Split type carrying AGV

Abstract

The utility model relates to a split type carrying AGV. The split type carrying AGV comprises a clamping assembly (10), a moving assembly (20) and a frame assembly (30). The clamping assembly (10) and the moving assembly (20) are installed on the frame assembly (30). The moving assembly (20) comprises a plurality of steering wheels (21); the steering wheels (21) are arranged in the horizontal direction; the clamping assembly (10) is located between the steering wheels (21). Through horizontal arrangement of the steering wheels, the omni-directional moving capacity of the AGV can be improved, and transverse translation, oblique movement or in-situ rotation can be achieved. And the steering wheels are horizontally arranged, so that the width of the carrying AGV can be reduced, and the carrying AGV can be more suitable for a narrow space. And a plurality of steering wheels are arranged, so that the path can be flexibly planned, and the AGV is suitable for moving in a dynamic environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cabinet device, in particular to a split type carrying AGV. BACKGROUND

[0002] Automated Guided Vehicle (AGV) is a kind of wheeled mobile robot, which moves along the guide wire or marker block or magnetic strip on the floor, or through visual navigation or laser navigation. It is commonly used in industrial production, and is used to transport goods in workshops and warehouses.

[0003] The common application scene of the carrying AGV at present is to carry vehicles in a stereo garage. In the related art, the rudder wheel of the carrying AGV is on the same side as the clamping arm clamping the wheels of the carrying AGV.

[0004] This makes it difficult to move flexibly in the transverse direction, and the transverse movement flexibility is poor, and it is not flexible enough to move in a narrow environment. SUMMARY

[0005] The present application aims to solve at least one of the above technical problems, by providing a split type carrying AGV to ensure to improve the transverse flexibility of the carrying AGV and to improve the application range of the carrying AGV.

[0006] The split type carrying AGV provided by the present application adopts the following technical scheme:

[0007] A split type carrying AGV, comprising a clamping assembly, a moving assembly and a frame assembly; the clamping assembly and the moving assembly are installed on the frame assembly; the moving assembly comprises a plurality of rudder wheels; the rudder wheels are arranged in a horizontal direction; and the clamping assembly is located between the rudder wheels.

[0008] Optionally, the frame assembly comprises a chassis; the chassis is provided with a clamping mounting portion and a moving mounting portion; the moving mounting portion is connected to the clamping mounting portion, and the moving mounting portion is located on the side of the clamping mounting portion; the clamping assembly is installed on the clamping mounting portion, and the moving assembly is installed on the moving mounting portion; and the rudder wheels are located in the middle or side of the moving mounting portion.

[0009] Further, the number of the moving mounting portions is two, and they are located on both sides of the clamping mounting portion; and the moving mounting portions are arranged in a horizontal direction.

[0010] Further, the moving mounting portion comprises a moving vertical plate and a moving horizontal plate; the moving vertical plate and the moving horizontal plate define an installation space, and the rudder wheels are located in the installation space.

[0011] The clamping mounting part comprises a bottom plate, a clamping longitudinal plate and a clamping transverse plate; the clamping longitudinal plate and the clamping transverse plate are located on the top of the bottom plate; the clamping transverse plate is connected to the bottom plate; and the clamping longitudinal plate is connected to the clamping transverse plate.

[0012] The moving longitudinal plate is connected to the clamping transverse plate.

[0013] Further, the moving mounting part further comprises a rudder wheel mounting plate; the rudder wheel mounting plate is connected to the moving longitudinal plate; the rudder wheel is mounted on the rudder wheel mounting plate; and the rudder wheel is located in the middle or side of the mounting space.

[0014] Further, the moving mounting part further comprises an electrical appliance cabinet; and the electrical appliance cabinet is located in the mounting space.

[0015] Further, the moving assembly further comprises a plurality of driven wheels; the frame assembly further comprises a panel; the driven wheels are located away from the rudder wheel; and the panel is connected to the chassis.

[0016] Further, the moving mounting part further comprises a driven wheel mounting plate; the driven wheels are mounted on the driven wheel mounting plate; and the driven wheels are located on the side of the mounting space.

[0017] Further, the driven wheels are mounted on the panel.

[0018] In summary, the application provides a split type carrying AGV. The horizontal arrangement of the rudder wheels can improve the omnidirectional movement ability of the carrying AGV, and can realize lateral translation, oblique movement or rotation in place. The horizontal arrangement of the rudder wheels can also reduce the width of the carrying AGV, so that the carrying AGV can be more suitable for narrow spaces. The plurality of rudder wheels can be flexibly planned to adapt to the movement of the carrying AGV in a dynamic environment. The application also sets the installation space to install the electrical appliance cabinet, the rudder wheels and the driven wheels, thereby improving the space utilization and reducing the height of the carrying AGV. The carrying AGV can further adapt to low environments and expand the use scenarios of the carrying AGV. The center of gravity of the carrying AGV is lowered to reduce the risk of rollover when turning, sudden stopping or carrying heavy loads, and improve the passing ability on uneven ground. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of a split type carrying AGV provided by the application;

[0020] Figure 2 is Figure 1 is a first axial internal structure schematic diagram of the split type carrying AGV shown in the figure;

[0021] Figure 3 is Figure 1 is a bottom view schematic diagram of the split type carrying AGV shown in the figure;

[0022] Figure 4 is Figure 1 an exploded schematic view of a split type carrying AGV;

[0023] Figure 5 is Figure 1 a second axis view of the internal structure of the split type carrying AGV;

[0024] Figure 6 is Figure 1 a schematic view of the clamping member structure of the split type carrying AGV;

[0025] Figure 7 is Figure 1 a schematic view of the partial structure of the clamping assembly of the split type carrying AGV;

[0026] Figure 8 is another schematic view of the split type carrying AGV provided by the embodiments of the present application;

[0027] Figure 9 is still another schematic view of the split type carrying AGV provided by the embodiments of the present application;

[0028] Figure 10 is still another schematic view of the split type carrying AGV provided by the embodiments of the present application;

[0029] Figure 11 is still another schematic view of the split type carrying AGV provided by the embodiments of the present application;

[0030] Figure 12 is Figure 1 a first working schematic view of the split type carrying AGV of the embodiments;

[0031] Figure 13 is Figure 1 a second working schematic view of the split type carrying AGV of the embodiments.

[0032] 10, clamping assembly; 11, clamping piece; 111, clamping arm; 1111, worm part; 112, clamping auxiliary wheel; 113, blocking plate; 12, clamping transmission piece; 121, second gear; 122, first transmission shaft; 1221, first worm part; 123, second transmission shaft; 1231, second worm part; 124, coupling; 13, clamping driving piece; 131, clamping driving motor; 132, first gear; 20, moving assembly; 21, steering wheel; 22, driven wheel; 30, frame assembly; 31, base frame; 311, clamping mounting part; 3111, bottom plate; 3112, clamping vertical plate; 3113, clamping horizontal plate; 31131, fixed horizontal plate; 31132, bearing seat; 31133, bearing; 312, moving mounting part; 3121, moving vertical plate; 31211, mounting space; 3122, moving horizontal plate; 3123, steering wheel mounting plate; 3124, driven wheel mounting plate; 3125, electrical cabinet; 32, panel. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0035] In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The following description is presented to enable any person skilled in the art to make and use the application. For purposes of explanation, specific details are set forth in order to provide a thorough understanding of the application. It will be apparent to one skilled in the art, however, that the application can be practiced without the specific details presented herein. In other instances, well known structures and processes are not elaborated in order to avoid obscuring the subject matter of this application. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features presented herein.

[0036] The embodiments of the present application disclose a split type carrying AGV. Referring to Figures 1-7 The split type carrying AGV can comprise a clamping assembly 10, a moving assembly 20 and a frame assembly 30. The clamping assembly 10 and the moving assembly 20 are installed on the frame assembly 30.

[0037] The moving assembly 20 can comprise a steering wheel 21 and a driven wheel 22. The number of the steering wheels 21 can be at least one or more. The steering wheels 21 are arranged in a horizontal direction, and the clamping assembly 10 is located between the steering wheels 21.

[0038] In the embodiments of the present application, the steering wheels are arranged horizontally and are arranged on different sides of the clamping assembly 10, so that the omnidirectional movement capability of the carrying AGV can be improved, the lateral translation, the oblique movement or the rotation in place can be realized. In addition, the horizontal arrangement of the steering wheels can also reduce the width of the carrying AGV, so that the carrying AGV can be more suitable for narrow space.

[0039] It can be understood that the frame assembly 30 can comprise a chassis 31 and a panel 32, and the panel 32 is connected to the chassis 31. The chassis 31 can be provided with a clamping mounting portion 311 and a moving mounting portion 312. The moving mounting portion 312 is connected to the clamping mounting portion 311, and the moving mounting portion 312 is located on the side of the clamping mounting portion 311. The clamping assembly 10 is installed on the clamping mounting portion 311, and the moving assembly 20 is installed on the moving mounting portion 312.

[0040] Specifically, the number of the moving mounting portions 312 can be two, the moving mounting portions 312 are located on both sides of the clamping mounting portion 311, and the moving mounting portions 312 are arranged in a horizontal direction.

[0041] It can be understood that the moving mounting portion 312 can include a moving vertical plate 3121, a moving horizontal plate 3122, a rudder wheel mounting plate 3123, and a driven wheel mounting plate 3124. The moving vertical plate 3121 and the moving horizontal plate 3122 are defined with a mounting space 31211, and the rudder wheel 21, the driven wheel 22, the rudder wheel mounting plate 3123, and the driven wheel mounting plate 3124 are located in the mounting space 31211. The driven wheel 22 is located away from the rudder wheel 21. The rudder wheel 21 is mounted on the rudder wheel mounting plate 3123, and the driven wheel 22 is mounted on the driven wheel mounting plate 3124.

[0042] Specifically, the rudder wheel 21 can be located in the middle of the mounting space 31211, and the driven wheel 22 can be located at the corner of the mounting space 31211.

[0043] Specifically, the clamping mounting portion 311 can include a bottom plate 3111, a clamping vertical plate 3112, and a clamping horizontal plate 3113. The clamping vertical plate 3112 and the clamping horizontal plate 3113 are located on the top of the bottom plate 3111, the clamping horizontal plate 3113 is connected to the bottom plate 3111, and the clamping vertical plate 3112 is connected to the clamping horizontal plate 3113. The moving vertical plate 3121 is connected to the clamping horizontal plate 3113.

[0044] It can be understood that the clamping assembly 10 can include a clamping piece 11, a clamping transmission piece 12, and a clamping driving piece 13. The clamping piece 11 is rotatably connected to the bottom plate 3111, the clamping transmission piece 12 and the clamping driving piece 13 are mounted on the clamping horizontal plate 3113. The clamping driving piece 13 is connected to the clamping transmission piece 12, and the clamping transmission piece 12 is connected to the clamping piece 11. The clamping driving piece 13 drives the clamping transmission piece 12, the clamping transmission piece 12 drives the clamping piece 11, and thus the clamping driving piece 13 can control the rotation of the clamping piece 11. The clamping piece 11 is used for clamping the target.

[0045] Specifically, the clamping driving piece 13 is connected to the clamping transmission piece 12 through a gear. The clamping transmission piece 12 is connected to the clamping piece 11 through a worm gear. The number of clamping pieces 11 can be four.

[0046] It can be understood that the chassis is divided into the clamping mounting part 311 and the moving mounting part 312, which can isolate risks, reduce interference or conflict, and improve stability, and is also convenient for subsequent maintenance and expansion. The clamping mounting part 311 and the moving mounting part 312 are independent of each other, which can avoid the negative influence occurring in the moving mounting part 312 from spreading to the clamping mounting part 311, and vice versa. The clamping mounting part 311 and the moving mounting part 312 are independent of each other, which can avoid the working of the clamping assembly 10 and the moving assembly 20 interfering with each other and reducing interference conflict. In this way, the overall working stability of the split type carrying AGV can be improved. The clamping mounting part 311 and the moving mounting part 312 are independent of each other, which can conveniently and quickly divide the maintenance area, quickly replace parts, and also facilitate maintenance. The clamping mounting part 311 and the moving mounting part 312 are independent of each other, which can conveniently and quickly determine the installation position of the expansion parts and timely judge the expansion possibility.

[0047] For further reference Figures 6-7 It can be understood that the clamping part 11 can include a clamping arm 111, a clamping auxiliary wheel 112, and a blocking plate 113. The clamping auxiliary wheel 112 and the blocking plate 113 are fixedly installed on the clamping arm 111. The clamping wall is rotatably connected to the bottom plate 3111. The clamping auxiliary wheel 112 can facilitate clamping the target, and the blocking plate 113 can improve the clamping stability.

[0048] The clamping horizontal plate 3113 can include a fixed horizontal plate 31131, a bearing seat 31132, and a bearing 31133. Specifically, the bearing 31133 is fixedly connected to the fixed horizontal plate 31131, and the bearing 31133 is connected in the bearing seat 31132. The clamping transmission part 12 is arranged in the bearing 31133, and the clamping transmission part 12 is installed on the clamping horizontal plate 3113.

[0049] It can be understood that the clamping drive part 13 can include a clamping drive motor 131 and a first gear 132. The clamping drive motor 131 is connected to the first gear 132.

[0050] The clamping transmission part 12 can include a second gear 121, a first transmission shaft 122, a second transmission shaft 123, and a shaft coupling 124.

[0051] The first transmission shaft 122 can be provided with a first worm part 1221, and the second transmission shaft 123 can be provided with a second worm part 1231. The first transmission shaft 122 and the second transmission shaft 123 are arranged in the bearing 31133.

[0052] The top of the clamping arm 111 can be provided with a worm wheel part 1111.

[0053] The first transmission shaft 122 is connected to the second transmission shaft 123 through the shaft coupling 124. The second gear 121 is connected to the first transmission shaft 122. The first gear 132 engages the second gear 121. The worm gear part 1111 cooperates with the first worm part 1221 or the second worm part 1231.

[0054] The clamping driving motor 131 drives the first gear 132 to rotate, the first gear 132 drives the second gear 121 to rotate, and then drives the first transmission shaft 122 and the second transmission shaft 123 to rotate, so that the first worm part 1221 or the second worm part 1231 drives the clamping arm 111 to rotate.

[0055] Specifically, the first gear 132 and the second gear 121 are conical gears.

[0056] It can be understood that the second gear 121 can be multiple, and the clamping driving part 13 can also be multiple. The second gear 121 is connected to the first transmission shaft 122 and the second transmission shaft 123 at the same time, the clamping driving part 13 is connected to the second gear 121, the clamping driving part 13 drives the first transmission shaft 122 and the second transmission shaft 123 at the same time, and the shaft coupling 124 can ensure the consistency of the rotation of the first transmission shaft 122 and the second transmission shaft 123. In this way, the consistency of the rotation of the clamping arm 111 can be improved, the clamping stability of the clamping assembly 10 can be ensured, the working stability of the split type carrying AGV can be improved, and the damage of a single clamping driving motor 131 can also be avoided. Influence the work of the split type carrying AGV, further improve the working stability of the split type carrying AGV.

[0057] Please further refer to Figure 8 It can be understood that the plurality of rudders 21 can be located on the left side of the installation space 31211. The driven wheel 22 can be located on the right side away from the rudder 21. The plurality of rudders 21 can be arranged in a horizontal direction.

[0058] The moving installation part 312 can also include an electrical cabinet 3125. The electrical cabinet 3125 can be used to store electrical appliances.

[0059] Please further refer to Figure 9 It can be understood that the plurality of rudders 21 can be located on the right side of the installation space 31211. The driven wheel 22 can be located on the left side away from the rudder 21. The plurality of rudders 21 can be arranged in a horizontal direction.

[0060] Please further refer to Figure 10 It can be understood that the driven wheel 22 can also be installed on the panel 32. The driven wheel 22 is located away from the rudder 21.

[0061] Specifically, the driven wheel 22 installed on the panel 32 can be used for force and load bearing. The driven wheel 22 located in the installation space 31211 is an auxiliary action, which can prevent the vehicle body from tilting.

[0062] Please further refer to Figure 11 It can be understood that the plurality of steering wheels 21 can be located on the left side or the right side of the installation space 31211. The driven wheels 22 are located away from the steering wheels 21. The plurality of steering wheels 21 can be arranged in an inclined direction.

[0063] It can be understood that the driven wheels 22 can also be installed in positions outside the installation space 31211 in the chassis 31. The driven wheels 22 installed in positions outside the installation space 31211 in the chassis 31 can be used for force and load bearing. The driven wheels 22 located in the installation space 31211 are auxiliary, which can prevent the vehicle body from tilting.

[0064] The steering wheels 21 are arranged in a horizontal direction, and the driven wheels 22 are located away from the steering wheels 21. The steering wheels 21 can be located in the middle or side of the installation space 31211. The plurality of steering wheels can be arranged in a horizontal direction or an inclined direction. The steering wheels 21 can be differential steering wheels.

[0065] Please further refer to Figures 12-13 It can be understood that the split carrying AGV can be used for carrying vehicles.

[0066] The split carrying AGV cooperates with another split carrying AGV to move to the bottom of the vehicle;

[0067] Respectively move to the positions corresponding to the front wheels and rear wheels of the vehicle;

[0068] The clamping assembly 10 works, and the clamping drive 13 drives the clamping piece 11 to rotate through the clamping transmission 12 to clamp the wheels;

[0069] The split carrying AGV cooperates with another split carrying AGV to move the vehicle to a designated position;

[0070] The clamping assembly 10 works, and the clamping drive 13 drives the clamping piece 11 to rotate through the clamping transmission 12 to clamp the wheels;

[0071] The split carrying AGV and another split carrying AGV leave the vehicle and go to the next designated position.

[0072] It can be understood that the present application installs the steering wheels 21 on the side of the installation space 31211, and the driven wheels 22 are located away from the steering wheels 21. In this way, the error or jitter that may be generated by the cooperation of multiple wheels can be reduced, the response speed is fast, the turning stability is enhanced. It can also reduce the complexity of the algorithm, reduce the turning radius of the AGV, and improve the space adaptability.

[0073] In summary, the application can improve the omnidirectional movement ability of the carrying AGV by arranging the steering wheels horizontally, and can realize lateral translation, oblique movement or rotation in place. Moreover, the horizontal arrangement of the steering wheels can also reduce the width of the carrying AGV, so that the carrying AGV can be more suitable for narrow spaces. Moreover, multiple steering wheels are provided, which can flexibly plan the path and be suitable for the movement of the carrying AGV in a dynamic environment. The application also sets the installation space, installs the electrical cabinet, the steering wheel and the driven wheel by using the installation space, improves the space utilization rate and reduces the height of the carrying AGV. Further, the carrying AGV can adapt to low environments and expand the use scenarios of the carrying AGV. The application reduces the center of gravity of the carrying AGV, reduces the risk of rollover when turning, sudden stopping or loading, and improves the passing ability on uneven ground.

[0074] The above is only an embodiment of the application, and does not limit the patent scope of the application. Any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the application.

Claims

1. A split body carrying AGV, characterized in that: The split carrying AGV comprises a clamping assembly (10), a moving assembly (20), and a frame assembly (30); the clamping assembly (10) and the moving assembly (20) are installed on the frame assembly (30); the moving assembly (20) comprises a plurality of rudders (21); the rudders (21) are arranged in a horizontal direction; the clamping assembly (10) is located between the rudders (21).

2. The split-body handling AGV of claim 1, wherein: The frame assembly (30) comprises a chassis (31); the chassis (31) is provided with a clamping mounting portion (311) and a moving mounting portion (312); the moving mounting portion (312) is connected to the clamping mounting portion (311), and the moving mounting portion (312) is located on the side of the clamping mounting portion (311); the clamping assembly (10) is installed on the clamping mounting portion (311), and the moving assembly (20) is installed on the moving mounting portion (312); the rudders (21) are located in the middle or side of the moving mounting portion (312).

3. The split-body handling AGV of claim 2, wherein: The number of the moving mounting portions (312) is two, and the moving mounting portions (312) are located on both sides of the clamping mounting portion (311); the moving mounting portions (312) are arranged in a horizontal direction.

4. The split-body carrying AGV according to claim 2, characterized in that: The moving mounting portion (312) comprises a moving vertical plate (3121) and a moving horizontal plate (3122); the moving vertical plate (3121) and the moving horizontal plate (3122) define an installation space (31211), and the rudders (21) are located in the installation space (31211); The clamping mounting portion (311) comprises a bottom plate (3111), a clamping vertical plate (3112), and a clamping horizontal plate (3113); the clamping vertical plate (3112) and the clamping horizontal plate (3113) are located on the top of the bottom plate (3111), the clamping horizontal plate (3113) is connected to the bottom plate (3111), and the clamping vertical plate (3112) is connected to the clamping horizontal plate (3113); The moving vertical plate (3121) is connected to the clamping horizontal plate (3113).

5. The split-body handling AGV of claim 4, wherein: The moving mounting portion (312) further comprises a rudder mounting plate (3123); the rudder mounting plate (3123) is connected to the moving vertical plate (3121); the rudders (21) are installed on the rudder mounting plate (3123); and the rudders (21) are located in the middle or side of the installation space (31211).

6. The split-body handling AGV of claim 4, wherein: The moving mounting portion (312) further comprises an electrical cabinet (3125); and the electrical cabinet (3125) is located in the installation space (31211).

7. The split-body handling AGV of claim 4, wherein: The moving assembly (20) further comprises a plurality of driven wheels (22); the frame assembly (30) further comprises a panel (32); the driven wheels (22) are located in a direction away from the rudders (21); and the panel (32) is connected to the chassis (31).

8. The split-body handling AGV of claim 7, wherein: The moving mounting portion (312) further comprises a driven wheel mounting plate (3124); the driven wheels (22) are installed on the driven wheel mounting plate (3124); and the driven wheels (22) are located on the side of the installation space (31211).

9. The split-body handling AGV of claim 8, wherein: The driven wheels (22) are further installed on the panel (32).

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