AGV robot capable of automatically adjusting climbing balance

Abstract

The utility model relates to the technical field of AGV robots, in particular to an AGV robot capable of automatically adjusting climbing balance. The AGV robot capable of automatically adjusting the climbing balance comprises a base, a bottom plate, moving wheels, a motor, a rotating frame, a supporting table, a controller, an electric push rod, a lifting frame, a guide frame, a workbench and a tilt angle sensor, the top of the bottom plate is connected with the base in a sliding mode, and the moving wheels are symmetrically installed on the two sides of the bottom of the bottom plate. A motor is installed on the right side of the top of the base, and a transverse rotating frame is connected to an output shaft of the motor and tightly attached to the top face of the base. The inclination angle of the workbench is monitored in real time through the inclination angle sensor, accurate adjustment is conducted through the electric push rod and the motor, it is ensured that the workbench is always kept in the horizontal state, it is particularly important when the robot climbs a slope or passes through the uneven ground, and the stability and balance of the robot can be remarkably improved; and the risk of goods falling or equipment damage caused by uneven terrain is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV robots, in particular to an AGV robot capable of autonomously adjusting climbing balance. Background Art

[0002] AGVs (Automated Guided Vehicles) are widely used in logistics handling and transshipment. AGV transport robots or carts navigate by specific landmarks, automatically transporting items to designated locations.

[0003] With the rapid development of the logistics industry, the demand for AGV handling robots is increasing, and the requirements for their functions are also becoming higher and higher. However, existing AGV robots still face the following challenges in practical applications:

[0004] 1. Existing AGV robots are primarily designed to work on flat surfaces. When moving on an inclined surface, the cargo on the AGV is prone to tilting or even falling, requiring operators to manually or with the aid of other equipment to assist in positioning, increasing operational complexity and labor costs.

[0005] 2. Existing AGV robots have weak adaptability in complex terrain, which limits their widespread application in more application scenarios. When driving on uneven roads, AGV robots are prone to shaking, affecting the stability and safety of cargo handling.

[0006] Therefore, it is urgent to design an AGV robot that can autonomously adjust its climbing balance to solve the above problems and improve the stability and reliability of AGV under various terrain conditions. Utility Model Content

[0007] In order to overcome the above-mentioned shortcomings, the technical problem is: to provide an AGV robot that can autonomously adjust the climbing balance.

[0008] The technical solution is as follows: an AGV robot that can autonomously adjust its climbing balance includes a base, a base plate, moving wheels, a motor, a rotating frame, a support platform, a controller, an electric push rod, a lifting frame, a guide frame, a workbench and an inclination sensor. The top of the base plate is slidably connected to the base, and moving wheels are symmetrically installed on both sides of the bottom of the base plate. A motor is installed on the right side of the top of the base, and a horizontal rotating frame is connected to the motor output shaft. The rotating frame is close to the top surface of the base, and the front and rear sides are arc-shaped and the bottom surface is flat. The top of the rotating frame is connected to the support platform, and the controller is installed on the front side of the top of the support platform. Three electric push rods are installed at intervals in a straight line on the top of the support platform, and the lifting frames are connected to the telescopic rods of the electric push rods. The lifting frames are symmetrically slidably sleeved with guide frames, and the tops of the guide frames are connected to the workbench. In the initial state, the workbench is in a horizontal state due to the limit of the electric push rods. Inclination sensors are installed on the front, back and left and right sides of the bottom of the workbench, and the motor, electric push rod and inclination sensor are all electrically connected to the controller.

[0009] Optionally, a storage structure can be installed on the top of the workbench to store and secure goods.

[0010] Optionally, shock-absorbing springs and dampers are also included. Shock-absorbing springs are connected to the four corners between the bottom plate and the base. Dampers are symmetrically installed on the top of the bottom plate, and the telescopic ends of the dampers are connected to the bottom of the base.

[0011] Optionally, it also includes a sliding frame, a buffer spring and a buffer pad. The sliding frames are slidably connected to the two side walls of the base. A plurality of buffer springs are spaced apart and connected to the inside of the base. The outside of the sliding frame is connected to the buffer pad.

[0012] Optionally, the cushion is made of a soft material, such as rubber, foam or silicone.

[0013] Optionally, an anti-slip sleeve and screws are further included, and the outer sides of the moving wheels are connected with the anti-slip sleeve through two screws.

[0014] The utility model has the following advantages: 1. The inclination angle of the workbench is monitored in real time by the inclination sensor, and precise adjustments are made by the electric push rod and motor to ensure that the workbench always remains level. This is especially important when climbing slopes or passing through uneven ground. It can significantly improve the stability and balance of the robot and reduce the risk of cargo falling or equipment damage due to uneven terrain.

[0015] 2. Buffer pads and buffer springs are set on both sides of the robot. When the robot collides with an object, the buffer pads can absorb part of the impact energy, reducing the impact force directly transmitted to the internal structure of the robot, significantly improving the safety and durability of the robot.

[0016] 3. By combining shock-absorbing springs with dampers to absorb and disperse vibrations, the robot can maintain better stability and balance when driving on uneven ground, reducing the impact and vibration on various parts of the robot and extending the service life of the mechanical structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0018] Figure 2 This is a first partial cross-sectional view of the present invention.

[0019] Figure 3 This is a second partial cross-sectional view of the present invention.

[0020] Figure 4 This is a third partial sectional view of the present utility model.

[0021] Explanation of the reference numerals: 1: base, 101: bottom plate, 102: shock-absorbing spring, 103: damper, 2: moving wheel, 3: motor, 4: rotating frame, 5: support table, 6: controller, 7: electric push rod, 8: lifting frame, 9: guide frame, 10: workbench, 11: tilt sensor, 12: sliding frame, 13: buffer spring, 14: buffer pad, 15: anti-slip sleeve, 16: screw. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that any directional terms such as "up," "down," "left," "right," "front," "back," "inside," and "outside" that appear or will appear in this document are based solely on the accompanying drawings and are not intended to limit the present invention.

[0023] Example: An AGV robot that can autonomously adjust its climbing balance, such as Figure 1-Figure 4As shown, it includes a base 1, a bottom plate 101, a moving wheel 2, a motor 3, a rotating frame 4, a support platform 5, a controller 6, an electric push rod 7, a lifting frame 8, a guide frame 9, a workbench 10 and an inclination sensor 11. The top of the bottom plate 101 is slidably connected to the base 1, and the left and right sides of the bottom of the bottom plate 101 are symmetrically installed with moving wheels 2. The motor 3 for adjusting the front and rear inclination angle of the robot is installed on the right side of the top of the base 1 by bolts. The output shaft of the motor 3 is connected to a horizontal rotating frame 4. The rotating frame 4 is close to the top surface of the base 1, and the front and rear sides are arc-shaped and the bottom surface is flat. The top of the rotating frame 4 is connected to the support platform 5, and the top of the support platform 5 A controller 6 is installed on the front side by bolts. Three electric push rods 7 for adjusting the left and right inclination angles of the robot are installed in a straight line on the top of the support platform 5. The telescopic rods of the electric push rods 7 are connected to the lifting frames 8. The lifting frames 8 are provided with guide frames 9 for sliding back and forth. A workbench 10 is connected between the tops of the guide frames 9. In the initial state, the workbench 10 is limited by the electric push rods 7 and is in a horizontal state. A storage structure can be installed on the top of the workbench 10 for storing and fixing goods. Inclination sensors 11 are installed on the front, back, left and right sides of the bottom of the workbench 10. The motor 3, the electric push rod 7 and the inclination sensor 11 are all electrically connected to the controller 6.

[0024] After the AGV is started, it moves normally via its moving wheels 2. The inclination sensor 11 continuously collects angle data from the work platform 10 and transmits this data to the control system. When climbing a slope, the inclination sensor 11 collects this data. The control system analyzes and processes this data to determine whether the AGV has deviated from the preset horizontal position. If tilt is detected, the control system adjusts the work platform 10 using the motor 3 and electric push rod 7. For example, if the AGV needs to adjust the left and right inclination angles, the controller 6 will start the electric push rod 7 and control the telescopic rod of the electric push rod 7 to extend or shorten, so as to push the guide frame 9 up or down through the lifting frame 8, thereby adjusting the left and right inclination angles of the workbench 10. The telescopic rods of the three electric push rods 7 will extend or shorten by different values ​​according to the angle of inclination to accurately adjust the left and right inclination angles of the workbench 10. If the AGV needs to adjust the front and rear inclination angles, the controller 6 will start the motor 3 and control the output shaft of the motor 3 to run forward or reverse to drive the rotating frame 4 to rotate, and drive the support platform 5 and the workbench 10 to rotate forward or backward through the rotating frame 4 to adjust the front and rear inclination angles of the workbench 10. After the adjustment is completed, the motor 3 will automatically turn off. Through these adjustments, the workbench 10 can be kept in a horizontal state and not easily affected by the ground.

[0025] like Figure 4As shown, in order to ensure the stability of the robot when moving, the present technical solution also includes shock-absorbing springs 102 and dampers 103. The four corners between the base plate 101 and the base 1 are connected with shock-absorbing springs 102. The dampers 103 are symmetrically installed on the top of the base 101. The telescopic ends of the dampers 103 are connected to the bottom of the base 1. When the robot encounters an uneven road surface during movement, the robot shakes. The shock-absorbing springs 102 first absorb most of the vibration and impact energy, and then the dampers 103 further reduce the vibration amplitude by dissipating this part of the energy, reducing the impact force on the robot. The robot can maintain better stability and balance when driving on uneven ground.

[0026] like Figure 1 and Figure 4 As shown, it also includes a sliding frame 12, a buffer spring 13 and a buffer pad 14. The sliding frames 12 are slidably connected to the left and right side walls of the base 1. A plurality of buffer springs 13 are connected to the sliding frame 12 and the inside of the base 1 at intervals. The outside of the sliding frame 12 is connected to the buffer pad 14. The buffer pad 14 is made of soft material, such as rubber, foam or silicone. When the robot collides with an object, the buffer pad 14 can absorb part of the impact energy and reduce the impact force directly transmitted to the internal structure of the robot. The buffer spring 13 absorbs and stores energy through elastic deformation. When the robot collides with an object, the buffer spring 13 will be compressed and store elastic potential energy. When the external force disappears, the buffer spring 13 returns to its original state, releasing the stored energy, thereby dispersing the impact.

[0027] like Figure 4 As shown, it also includes an anti-slip sleeve 15 and a screw 16. The outer side of the moving wheel 2 is connected with an anti-slip sleeve 15 through two screws 16. The anti-slip sleeve 15 can increase the friction between the moving wheel 2 and the ground, improve its anti-slip performance and stability, and the connection method of the screw 16 facilitates replacement and maintenance.

[0028] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An AGV robot that can autonomously adjust its climbing balance, characterized in that: The invention comprises a base (1), a bottom plate (101), a moving wheel (2), a motor (3), a rotating frame (4), a support platform (5), a controller (6), an electric push rod (7), a lifting frame (8), a guide frame (9), a workbench (10) and an inclination sensor (11). The top of the bottom plate (101) is connected to the base (1) in a sliding manner. The moving wheels (2) are symmetrically installed on both sides of the bottom of the bottom plate (101). The motor (3) is installed on the right side of the top of the base (1). The output shaft of the motor (3) is connected to the horizontal rotating frame (4). The rotating frame (4) is closely attached to the top surface of the base (1), and the front and rear sides are arc-shaped and the bottom surface is flat. The top of the rotating frame (4) is A support platform (5) is connected, a controller (6) is installed on the front side of the top of the support platform (5), three electric push rods (7) are installed at intervals in a straight line on the top of the support platform (5), and a lifting frame (8) is connected to the telescopic rod of the electric push rod (7), and a guide frame (9) is symmetrically slidably sleeved on the lifting frame (8). A workbench (10) is connected between the tops of the guide frames (9). In the initial state, the workbench (10) is limited by the electric push rod (7) and is in a horizontal state. Inclination sensors (11) are installed on the front, back, left and right sides of the bottom of the workbench (10), and the motor (3), the electric push rod (7) and the inclination sensor (11) are all electrically connected to the controller (6).

2. The AGV robot capable of autonomously adjusting climbing balance according to claim 1, characterized in that: A storage structure can be installed on the top of the workbench (10) for storing and fixing goods.

3. The AGV robot capable of autonomously adjusting climbing balance according to claim 2, characterized in that: The utility model also includes a shock-absorbing spring (102) and a damper (103). The four corners between the bottom plate (101) and the base (1) are connected with the shock-absorbing spring (102). The damper (103) is symmetrically installed on the top of the bottom plate (101). The telescopic ends of the damper (103) are connected to the bottom of the base (1).

4. The AGV robot capable of autonomously adjusting climbing balance according to claim 3, characterized in that: The invention also comprises a sliding frame (12), a buffer spring (13) and a buffer pad (14); the sliding frame (12) is slidably connected to both side walls of the base (1); a plurality of buffer springs (13) are spacedly connected between the sliding frame (12) and the inside of the base (1); and the outside of the sliding frame (12) is connected to the buffer pad (14).

5. The AGV robot capable of autonomously adjusting climbing balance according to claim 4, characterized in that: The buffer pad (14) is made of soft material, such as rubber, foam or silica gel.

6. The AGV robot capable of autonomously adjusting climbing balance according to claim 5, characterized in that: It also includes an anti-slip sleeve (15) and a screw (16), and the outer side of the moving wheel (2) is sleeved with the anti-slip sleeve (15) through two screws (16).

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