pipe bodies 51 arranged in a linear array. Inner pipe bodies 52 are respectively arranged inside the outer pipe bodies 51. The outer ends of the outer pipe bodies 51 are connected with first connecting pipes 53, and the outer ends of the inner pipe bodies 52 are connected with second connecting pipes 54; the inner pipe bodies 52 slide inside the outer pipe bodies 51, and the distance between the first connecting pipe 53 and the second connecting pipe 54 is changed, thereby adjusting the length of the telescopic carrier 50, that is, adjusting the bearing area of the telescopic carrier 50.

[0033] One end of the telescopic carrier 50 is connected with a hinged connection seat assembly 60, and the other end is connected with a rotary connection seat assembly 70. The hinged connection seat assembly 60 is located at the upper left of the first hinge seat 2 and is connected to the top of the AGV robot body 1. The rotary connection seat assembly 70 is located at the upper right of the second hinge seat 3 and is connected to the top of the AGV robot body 1.

[0034] The hinged connection seat assembly 60 includes a support shaft 61 and a plurality of fixed pipes 62 sleeved on the support shaft 61 at intervals. The outer circle of the fixed pipe 62 is connected with the telescopic carrier 50. A plurality of support blocks 63 are connected to the support shaft 61 at intervals, and the support blocks 63 are connected to the top of the corresponding AGV robot body 1; since the support shaft 61 is rotatably connected with the fixed pipe 62, it is convenient for the angle between the telescopic carrier 50 and the slope surface to change during the process of the AGV robot body 1 going uphill or downhill, that is, the smoothness of the two AGV robot bodies 1 during the uphill and downhill processes is improved.

[0035] The rotary connection seat assembly 70 includes a slewing bearing 71 and a fixing block 72. The slewing bearing 71 is connected to the top of the corresponding AGV robot body 1, and the slewing bearing 71 is connected to the telescopic carrier 50 through the fixing block 72. Since the slewing bearing 71 is connected to the telescopic carrier 50 through the fixing block 72, it is convenient for the telescopic carrier 50 to rotate relative to the AGV robot body 1, improving the smoothness of turning of the AGV robot body 1.

[0036] The implementation principle of this embodiment is as follows: When transporting materials with large volume and light weight, the connecting rod mechanism 40 is adjusted to increase its length, thereby increasing the distance between the two AGV robot bodies 1. As the distance between the two AGV robot bodies 1 increases, the length of the telescopic carrier 50 is expanded, that is, the bearing area of the telescopic carrier 50 is expanded, improving the working efficiency of the AGV robot in transporting materials with large volume and light weight. Since the connecting rod mechanism 40 can swing in the vertical direction relative to the hinge seat 1 and one end of the telescopic carrier 50 is connected to the AGV robot body 1 through the articulated connection seat assembly 60, it is convenient for the two AGV robot bodies 1 to have good contact performance with the ground when going uphill and downhill, enhancing the stability of the AGV robot body 1 during driving. Since the connecting rod mechanism 40 can swing in the horizontal direction relative to the hinge seat 2 and the other end of the telescopic carrier 50 is connected to the AGV robot body 1 through the rotary connection seat assembly 70, it is convenient for the two AGV robot bodies 1 to cooperate in turning.

[0037] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A dual-machine collaborative AGV robot, characterized in that: include: Two symmetrically arranged AGV robot bodies (1), one of which is connected to an articulated seat 1 (2), and the other AGV robot body (1) is connected to an articulated seat 2 (3), a connecting rod mechanism (40) with adjustable length is hingedly connected between the articulated seat 1 (2) and the articulated seat 2 (3), the connecting rod mechanism (40) can swing in the vertical direction relative to the articulated seat 1 (2), and the connecting rod mechanism (40) can swing in the horizontal direction relative to the articulated seat 2 (3); It also includes a telescopic carrier body (50), one end of which is connected to an articulated connection seat assembly (60), and the other end is connected to a rotating connection seat assembly (70), the articulated connection seat assembly (60) is located at the upper left side of the articulated seat one (2) and is connected to the top of the AGV robot body (1), and the rotating connection seat assembly (70) is located at the upper right side of the articulated seat two (3) and is connected to the top of the AGV robot body (1).

2. The dual-machine collaborative AGV robot according to claim 1 is characterized in that: The connecting rod mechanism (40) comprises a bar rack 1 (41) and a bar rack 2 (42) meshingly connected therewith, and also comprises a rectangular frame (43) sleeved on the outer sides of the bar rack 1 (41) and the bar rack 2 (42), the inner cavity width of the rectangular frame (43) is greater than the sum of the thicknesses of the bar rack 1 (41) and the bar rack 2 (42), a butterfly bolt (44) is spirally penetrated on the rectangular frame (43), one end of the bar rack 1 (41) is connected to the hinge seat 1 (2) through a pin shaft, and one end of the bar rack 2 (42) is connected to the hinge seat 2 (3) through a pin shaft.

3. The dual-machine collaborative AGV robot according to claim 1, characterized in that: The telescopic support frame (50) comprises a plurality of outer tube bodies (51) in a linear array, wherein inner tube bodies (52) are respectively arranged inside the outer tube bodies (51), the outer ends of the outer tube bodies (51) are connected to first connecting tubes (53), and the outer ends of the inner tube bodies (52) are connected to second connecting tubes (54).

4. The dual-machine collaborative AGV robot according to claim 1, characterized in that: The articulated connection seat assembly (60) includes a support shaft (61) and a plurality of fixed tubes (62) spaced apart and sleeved on the support shaft (61); the outer circle of the fixed tube (62) is connected to the telescopic support frame (50); a plurality of support blocks (63) are spaced apart and connected to the support shaft (61); the support blocks (63) are connected to the top of the corresponding AGV robot body (1).

5. The dual-machine collaborative AGV robot according to claim 1, characterized in that: The rotary connection seat assembly (70) comprises a slewing support (71) and a fixed block (72), wherein the slewing support (71) is connected to the top of the corresponding AGV robot body (1), and the slewing support (71) is connected to the telescopic carrier body (50) via the fixed block (72).

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