AGV (Automatic Guided Vehicle) and three-degree-of-freedom mechanism

Abstract

The utility model discloses an AGV and three-degree-of-freedom mechanism which comprises an AGV trolley body, the upper end of the AGV trolley body is fixedly connected with an AGV top face disc, a module supporting frame is installed at the upper end of the AGV top face disc in a positioning mode, a lifting module is installed at the front end of the module supporting frame in a positioning mode, and the front end of the lifting module is movably connected with a holder fixing frame. According to the mechanism for adding the three degrees of freedom to the AGV, a common jacking mechanism in the market is detached, the module is fixed on the jacking plate surface through the iron plate again, the vertical lifting function can be achieved at a lower price, and the mechanism can be used in more scenes; the rotating holder can be driven by the holder moving mechanism to move back and forth within a certain range as required, and a camera or a sensor on the rotating holder can cover a larger area, so that the field of view is expanded, and more information is captured.

Description

Technical Field

[0001] This utility model relates to the technical field of robot automation, specifically to an AGV with 3 degrees of freedom. Background Technology

[0002] AGVs are unmanned short-distance transportation vehicles widely used in industrial automation and logistics. AGVs are equipped with automatic guidance devices, such as electromagnetic or optical sensors, enabling them to travel along a prescribed path and providing safety protection and various transfer functions.

[0003] Existing AGVs are mostly mobile carts that lift items or shelves by rotating gears and raising the support frame to a certain height. Most of these carts can only be lifted by 3-5cm. Furthermore, due to their high cost, they cannot be used in many scenarios. When encountering special scenarios, they need to be modified and customized, which is not universally applicable and brings certain adverse effects to people's use. To this end, we propose an AGV with 3 degrees of freedom. Utility Model Content

[0004] Technical Problem Solved: Addressing the shortcomings of existing technologies, this utility model provides an AGV with a 3-DOF mechanism, possessing advantages such as lifting, moving, and adjusting. It removes the commonly used lifting mechanisms and re-fixes the module onto the lifting plate using an iron plate, enabling it to achieve vertical lifting at a lower cost and allowing for use in more scenarios. The set pan-tilt mechanism drives the rotating pan-tilt to move back and forth within a certain range as needed, allowing the camera or sensor on the rotating pan-tilt to cover a larger area, thereby expanding the field of view, capturing more information, and further enhancing its flexibility. The rotating pan-tilt can more accurately monitor specific targets or areas, improving the accuracy and effectiveness of monitoring, and effectively solving the problems in the background technology.

[0005] Technical Solution: To achieve the above objectives, the technical solution adopted by this utility model is as follows: an AGV with 3 degrees of freedom, comprising an AGV trolley body, an AGV top plate fixedly connected to the upper end of the AGV trolley body, a module support frame positioned and installed on the upper end of the AGV top plate, a lifting module positioned and installed at the front end of the module support frame, a gimbal fixing frame movably connected to the front end of the lifting module, a gimbal moving mechanism movably connected to the upper end of the gimbal fixing frame, a rotating gimbal positioned and installed at the upper end of the gimbal moving mechanism, and the gimbal moving mechanism comprising an adjustment control groove, a positioning partition, a control motor, an adjustment rotating rod, a guide stabilizing groove, a guide fixing rod, a movable moving block, a moving adjustment hole, a guide stabilizing block, and a guide movable hole.

[0006] Preferably, the upper end of the AGV trolley body is fixedly connected to the lower end of the AGV top plate, the upper end of the AGV top plate is fixed to the lower end of the module support frame by bolts, a lifting module is positioned and installed at the front end of the module support frame, and the gimbal fixing frame moves at the front end of the lifting module by a lead screw.

[0007] Preferably, the adjustment control slot is located in the middle of the upper end of the gimbal fixing frame, the positioning partition is located on the inner wall of the adjustment control slot, the control motor is located on one side of the positioning partition, the adjustment rotation rod is located on the inner side of the adjustment control slot, the guide stabilization slots are all located on both sides of the upper end of the gimbal fixing frame, and the guide fixing rod is located on the inner side of the guide stabilization slot.

[0008] Preferably, the movable block is located in the middle of the lower end of the rotating gimbal, the movable adjustment hole is opened on the movable block, the guide stabilizing block is located on both sides of the lower end of the rotating gimbal, and the guide movable hole is opened on the guide stabilizing block.

[0009] Preferably, the outer wall of the positioning partition is fixedly connected to the inner wall of the adjustment control groove, one end of the control motor is fixedly connected to one side of the positioning partition, and one end of the adjustment rotating rod passes through the inner wall of the positioning partition and is connected to the control motor.

[0010] Preferably, both ends of the guide fixing rod are fixedly connected to the inner wall of the guide stabilizing groove, the upper ends of the movable block and the guide stabilizing block are fixedly connected to the lower end of the rotating gimbal, the movable block is sleeved on the outer wall of the adjusting rotating rod through the movable adjustment hole, and the guide stabilizing block is sleeved on the outer wall of the guide fixing rod through the guide movable hole.

[0011] Beneficial effects: Compared with the prior art, this utility model provides an AGV mechanism with 3 degrees of freedom, which has the following beneficial effects:

[0012] This AGV with 3 degrees of freedom removes the common lifting mechanism on the market and re-fixes the module on the lifting plate with an iron plate, enabling it to achieve vertical lifting function at a lower cost and making it usable in more scenarios. At the same time, an additional rotatable gimbal is added, which can be used to attach equipment such as speakers or cameras, making it suitable for use in some confined spaces and assisting in some special tests in the laboratory, making it safer. The lifting module is driven by a motor to control the lifting and moving of the gimbal fixing frame, and the rotating gimbal can achieve self-rotation control.

[0013] This AGV with 3 degrees of freedom, through its pan-tilt-zoom (PTZ) movement mechanism, allows the rotating PTZ to move back and forth within a certain range as needed. This enables the camera or sensor on the PTZ to cover a larger area, thereby expanding the field of view, capturing more information, and further enhancing its flexibility. The PTZ can more accurately monitor specific targets or areas, improving the accuracy and effectiveness of monitoring. A control motor drives the adjusting rotating rod to rotate within the adjusting control slot. A movable block connected to the lower center of the PTZ is fitted onto the outer wall of the adjusting rotating rod through a movable adjustment hole. When the adjusting rotating rod is driven to rotate, it also controls the movable block to move back and forth within the adjusting control slot. A guide stabilizing block is fitted onto the outer wall of the guide fixing rod through a guide movable hole. The movement of the movable block simultaneously controls the movement of the guide stabilizing block, strengthening the stability of the PTZ. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of an AGV mechanism with 3 degrees of freedom according to the present invention.

[0015] Figure 2 This is a partial structural diagram of the gimbal fixing frame, rotating gimbal, and gimbal moving mechanism in an AGV with 3 degrees of freedom according to this utility model.

[0016] Figure 3 This is a partial structural diagram of the gimbal movement mechanism in an AGV with 3 degrees of freedom according to this utility model.

[0017] Figure 4 This is a partial structural breakdown diagram of the rotating gimbal and the gimbal movement mechanism in an AGV with 3 degrees of freedom according to this utility model.

[0018] In the diagram: 1. AGV vehicle body; 2. AGV top plate; 3. Gimbal moving mechanism; 4. Module support frame; 5. Lifting module; 6. Gimbal fixing frame; 7. Rotating gimbal; 301. Adjustment control slot; 302. Positioning partition; 303. Control motor; 304. Adjustment rotation rod; 305. Guide stabilizing slot; 306. Guide fixing rod; 307. Movable movable block; 308. Movable adjustment hole; 309. Guide stabilizing block; 310. Guide movable hole. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0020] like Figure 1-4As shown, an AGV with 3 degrees of freedom includes an AGV body 1, an AGV top plate 2 fixedly connected to the upper end of the AGV body 1, a module support frame 4 positioned and installed on the upper end of the AGV top plate 2, a lifting module 5 positioned and installed at the front end of the module support frame 4, a gimbal fixing frame 6 movably connected to the front end of the lifting module 5, a gimbal moving mechanism 3 movably connected to the upper end of the gimbal fixing frame 6, a rotating gimbal 7 positioned and installed at the upper end of the gimbal moving mechanism 3, and the gimbal moving mechanism 3 including an adjustment control groove 3. 01. Positioning partition 302. Control motor 303. Adjusting rotating rod 304. Guide stabilizing groove 305. Guide fixing rod 306. Movable movable block 307. Movable adjustment hole 308. Guide stabilizing block 309 and guide movable hole 310. The pan-tilt moving mechanism 3 can drive the rotating pan-tilt 7 to move back and forth within a certain range as needed, so that the camera or sensor on the rotating pan-tilt 7 can cover a larger area, thereby expanding the field of view, capturing more information, and further enhancing its flexibility.

[0021] Furthermore, the upper end of the AGV trolley body 1 is fixedly connected to the lower end of the AGV top plate 2, and the upper end of the AGV top plate 2 is fixed to the lower end of the module support frame 4 by bolts. The lifting module 5 is positioned and installed at the front end of the module support frame 4, and the gimbal fixing frame 6 moves at the front end of the lifting module 5 by a screw rod, which facilitates movement and adjustment.

[0022] Furthermore, the adjustment control groove 301 is located in the middle of the upper end of the gimbal fixing frame 6, the positioning partition 302 is located on the inner wall of the adjustment control groove 301, the control motor 303 is located on one side of the positioning partition 302, the adjustment rotation rod 304 is located on the inner side of the adjustment control groove 301, and the guide stabilization grooves 305 are all located on both sides of the upper end of the gimbal fixing frame 6. The guide fixing rod 306 is located on the inner side of the guide stabilization groove 305, which plays a guiding and stabilizing role.

[0023] Furthermore, the movable block 307 is located in the middle of the lower end of the rotating gimbal 7, the movable adjustment hole 308 is opened on the movable block 307, the guide stabilizing block 309 is located on both sides of the lower end of the rotating gimbal 7, the guide movable hole 310 is opened on the guide stabilizing block 309, and the guide movable hole 310 and the guide fixing rod 306 are mutually adapted.

[0024] Furthermore, the outer wall of the positioning partition 302 is fixedly connected to the inner wall of the adjustment control groove 301, one end of the control motor 303 is fixedly connected to one side of the positioning partition 302, and one end of the adjustment rotating rod 304 passes through the inner wall of the positioning partition 302 and is connected to the control motor 303. The control motor 303 drives the adjustment rotating rod 304 to rotate inside the adjustment control groove 301.

[0025] Furthermore, both ends of the guide fixing rod 306 are fixedly connected to the inner wall of the guide stabilizing groove 305, and the upper ends of the movable block 307 and the guide stabilizing block 309 are fixedly connected to the lower end of the rotating gimbal 7. The movable block 307 is sleeved on the outer wall of the adjusting rotating rod 304 through the movable adjustment hole 308, and the guide stabilizing block 309 is sleeved on the outer wall of the guide fixing rod 306 through the guide movable hole 310, which can enhance stability.

[0026] Working Principle: This is an AGV with 3 degrees of freedom, comprising the AGV body 1, AGV top plate 2, gimbal movement mechanism 3, module support frame 4, lifting module 5, gimbal fixing frame 6, and rotating gimbal 7. We remove the existing lifting mechanism of the AGV and re-fix the module onto the lifting plate with an iron plate, enabling it to achieve vertical lifting at a lower cost and allowing for use in more scenarios. Furthermore, an additional rotating gimbal is added, allowing for the attachment of speakers, cameras, or other devices for use in confined spaces and to assist in special tests in the laboratory, enhancing safety. The gimbal movement mechanism 3 drives the rotating gimbal 7 to move forward and backward within a certain range as needed, allowing the camera or sensor on the rotating gimbal 7 to cover a wider area. The rotating gimbal 7 can more accurately monitor specific targets or areas, improving the precision and effectiveness of monitoring. The motor 303 drives the adjusting rotating rod 304 to rotate within the adjusting control slot 301. A movable block 307 connected to the lower center of the rotating gimbal 7 is fitted onto the outer wall of the adjusting rotating rod 304 via a movable adjusting hole 308. When the adjusting rotating rod 304 is driven to rotate, the movable block 307 is also controlled to move back and forth within the adjusting control slot 301. A guide stabilizing block 309 is fitted onto the outer wall of the guide fixing rod 306 via a guide moving hole 310. The movement of the movable block 307 simultaneously controls the movement of the guide stabilizing block 309, enhancing the stability of the rotating gimbal 7.

[0027] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An AGV mechanism with 3 degrees of freedom, comprising an AGV vehicle body (1), characterized in that: The upper end of the AGV trolley body (1) is fixedly connected to the AGV top plate (2). The upper end of the AGV top plate (2) is positioned and installed with a module support frame (4). The front end of the module support frame (4) is positioned and installed with a lifting module (5). The front end of the lifting module (5) is movably connected with a gimbal fixing frame (6). The upper end of the gimbal fixing frame (6) is movably connected with a gimbal moving mechanism (3). The upper end of the gimbal moving mechanism (3) is positioned and installed with a rotating gimbal (7). The gimbal moving mechanism (3) includes an adjustment control groove (301), a positioning partition (302), a control motor (303), an adjustment rotation rod (304), a guide stabilizing groove (305), a guide fixing rod (306), a movable moving block (307), a moving adjustment hole (308), a guide stabilizing block (309), and a guide moving hole (310).

2. The AGV mechanism with 3 degrees of freedom according to claim 1, characterized in that: The upper end of the AGV trolley body (1) is fixedly connected to the lower end of the AGV top plate (2). The upper end of the AGV top plate (2) is fixed to the lower end of the module support frame (4) by bolts. The lifting module (5) is positioned and installed at the front end of the module support frame (4). The gimbal fixing frame (6) moves at the front end of the lifting module (5) by a screw.

3. The AGV mechanism with 3 degrees of freedom according to claim 2, characterized in that: The adjustment control slot (301) is located in the middle of the upper end of the gimbal fixing frame (6). The positioning partition (302) is located on the inner wall of the adjustment control slot (301). The control motor (303) is located on one side of the positioning partition (302). The adjustment rotation rod (304) is located on the inner side of the adjustment control slot (301). The guide stabilization slots (305) are all located on both sides of the upper end of the gimbal fixing frame (6). The guide fixing rod (306) is located on the inner side of the guide stabilization slot (305).

4. The AGV mechanism with 3 degrees of freedom according to claim 3, characterized in that: The movable block (307) is located in the middle of the lower end of the rotating gimbal (7), the movable adjustment hole (308) is opened on the movable block (307), the guide stabilizing block (309) is located on both sides of the lower end of the rotating gimbal (7), and the guide movable hole (310) is opened on the guide stabilizing block (309).

5. The AGV mechanism with 3 degrees of freedom according to claim 4, characterized in that: The outer wall of the positioning partition (302) is fixedly connected to the inner wall of the adjustment control groove (301), one end of the control motor (303) is fixedly connected to one side of the positioning partition (302), and one end of the adjustment rotating rod (304) passes through the inner wall of the positioning partition (302) and is connected to the control motor (303).

6. The AGV mechanism with 3 degrees of freedom according to claim 5, characterized in that: Both ends of the guide fixing rod (306) are fixedly connected to the inner wall of the guide stabilizing groove (305). The upper ends of the movable block (307) and the guide stabilizing block (309) are fixedly connected to the lower end of the rotating gimbal (7). The movable block (307) is sleeved on the outer wall of the adjusting rotating rod (304) through the movable adjustment hole (308). The guide stabilizing block (309) is sleeved on the outer wall of the guide fixing rod (306) through the guide movable hole (310).

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