Heavy-load turnover mechanism and AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a heavy load turnover mechanism and an AGV trolley, the heavy load turnover mechanism comprises a first support plate used for being hinged to the top of an AGV main body of the AGV trolley in the vertical direction, and the first support plate has a first state parallel to the first horizontal direction and a second state parallel to the vertical direction; a second supporting plate is arranged on one side, in the first horizontal direction, of the first supporting plate in the first state, and an L-shaped part is formed by the second supporting plate and the first supporting plate; two connecting rods are hinged to the first supporting plate and arranged in the second horizontal direction in a spaced mode, and the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to one another in a pairwise mode. The ends, deviating from the first supporting plate, of the two connecting rods are connected through a transmission shaft. A push-pull arm is hinged to the transmission shaft, a connecting plate is hinged to the other end of the push-pull arm, and the connecting plate is driven by a driving assembly to reciprocate in the first horizontal direction. According to the 90-degree overturning device, heavy-load materials can be stably overturned by 90 degrees, and the movement is stable in the whole overturning process.

Description

Technical Field

[0001] The utility model relates to the technical field of automated transportation, in particular to a heavy-load turning mechanism and an AGV trolley. Background Art

[0002] With the rapid development of society, the technology of automatic guided vehicles (AGVs) has become increasingly mature, and their application in automated production is becoming increasingly widespread. AGVs not only improve labor productivity but also reduce human resource investment. Throughout the automated production process, AGVs handle loading, unloading, and transportation. In some specific work environments, production materials require a 90° flip. However, the flipping mechanism of most existing AGVs is only suitable for 90° flips of lightly loaded materials. When performing a 90° flip of heavily loaded materials, the movement is unstable and prone to rollover. Utility Model Content

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defects that the flipping structure of the AGV trolley in the prior art is not suitable for 90° flipping of heavy-loaded materials, and the movement is unstable and prone to rollover, thereby providing a heavy-load flipping mechanism and an AGV trolley.

[0004] According to the first aspect of the present invention, a heavy-load turning mechanism is provided, which is applied to an AGV vehicle. The heavy-load turning mechanism includes:

[0005] A first support plate is used to be hinged to the top of the AGV body of the AGV trolley in the vertical direction, and the first support plate has a first state parallel to the first horizontal direction and a second state parallel to the vertical direction;

[0006] a second support plate, disposed on one side of the first support plate in the first state along the first horizontal direction, and forming an L-shaped portion with the first support plate, wherein the area enclosed by the first support plate and the second support plate is suitable for carrying materials;

[0007] Two connecting rods are hinged to the first support plate and spaced apart along the second horizontal direction, with the first horizontal direction, the second horizontal direction, and the vertical direction being perpendicular to each other; ends of the two connecting rods facing away from the first support plate are connected by a transmission shaft;

[0008] The push-pull arm has one end hinged to the transmission shaft and the other end hinged to a connecting plate, and the connecting plate is driven by the driving assembly to reciprocate along the first horizontal direction.

[0009] According to a heavy-load turnover mechanism of the utility model, at least the following technical effects are achieved:

[0010] Two connecting rods are symmetrically hinged on the first support plate along the second horizontal direction about the "central axis" of the first support plate, a transmission shaft is connected between the two connecting rods, the transmission shaft is hinged with a push-pull arm, and the other end of the push-pull arm is hinged to a connecting plate that can reciprocate along the first horizontal direction, forming a "crank-connecting rod mechanism". After the heavy-loaded material is placed on the "L"-shaped portion, the connecting plate is driven by the driving assembly to move along the first horizontal direction toward the transmission shaft, and the torque is transmitted to the two connecting rods in sequence through the push-pull arm and the transmission shaft, so that the two connecting rods simultaneously apply the same thrust to two symmetrical positions of the first support plate along the second horizontal direction, thereby driving the first support plate carrying the heavy-loaded material to rotate smoothly around the hinge between it and the AGV body, and smoothly switch from the first state to the second state, so as to achieve a smooth 90° flip of the heavy-loaded material, and the movement is stable during the entire flipping process, effectively avoiding the occurrence of rollover, so that the AGV trolley equipped with this heavy-load flipping mechanism can perform a 90° flip of both light-loaded materials and heavy-loaded materials, and has a wider range of applications.

[0011] Preferably, two push-pull arms are provided, and the two push-pull arms are spaced apart along the second horizontal direction.

[0012] Preferably, the connecting rod is configured as a "V"-shaped member, the tip of the "V"-shaped member is rotatably connected to the transmission shaft; and the two free ends of the "V"-shaped member are respectively hinged to the first support plate.

[0013] Preferably, it further comprises two articulated seats, which are spaced apart on the AGV body along the second horizontal direction; a hinge portion is respectively provided at the position of the first support plate corresponding to the two articulated seats, and the articulated portion is hinged to the articulated seat.

[0014] Preferably, it further comprises a mounting groove, wherein the mounting groove is arranged in the top end of the AGV body in the vertical direction, and the drive assembly is arranged in the mounting groove.

[0015] Preferably, the drive assembly comprises:

[0016] A lead screw is arranged in the mounting groove along a first horizontal direction;

[0017] a motor connected to the lead screw via a reducer and driving the lead screw to rotate;

[0018] A nut seat is provided on the lead screw, and the connecting plate is connected to the nut seat;

[0019] A guide rail is arranged on the mounting groove along a first horizontal direction, and the connecting plate is slidably connected to the guide rail.

[0020] Preferably, the motor is arranged along the first horizontal direction, and the projection part of the screw along the second horizontal direction overlaps with the motor; the output end of the reducer is provided with a main synchronous pulley, and the screw is coaxially provided with a slave synchronous pulley, and the slave synchronous pulley is connected to the main synchronous pulley through a pulley.

[0021] Preferably, it further includes a limiting bracket, which is arranged on the top of the AGV body and is located on a side of the second support plate away from the first support plate along the first horizontal direction;

[0022] And / or, further comprising a first elastic limiting member, wherein the first elastic limiting member is disposed on the top of the AGV body, and when the first support plate is in the second state, the second support plate abuts against the first elastic limiting member;

[0023] And / or, it also includes a second elastic limiting member, which is arranged on the top of the AGV body, and when the first support plate is in the first state, the first support plate abuts against the second elastic limiting member.

[0024] Preferably, the first support plate is turned upward along a side surface in the first horizontal direction to form the second support plate.

[0025] According to the second aspect of the present invention, an AGV trolley is provided, comprising an AGV body and a heavy-load flipping mechanism, wherein the heavy-load flipping mechanism is arranged on the AGV body, and the heavy-load flipping mechanism adopts the heavy-load flipping mechanism provided by the first aspect.

[0026] An AGV car according to the utility model has at least the following technical effects:

[0027] The heavy-load flipping mechanism is formed by symmetrically hingedly connecting two connecting rods on the first support plate along the second horizontal direction about the "central axis" of the first support plate, a transmission shaft is connected between the two connecting rods, the transmission shaft is hinged with a push-pull arm, and the other end of the push-pull arm is hinged to a connecting plate that can reciprocate along the first horizontal direction, forming a "crank-connecting rod mechanism" similar to that of the heavy-load material. After the heavy-load material is placed on the "L"-shaped portion, the connecting plate is driven by the driving assembly to move along the first horizontal direction toward the direction close to the transmission shaft, and the torque is transmitted to the two connecting rods in sequence through the push-pull arm and the transmission shaft, so that the two connecting rods simultaneously apply the same thrust to two symmetrical positions of the first support plate along the second horizontal direction, thereby driving the first support plate carrying the heavy-load material to rotate smoothly around the hinge between it and the AGV body, and smoothly switching from the first state to the second state, so as to realize the smooth 90° flipping of the heavy-loaded material, and the movement is stable during the entire flipping process, effectively avoiding the rollover phenomenon, so that the AGV trolley can perform 90° flipping of light-loaded materials and 90° flipping of heavy-loaded materials, and has a wider range of applications.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 This is a schematic structural diagram of an AGV equipped with a heavy-load flipping mechanism according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 Schematic diagram of the decomposition structure;

[0032] Figure 3 for Figure 2 Schematic diagram of the structure with the AGV main body removed;

[0033] Figure 4 for Figure 3 A structural diagram from another perspective;

[0034] Figure 5 for Figure 3 Schematic diagram of the decomposition structure;

[0035] Figure 6 for Figure 2 Schematic diagram of the structure of the AGV body.

[0036] Description of reference numerals:

[0037] 1-L-shaped portion, 11-first support plate, 111-hinge seat, 112-hinge portion, 12-second support plate;

[0038] 2-AGV body, 21-mounting slot, 22-controller, 23-obstacle avoidance system, 24-anti-collision system, 25-battery;

[0039] 3- Materials;

[0040] 4- transmission shaft;

[0041] 5- Push-pull arm;

[0042] 6-connecting plate;

[0043] 7- "V" shaped piece;

[0044] 81-screw, 82-motor, 821-master synchronous pulley, 83-reducer, 831-slave synchronous pulley, 84-nut seat, 85-guide rail;

[0045] 91 - limiting bracket, 92 - first elastic limiting member, 93 - second elastic limiting member. DETAILED DESCRIPTION

[0046] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0047] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0048] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0049] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] Example 1

[0051] like Figures 1 to 6The figure shows a heavy-load flipping mechanism provided by this embodiment, which is applied to an AGV trolley. The heavy-load flipping mechanism includes a first support plate 11, which is used to be hinged to the top of the AGV body 2 of the AGV trolley in the vertical direction. The first support plate 11 has a first state parallel to the first horizontal direction and a second state parallel to the vertical direction; the first support plate 11 in the first state is provided with a second support plate 12 on one side along the first horizontal direction, and the second support plate 12 forms an "L"-shaped portion 1 with the first support plate 11, and the area enclosed by the first support plate 11 and the second support plate 12 is suitable for carrying materials 3; two connecting rods are hinged on the first support plate 11, and the two connecting rods are arranged at intervals along the second horizontal direction; the two connecting rods are connected by a transmission shaft 4 at one end away from the first support plate 11; the transmission shaft 4 is hinged with a push-pull arm 5, and the push-pull arm 5 is hinged with a connecting plate 6 at one end away from the transmission shaft 4, and the connecting plate 6 is driven by the drive assembly to reciprocate along the first horizontal direction. It is understood that the first horizontal direction, the second horizontal direction and the vertical direction mentioned herein refer to Figure 3 The first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other, and the first horizontal direction and the second horizontal direction are located on the same horizontal plane.

[0052] The heavy-load turning mechanism of this embodiment is formed by symmetrically hingedly connecting two connecting rods on the first support plate 11 along the second horizontal direction with respect to the "central axis" of the first support plate 11. A transmission shaft 4 is connected between the two connecting rods, and the transmission shaft 4 is hinged with a push-pull arm 5. The other end of the push-pull arm 5 is hinged to a connecting plate 6 that can reciprocate along the first horizontal direction, forming a similar "crank-connecting rod mechanism". After the heavy-loaded material 3 is placed on the "L"-shaped portion 1, the connecting plate 6 is driven by the driving assembly to move along the first horizontal direction toward the transmission shaft 4, and the torque is transmitted to the two connecting rods simultaneously through the push-pull arm 5 and the transmission shaft 4. The two connecting rods simultaneously apply the same thrust to the two symmetrical positions of the first support plate 11 along the second horizontal direction, thereby driving the first support plate 11 carrying the heavy-loaded material 3 to rotate smoothly around the hinge between it and the AGV body 2, and smoothly switch from the first state to the second state, so as to realize the smooth 90° flipping of the heavy-loaded material 3, and the movement is stable during the entire flipping process, effectively avoiding the side rollover phenomenon, so that the AGV trolley equipped with the heavy-load flipping mechanism of this embodiment can flip both light-loaded materials 3 by 90° and heavy-loaded materials 3 by 90°, and has a wider range of applications.

[0053] It should be noted that when the driving component drives the connecting plate 6 to move along the first horizontal direction toward the direction close to the transmission shaft 4, it smoothly pushes the first support plate 11 to switch from the first state to the second state, so that the heavy-loaded material 3 placed on the "L"-shaped part 1 can be smoothly flipped forward 90°; when the driving component drives the connecting plate 6 to move along the first horizontal direction toward the direction away from the transmission shaft 4, the torque is transmitted to the two connecting rods in sequence through the push-pull arm 5 and the transmission shaft 4, so that the two connecting rods simultaneously apply the same pulling force to the two symmetrical positions of the first support plate 11 along the second horizontal direction, thereby driving the first support plate 11 carrying the heavy-loaded material 3 to rotate smoothly in the opposite direction around the hinge with the AGV body 2, thereby smoothly switching from the second state to the first state, so that the heavy-loaded material 3 placed on the "L"-shaped part 1 can be smoothly flipped in the opposite direction 90°.

[0054] like Figures 2 to 5 As shown, optionally, two push-pull arms 5 are provided, and the two push-pull arms 5 are spaced apart along the second horizontal direction. The two push-pull arms 5 increase the articulation area with the transmission shaft 4 and the connecting plate 6, and the greater torque generated by the drive assembly driving the connecting plate 6 to move in the first horizontal direction toward the transmission shaft 4 can be fully transmitted to the transmission shaft 4, thereby increasing the thrust transmitted to the two connecting rods, thereby increasing the thrust applied simultaneously to the first support plate 11 at two symmetrical positions along the second horizontal direction, thereby enabling a heavier heavy-loaded material 3 to be smoothly flipped 90 degrees.

[0055] like Figures 2 to 5 As shown, optionally, the connecting rod is configured as a "V"-shaped member 7, the tip of the "V"-shaped member 7 being rotatably connected to the transmission shaft 4; the two free ends of the "V"-shaped member 7 are respectively hinged to the first support plate 11. In the process of the drive assembly driving the connecting plate 6 to move along the first horizontal direction toward the transmission shaft 4, the torque transmitted to it through the push-pull arm 5 and the transmission shaft 4 is divided into two substantially identical thrusts by a "V"-shaped member 7 and applied to two positions of the first support plate 11 along the first horizontal direction, so that the two "V"-shaped members 7 simultaneously apply substantially the same thrust to the four corner positions of the first support plate 11, thereby ensuring that the heavy-loaded material 3 is smoothly flipped 90° with only one drive assembly. It should be noted that the "V"-shaped member 7 is arranged perpendicular to the second horizontal direction.

[0056] like Figure 2 、 Figure 5 and Figure 6As shown, optionally, the heavy-load flipping mechanism further includes two hinged seats 111, which are spaced apart along the second horizontal direction on the AGV body 2; the first support plate 11 is provided with a hinge portion 112 at positions corresponding to the two hinged seats 111, and the hinge portion 112 is hingedly connected to the hinge seat 111. The hinged cooperation between the two hinge portions 112 and the two hinged seats 111 increases the hinge area between the first support plate 11 and the AGV body 2, making the hinge structure between the first support plate 11 and the AGV body 2 more secure, ensuring that the "L"-shaped portion 1 formed by the first support plate 11 and the second support plate 12 can smoothly flip the heavy-loaded material 3 90 degrees without causing rollover.

[0057] like Figure 1 and Figure 2 As shown, the heavy-load turning mechanism optionally further includes a mounting slot 21, which is disposed within the vertical top end of the AGV body 2, and the drive assembly is disposed within the mounting slot 21. By concealing the drive assembly within the mounting slot 21, the drive assembly can be prevented from being exposed and damaged by collisions during the 90° turning of the heavy-loaded material 3; the vertical dimensions of the AGV equipped with the heavy-load turning mechanism of this embodiment can also be reduced, making the AGV structure more compact.

[0058] like Figures 1 to 5As shown, optionally, the drive assembly includes a lead screw 81 and a guide rail 85, the lead screw 81 is arranged in the mounting groove 21 along the first horizontal direction, and one end of the lead screw 81 is connected to the motor 82 through a reducer 83; a nut seat 84 is screwed on the lead screw 81, and the guide rail 85 is arranged in the mounting groove 21 along the first horizontal direction, and is located on one side of the lead screw 81 along the second horizontal direction, and the connecting plate 6 is on the nut seat 84 and is slidably connected to the guide rail 85. After the heavy-loaded material 3 is placed on the "L"-shaped part 1, the motor 82 is started and the torque output by the motor 82 is increased through the reducer 83 and then transmitted to the screw 81, so that only a relatively small-power motor 82 is needed to provide the connecting plate 6 with a large driving force for driving the connecting plate 6 to move toward the direction close to the transmission shaft 4. Under the guidance and limiting action of the guide rail 85, the torque is fully transmitted to the two connecting rods through the push-pull arm 5 and the transmission shaft 4 at the same time, so that the two connecting rods simultaneously apply the same and large thrust to the first support plate 11 at two symmetrical positions along the second horizontal direction, thereby ensuring that the first support plate 11 carrying the heavy-loaded material 3 can be driven to rotate smoothly around the hinge between it and the AGV body 2, so as to realize the smooth 90° flipping of the heavy-loaded material 3, and the movement is stable during the entire flipping process, effectively avoiding the rollover phenomenon. At the same time, the speed reducer 83 can effectively reduce the faster speed output by the motor 82 and then transmit it to the screw 81, slowing down the speed of driving the first support plate 11 to flip around the hinge between it and the AGV body 2, ensuring that the heavy-loaded material 3 is driven to flip 90° more smoothly.

[0059] like Figure 4 and Figure 5 As shown, specifically, there are two guide rails 85 , which are symmetrically arranged on both sides of the lead screw 81 along the second horizontal direction; the connecting plate 6 is slidably connected to the two guide rails 85 via a slider.

[0060] like Figures 3 to 5As shown, optionally, the motor 82 is arranged along the first horizontal direction, and the projection of the lead screw 81 along the second horizontal direction overlaps with the motor 82. The output end of the reducer 83 is provided with a main synchronous pulley 821, and the lead screw 81 is coaxially provided with a secondary synchronous pulley 831, and the secondary synchronous pulley 831 is connected to the main synchronous pulley 821 via a pulley. By arranging the motor 82 to one side of the lead screw 81 along the second horizontal direction, the size of the drive assembly along the first horizontal direction is reduced, thereby reducing the size of the mounting slot 21 along the first horizontal direction, and further reducing the size of the AGV body 2 along the first horizontal direction. As a result, the size of the AGV equipped with the heavy-load flipping mechanism of this embodiment along the first horizontal direction is reduced, thereby reducing the distance between the center of gravity of the "L"-shaped portion 1 carrying the heavy-load material 3 and the center of gravity of the AGV along the first horizontal direction, ensuring that the heavy-load material 3 can be flipped smoothly by 90 degrees.

[0061] like Figure 1 、 Figure 2 and Figure 6 As shown, optionally, the heavy-load turning mechanism further includes a limiting bracket 91, which is disposed on the top of the AGV body 2 and is located on the side of the second support plate 12 along the first horizontal direction away from the first support plate 11. When the drive assembly drives the connecting plate 6 to move along the first horizontal direction toward the direction close to the transmission shaft 4, and in the process of smoothly switching the first support plate 11 from the first state to the second state, the limiting bracket 91 limits and blocks the heavy-loaded material 3 placed on the "L"-shaped portion 1, preventing the heavy-loaded material 3 from falling off the "L"-shaped portion 1 due to its large inertia during the process of turning the heavy-loaded material 3 90°, thereby ensuring the effect of the 90° turning of the heavy-loaded material 3.

[0062] like Figure 1 、 Figure 2 and Figure 6 As shown, optionally, the heavy-load turning mechanism further includes a first elastic limiter 92, which is disposed on the top of the AGV body 2. When the first support plate 11 is switched from the first state to the second state, i.e., after the "L"-shaped portion 1 on which the heavy-load material 3 is placed is turned forward 90°, the first elastic limiter 92 provides a soft contact for the second support plate 12, thereby ensuring that the heavy-load turning mechanism of this embodiment does not make hard contact with the AGV body 2 after being turned forward 90°, thereby causing damage to the AGV body 2, thereby extending the service life of the AGV trolley equipped with the heavy-load turning mechanism of this embodiment.

[0063] like Figure 1 、 Figure 2 and Figure 6As shown, optionally, the heavy-load turning mechanism further includes a second elastic stopper 93, which is disposed on the top of the AGV body 2. When the first support plate 11 is switched from the second state to the first state, i.e., after the "L"-shaped portion 1 on which the heavy-load material 3 is placed is reversely turned 90°, the second elastic stopper 93 provides a soft contact with the first support plate 11, thereby ensuring that the heavy-load turning mechanism of this embodiment does not make hard contact with the AGV body 2 after reversely turning 90°, thereby causing damage to the AGV body 2, thereby extending the service life of the AGV trolley equipped with the heavy-load turning mechanism of this embodiment.

[0064] It should be noted that when the first support plate 11 switches from the first state to the second state, the "L"-shaped portion 1 on which the heavy-loaded material 3 is placed is flipped forward 90°; when the first support plate 11 switches from the second state to the first state, the "L"-shaped portion 1 on which the heavy-loaded material 3 is placed is flipped backward 90°.

[0065] Optionally, the first support plate 11 is flipped upward along one side surface in the first horizontal direction to form the second support plate 12. By integrally forming the first support plate 11 and the second support plate 12 to form the "L"-shaped portion 1, the assembly process of the "L"-shaped portion 1 is omitted, the assembly accuracy and connection strength of the "L"-shaped portion 1 are ensured, and the load-bearing capacity of the "L"-shaped portion 1 is improved.

[0066] Example 2

[0067] like Figures 1 to 6The figure shows an AGV trolley provided in this embodiment, including an AGV main body 2 and a heavy-load flipping mechanism, wherein the heavy-load flipping mechanism is arranged on the AGV main body 2, and the heavy-load flipping mechanism adopts the heavy-load flipping mechanism described in Example 1. The heavy-load flipping mechanism of the AGV trolley of this embodiment is achieved by symmetrically hingedly connecting two connecting rods on the first support plate 11 along the second horizontal direction about the "central axis" of the first support plate 11, a transmission shaft 4 is connected between the two connecting rods, the transmission shaft 4 is hinged with a push-pull arm 5, and the other end of the push-pull arm 5 is hinged to a connecting plate 6 that can move back and forth along the first horizontal direction, forming a similar "crank-connecting rod mechanism", so that after the heavy-loaded material 3 is placed on the "L"-shaped portion 1, the connecting plate 6 is driven by the driving assembly to move along the first horizontal direction toward the direction close to the transmission shaft 4, and the torque is sequentially passed through the push-pull arm 5 and the transmission shaft 4 at the same time The thrust is transmitted to the two connecting rods, so that the two connecting rods simultaneously apply the same thrust to the two positions of the first support plate 11 symmetrically along the second horizontal direction, thereby driving the first support plate 11 carrying the heavy-loaded material 3 to rotate smoothly around the hinge between it and the AGV body 2, and smoothly switch from the first state to the second state, so as to realize a smooth 90° flip of the heavy-loaded material 3, and the movement is stable during the entire flipping process, effectively avoiding the rollover phenomenon, so that the AGV trolley of this embodiment can flip the light-loaded material 3 by 90°, and can also flip the heavy-loaded material 3 by 90°, and has a wider range of applications.

[0068] Optionally, the AGV body 2 is provided with two groups of walking drive components along the vertical lower end face, and the two groups of walking drive components are arranged relatively along the second horizontal direction. The AGV body 2 is provided with a navigation system, and the navigation system is used to obtain the real-time position information of the AGV body 2, and transmit the real-time position information to the controller 22. The controller 22 compares the real-time position information with the standard position information to obtain a walking trajectory, and controls the movement of the walking drive components according to the walking trajectory, so as to realize omnidirectional walking, thereby ensuring that the AGV cart of this embodiment is accurately moved to the loading station or unloading station or parking station.

[0069] It should be noted that the standard position information refers to the position information after the AGV body 2 accurately moves to the loading station, the unloading station or the parking station.

[0070] Specifically, the travel drive assembly adopts a travel drive mechanism in the prior art to realize the function of driving the AGV body 2 to move.

[0071] like Figure 1 、 Figure 2 and Figure 6As shown, optionally, an obstacle avoidance system 23 is provided at a pair of diagonal portions of the cross section of the AGV body 2 perpendicular to the vertical direction, and the obstacle avoidance system 23 is used for contactless detection of obstacles within a range of 3 meters; the obstacle avoidance system 23 is electrically connected to the controller 22.

[0072] Specifically, the obstacle avoidance system 23 adopts the obstacle avoidance system 23 in the prior art, which will not be described in detail here.

[0073] like Figure 1 、 Figure 2 and Figure 6 As shown, optionally, an anti-collision system 24 is protruded from each of the two portions of the AGV body 2 along the second horizontal direction, and the anti-collision system 24 is electrically connected to the controller 22. When the obstacle avoidance system 23 is damaged and cannot function normally, and the AGV of this embodiment collides with an obstacle, the anti-collision system 24 preferentially contacts the obstacle to provide a buffer, thereby reducing damage to the AGV body 2; at the same time, the anti-collision system 24 transmits a signal to the controller 22 to control the travel drive assembly to stop.

[0074] like Figure 6 As shown, optionally, a battery 25 is provided in the mounting slot 21 , and the battery 25 is suitable for powering the AGC car to ensure normal use without being connected to a household circuit.

[0075] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A heavy-load turning mechanism, applied to AGV, characterized in that: The heavy-load turnover mechanism comprises: A first support plate (11) is used for being hinged to the top of the AGV body (2) of the AGV trolley in the vertical direction, wherein the first support plate (11) has a first state parallel to the first horizontal direction and a second state parallel to the vertical direction; a second support plate (12) disposed on one side of the first support plate (11) in the first state along the first horizontal direction, and forming an "L"-shaped portion (1) with the first support plate (11), wherein the area enclosed between the first support plate (11) and the second support plate (12) is suitable for carrying materials (3); Two connecting rods are hinged on the first support plate (11) and are spaced apart along the second horizontal direction, with the first horizontal direction, the second horizontal direction and the vertical direction being perpendicular to each other; the ends of the two connecting rods facing away from the first support plate (11) are connected via a transmission shaft (4); A push-pull arm (5) has one end hinged to the transmission shaft (4) and the other end hinged to a connecting plate (6), wherein the connecting plate (6) is driven by a driving assembly to reciprocate along a first horizontal direction.

2. A heavy-load turnover mechanism according to claim 1, characterized in that: Two push-pull arms (5) are provided, and the two push-pull arms (5) are spaced apart along the second horizontal direction.

3. A heavy-load turnover mechanism according to claim 1, characterized in that: The connecting rod is configured as a "V"-shaped member (7), the tip of the "V"-shaped member (7) is rotatably connected to the transmission shaft (4); and the two free ends of the "V"-shaped member (7) are respectively hinged to the first support plate (11).

4. A heavy-load turnover mechanism according to claim 1, characterized in that: The invention also includes two articulated seats (111), which are spaced apart on the AGV body (2) along the second horizontal direction; the first support plate (11) is provided with a hinge portion (112) at positions corresponding to the two articulated seats (111), and the articulated portion (112) is hinged to the articulated seat (111).

5. A heavy-load turnover mechanism according to any one of claims 1 to 4, characterized in that: It also includes a mounting groove (21), which is arranged in the top end of the AGV body (2) in the vertical direction, and the drive assembly is arranged in the mounting groove (21).

6. A heavy-load turnover mechanism according to claim 5, characterized in that: The drive assembly includes: A lead screw (81) is arranged in the mounting groove (21) along a first horizontal direction; a motor (82) connected to the lead screw (81) via a reducer (83) and driving the lead screw (81) to rotate; A nut seat (84) is provided on the lead screw (81), and the connecting plate (6) is connected to the nut seat (84); A guide rail (85) is arranged on the mounting groove (21) along a first horizontal direction, and the connecting plate (6) is slidably connected to the guide rail (85).

7. A heavy-load turnover mechanism according to claim 6, characterized in that: The motor (82) is arranged along a first horizontal direction, and a projection portion of the lead screw (81) along a second horizontal direction overlaps with the motor (82); a main synchronous pulley (821) is provided at the output end of the reducer (83), and a slave synchronous pulley (831) is coaxially arranged on the lead screw (81), and the slave synchronous pulley (831) is connected to the main synchronous pulley (821) via a pulley.

8. A heavy-load turnover mechanism according to claim 1, characterized in that: It also includes a limiting bracket (91), which is arranged on the top of the AGV body (2) and is located on a side of the second support plate (12) away from the first support plate (11) along a first horizontal direction; And / or, further comprising a first elastic limiting member (92), wherein the first elastic limiting member (92) is arranged on the top of the AGV body (2), and when the first support plate (11) is in the second state, the second support plate (12) abuts against the first elastic limiting member (92); And / or, it also includes a second elastic limiting member (93), the second elastic limiting member (93) is arranged on the top of the AGV body (2), and when the first support plate (11) is in the first state, the first support plate (11) abuts against the second elastic limiting member (93).

9. A heavy-load turnover mechanism according to claim 1, characterized in that: The first support plate (11) is turned upward along a side surface in a first horizontal direction to form the second support plate (12).

10. An AGV car, characterized in that: It comprises an AGV body (2) and a heavy-load turning mechanism, wherein the heavy-load turning mechanism is arranged on the AGV body (2), and the heavy-load turning mechanism adopts the heavy-load turning mechanism described in any one of claims 1 to 9.

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