Latent traction AGV with fixed and universal wheel switching function

Abstract

The utility model discloses a latent traction AGV with a fixed universal wheel switching function. The latent traction AGV comprises a supporting mechanism and a driving mechanism in transmission connection with the supporting mechanism. The driving lifting mechanism is arranged in the supporting mechanism and is in transmission connection with the driving mechanism; the bolt lifting mechanism is movably arranged in the supporting mechanism in a penetrating manner; the wheel switching mechanism comprises a supporting assembly. The rotating wheel assembly is rotationally arranged on the supporting assembly in a penetrating manner; the follow-up assembly is rotationally arranged on the supporting assembly and is in meshed connection with the rotating wheel assembly; and the directional limiting assembly is arranged on the supporting assembly and can be used for fixing and limiting the follow-up assembly. The directional limiting assembly is used for fixing and limiting the follow-up assembly or releasing limiting of the follow-up assembly, so that the directional or universal function of the rotating wheel assembly is achieved, and the problem that universal and directional switching of wheels in an existing latent traction AGV can not be achieved according to actual requirements is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field especially a kind of latent traction AGV with fixed universal wheel switching function. BACKGROUND

[0002] The latent traction AGV trolley is an automatic transport device, which can be hidden at the bottom of the object carrying trolley, mainly used for dragging the vehicle loaded with goods, flexible operation in limited space, to realize efficient goods handling;The latent traction AGV trolley has the characteristics of intelligent navigation, flexible adaptation and safety and stability, and is suitable for warehouse and manufacturing industry scenes, and will be more intelligent in the future, improving the level of logistics automation.

[0003] In the prior art, the latent traction AGV generally adopts two universal wheels at the front of the vehicle, a driving mechanism in the middle of the vehicle and two directional wheels at the rear of the vehicle;The wheel system of the material car generally adopts two universal wheels in front and two directional wheels at the rear;When the directional wheels of the latent traction AGV and the directional wheels of the material car are not level and the latent traction AGV turns while towing the material car, the directional wheels of the latent traction AGV will compete with the directional wheels of the material car and produce sliding friction with the ground, thereby accelerating the wear of the directional wheel surface and the ground;Meanwhile, the universal wheels in the prior art support 360° rolling in any direction, and the directional wheels only support directional rolling, so they cannot be switched with each other, which cannot meet the actual needs of the latent traction AGV;Therefore, the latent traction AGV with fixed universal wheel switching function is provided to solve the above problems. SUMMARY

[0004] One of the purposes of the utility model is to provide a latent traction AGV with fixed universal wheel switching function, so as to solve the problem that the wheels in the existing latent traction AGV cannot be switched between universal and directional according to actual needs.

[0005] The latent traction AGV with fixed universal wheel switching function can be realized by the following technical solutions:

[0006] The latent traction AGV with fixed universal wheel switching function comprises a supporting mechanism, a driving mechanism in transmission connection with the supporting mechanism, a driving lifting mechanism arranged in the supporting mechanism and in transmission connection with the driving mechanism, the driving lifting mechanism driving the driving mechanism to be disconnected with the ground, a bolt lifting mechanism movably penetrating the supporting mechanism, the bolt lifting mechanism realizing detachable connection of the latent traction AGV and the material car, and at least two switching wheel mechanisms respectively rotationally arranged at the tail end of the supporting mechanism.

[0007] The switching wheel mechanism comprises a supporting assembly, a rotating wheel assembly penetrating through the supporting assembly and capable of rotating 360 degrees relative to the supporting assembly, a following assembly rotating on the supporting assembly and engaged with the rotating wheel assembly, and a directional limiting assembly on the supporting assembly and capable of limiting the following assembly.

[0008] In one embodiment, the rotating wheel assembly comprises a rotating supporting structure capable of rotating on the supporting assembly through a first bearing, a wheel body rotating on the rotating supporting structure, and a first gear fixed on the rotating supporting structure and engaged with the following assembly.

[0009] In one embodiment, the following assembly comprises a second bearing fixed on the supporting assembly, a following shaft rotating on the second bearing, a second gear and a limiting block fixed on the following shaft respectively, the second gear engaged with the first gear, and the directional limiting assembly capable of limiting the limiting block.

[0010] In one embodiment, the directional limiting assembly comprises a driving device fixed on the supporting assembly, a sliding structure in transmission connection with the driving device and capable of sliding relative to the supporting assembly, and at least two guide wheels on the sliding structure and capable of limiting the limiting block.

[0011] In one embodiment, the supporting assembly is provided with a first sensor and a second sensor respectively, and the directional limiting assembly is provided with a first sensing sheet and a second sensing sheet capable of sensing the first sensor and the second sensor respectively.

[0012] In one embodiment, the driving mechanism comprises a supporting rotating assembly, a driving wheel assembly rotating below the supporting rotating assembly, a swing arm assembly rotating above the supporting rotating assembly and hinged with the supporting mechanism, and an angle recognition assembly penetrating through the swing arm assembly and in transmission connection with the supporting rotating assembly, capable of monitoring the rotating angle between the driving mechanism and the supporting mechanism in real time.

[0013] In one of the embodiments, the driving lifting mechanism comprises a manual lifting assembly and an automatic lifting assembly, both of which are arranged in the supporting mechanism and are in transmission connection with the lifting plate on the swing arm assembly respectively; the manual lifting assembly comprises a first mounting seat, a lifting rod and a rotating handle, the first mounting seat is fixedly arranged in the supporting mechanism, the lifting rod is slidingly arranged on the first mounting seat and is in transmission connection with the lifting plate, and the rotating handle is rotatably arranged on the first mounting seat and is in transmission connection with the lifting rod; the automatic lifting assembly comprises a second mounting seat, an electric push rod and a rotating block, the second mounting seat is fixedly arranged in the supporting mechanism; the electric push rod is fixedly arranged on the second mounting seat; and the rotating block is rotatably connected to the second mounting seat and is in transmission connection with the electric push rod and the lifting plate at both ends respectively.

[0014] In one of the embodiments, the bolt lifting mechanism comprises a bolt assembly, which is movably arranged in the supporting mechanism; a bolt automatic lowering assembly and a bolt manual lowering assembly, which are in transmission connection with the bolt assembly respectively.

[0015] In one of the embodiments, the bolt assembly comprises a third mounting seat, which is fixedly arranged in the supporting mechanism; a guide shaft, which is longitudinally fixedly arranged on the third mounting seat; a bolt shaft structure, which is movably arranged on the guide shaft and movably penetrates the third mounting seat; the bolt automatic lowering assembly and the bolt manual lowering assembly are in transmission connection with the bolt shaft structure respectively; and an elastic member, which is movably arranged on the guide shaft and is arranged between the third mounting seat and the bolt shaft structure.

[0016] In one of the embodiments, the utility model further comprises an electric control mechanism, a power supply, a scanning monitoring mechanism and a display key mechanism; the electric control mechanism and the power supply are arranged in the supporting mechanism respectively, the electric control mechanism is in electric connection with the driving mechanism, the driving lifting mechanism, the bolt lifting mechanism, the tail jacking mechanism, the power supply, the scanning monitoring mechanism and the display key mechanism respectively; the scanning monitoring mechanism is arranged on the side of the supporting mechanism; and the display key mechanism is arranged on the supporting mechanism.

[0017] Compared with the prior art, the utility model has the beneficial effects that:

[0018] The utility model discloses a kind of latent traction AGV with fixed universal wheel switching function, and directional limiting assembly is fixed to follow-up assembly respectively by directional limiting assembly, to realize the directional or universal function of rotating wheel assembly, effectively solve the problem that wheel in existing latent traction AGV cannot be switched according to actual demand direction and orientation;By the mutual induction cooperation of two inductive sheets and two inductors, the limiting operation of directional limiting assembly is effectively realized;Meanwhile, the wheel mechanism has the characteristics of simple structure and low cost, and can easily realize the switching operation of orientation and universal direction;

[0019] When the driving wheel assembly in the utility model drives the outer ring of slewing bearing to rotate, the outer ring of slewing bearing drives the pinion and the output shaft of angle encoder to rotate in turn, so that the angle encoder obtains the position signal of driving wheel assembly rotating along the slewing bearing axial direction, and realizes the identification operation of rotating angle between driving mechanism and suspended AGV vehicle body;Meanwhile, the driving wheel assembly adopts integrated driving wheel, so that the components of driving mechanism are less, thereby facilitating the assembly operation of driving mechanism;

[0020] The utility model discloses a kind of latent traction AGV with fixed universal wheel switching function, and manual lifting assembly and automatic lifting assembly are respectively arranged, and both of them can drive the first driving integrated wheel and the second driving integrated wheel in driving mechanism to be disconnected with the contact connection of ground by lifting plate, in the condition of power failure or control failure, manual lifting driving mechanism can be operated by manual lifting assembly;Meanwhile, by bolt automatic descending assembly or bolt manual descending assembly, bolt assembly is moved downward to drive, to realize the disengagement operation of bolt assembly and material car, in the condition of power failure or control failure, bolt manual descending assembly can be used to manually realize the unhooking operation of latent traction AGV and material car. DRAWINGS

[0021] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will be simply introduced to the drawings needed to be used in embodiment, should be understood, the following drawings only show some embodiments of the utility model, therefore should not be regarded as the limitation to scope, for ordinary skilled person in the art, under the premise of not paying creative labor, other related drawings can also be obtained according to these drawings.

[0022] Figure 1 It is the structure schematic diagram of the utility model one kind with fixed universal wheel switching function's latent traction AGV;

[0023] Figure 2 It is Figure 1 The utility model one kind with fixed universal wheel switching function's latent traction AGV another view structure schematic diagram shown in the utility model;

[0024] Figure 3 is Figure 1 The utility model discloses an explosion structure schematic drawing of a lurking traction AGV with fixed universal wheel switching function as shown in the figure, including drive mechanism, drive lifting mechanism, bolt lifting mechanism and switching wheel mechanism.

[0025] Figure 4 is Figure 3 The structure schematic drawing of drive mechanism as shown in the figure.

[0026] Figure 5 is Figure 4 The explosion structure schematic drawing of drive mechanism as shown in the figure.

[0027] Figure 6 is Figure 3 The structure schematic drawing of drive lifting mechanism as shown in the figure.

[0028] Figure 7 is Figure 3 The structure schematic drawing of bolt lifting mechanism as shown in the figure.

[0029] Figure 8 is Figure 3 The structure schematic drawing of switching wheel mechanism as shown in the figure.

[0030] Figure 9 is Figure 8 The explosion structure schematic drawing of switching wheel mechanism as shown in the figure, including rotating wheel subassembly, follow-up subassembly and directional limiting component.

[0031] Figure 10 is Figure 9 The explosion structure schematic drawing of rotating wheel subassembly as shown in the figure.

[0032] Figure 11 is Figure 9 The explosion structure schematic drawing of follow-up subassembly as shown in the figure.

[0033] Figure 12 is Figure 9 The structure schematic drawing of directional limiting component as shown in the figure.

[0034] Indicated in the figure: 10, support mechanism; 11, shell assembly; 111, main shell; 1111, through hole; 1112, buffer; 1113, brush; 112, cover plate; 1121, movable door; 12, front universal wheel set; 13, guide wheel; 14, counterweight; 20, driving mechanism; 21, support rotating assembly; 211, support plate; 2111, hinged seat; 212, swing bearing; 2121, external gear; 22, driving wheel assembly; 221, first mounting bracket; 222, first driving integrated wheel; 223, second driving integrated wheel; 224, rotating shaft structure; 23, swing arm assembly; 231, swing arm body; 2311, hinged hole; 232, driving spring structure; 233, mechanical limiting structure; 234, lifting plate; 24, angle recognition assembly; 241, mounting plate; 242, angle encoder; 243, pinion; 30, driving lifting mechanism; 31, manual lifting assembly; 311, first mounting seat; 312, lifting rod; 313, rotating handle; 32, automatic lifting assembly; 321, second mounting seat; 322, electric push rod; 323, rotating block; 40, bolt lifting mechanism; 41, bolt assembly; 411, third mounting seat; 412, first guide shaft; 413, bolt shaft structure; 414, elastic member; 42, bolt automatic descending assembly; 421, rotary motor; 422, eccentric block; 43, bolt manual descending assembly; 431, mounting cavity; 432, lever; 433, return spring; 50, switching wheel mechanism; 51, support assembly; 511, support structure; 512, guide rail; 513, first inductor; 514, second inductor; 52, rotating wheel assembly; 521, rotating support structure; 5211, support seat; 5212, fixed shaft; 5213, rotating shaft; 522, wheel body; 523, first bearing; 524, first gear; 53, follow-up assembly; 531, second bearing; 532, follow-up shaft; 533, second gear; 534, limiting block; 54, directional limiting assembly; 541, driving device; 5411, second mounting hole; 542, sliding structure; 5421, sliding bracket; 5422, sliding seat; 543, guide wheel structure; 5431, second guide shaft; 5432, pulley body; 544, first inductive sheet; 545, second inductive sheet; 60, electric control mechanism; 61, charging interface; 70, power supply; 80, scanning monitoring mechanism; 81, radar; 82, depth camera; 90, display key mechanism; 91, display screen; 92, key. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. The components of the embodiments of the utility model described and shown in the drawings can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the utility model.

[0037] Please refer to Figures 1-3 As shown in the drawings, the utility model discloses a kind of latent traction AGV with fixed universal wheel switching function, including support mechanism 10, drive mechanism 20, drive lifting mechanism 30, bolt lifting mechanism 40, at least two switching car wheel mechanisms 50, electric control mechanism 60, power supply 70, scanning monitoring mechanism 80 and display button mechanism 90;Support mechanism 10 is support main body, and dolly is detachably arranged on support mechanism 10;Drive mechanism 20 is drivingly connected with support mechanism 10, which drives support mechanism 10 to move;Drive lifting mechanism 30 is arranged in support mechanism 10 and is drivingly connected with drive mechanism 20, which can drive drive mechanism 20 to be disconnected with the contact connection of ground, to facilitate the transfer of AGV;Bolt lifting mechanism 40 is movably penetrated on support mechanism 10, and the hooking and unhooking operation of latent traction AGV and dolly can be realized by bolt lifting mechanism 40;At least two switching car wheel mechanisms 50 are rotatably arranged at the tail end of support mechanism 10 respectively, which can switch the directional rotation and universal rotation, to prevent switching car wheel mechanism 50 from interfering with directional wheel on dolly;Electric control mechanism 60, power supply 70 are fixedly arranged in support mechanism 10 respectively, electric control mechanism 60 is electrically connected with drive mechanism 20, drive lifting mechanism 30, bolt lifting mechanism 40, at least two switching car wheel mechanisms 50, power supply 70, scanning monitoring mechanism 80, display button mechanism 90 respectively, and power supply 70 provides electric energy for drive mechanism 20, drive lifting mechanism 30, bolt lifting mechanism 40, at least two switching car wheel mechanisms 50, electric control mechanism 60, scanning monitoring mechanism 80, display button mechanism 90 respectively;Scanning monitoring mechanism 80 is arranged at the side of support mechanism 10, which carries out real-time monitoring operation to the surrounding environment of support mechanism 10;Display button mechanism 90 is penetrated on support mechanism 10, and man-machine interaction operation is facilitated between user and latent traction AGV by display button mechanism 90.

[0038] Please refer to Figures 1-3 As shown in the drawings, in the embodiment, the support mechanism 10 comprises a shell assembly 11, a front universal wheel group 12, a plurality of guide wheels 13 and a plurality of counterweights 14; the shell assembly 11 is a hollow cavity, which is a support body; the front universal wheel group 12 is rotationally arranged at the front side of the lower end of the shell assembly 11; the plurality of guide wheels 13 are respectively rotationally arranged at the upper end of the shell assembly 11, and the mutual cooperation of the plurality of guide wheels 13 avoids the sliding friction generated during the docking process of the shell assembly 11 and the trolley; the plurality of counterweights 14 are respectively fixedly arranged in the shell assembly 11, and the center of gravity of the latent traction AGV is changed by the counterweights 14, so as to match different trolleys.

[0039] Please refer to Figures 1-3 As shown in the drawings, in the embodiment, the shell assembly 11 comprises a main shell 111 and a cover plate 112, the main shell 111 is a hollow cavity with one end open; and the cover plate 112 is fixedly arranged on the main shell 111. Specifically, a plurality of through holes 1111 are arranged on the main shell 111, the latch lifting mechanism 40, the electric control mechanism 60, the scanning monitoring mechanism 80 and the display button mechanism 90 respectively pass through the main shell 111 through corresponding through holes 1111; a buffer 1112 is arranged on the side of the main shell 111, and the collision between the main shell 111 and external objects is buffered through the buffer 1112; a brush 1113 is further arranged at the bottom of the main shell 111, and foreign matter on the movement line of the latent traction AGV is cleaned through the brush 1113; a movable door 1121 is movably arranged on the cover plate 112, the position of the movable door 1121 corresponds to the position of the driving lifting mechanism 30, manual operation of the driving lifting mechanism 30 is facilitated, so that the driving mechanism 20 is disconnected from the contact connection with the ground.

[0040] Please refer to Figures 1-5 As shown in the drawings, in the embodiment, the driving mechanism 20 mainly comprises a support rotating assembly 21, a driving wheel assembly 22, a swing arm assembly 23 and an angle identification assembly 24; the support rotating assembly 21 is a support body; the driving wheel assembly 22 is rotationally arranged below the support rotating assembly 21, and the two ends thereof can be operated to float up and down relative to the support rotating assembly 21; the swing arm assembly 23 is rotationally arranged above the support rotating assembly 21 and is hingedly connected with the shell assembly 11, and can be operated to rotate relative to the support rotating assembly 21; the angle identification assembly 24 is penetratingly arranged on the swing arm assembly 23 and is in meshing transmission connection with the support rotating assembly 21, and can monitor the rotation angle between the driving mechanism 20 and the shell assembly 11 in real time.

[0041] Please refer to Figure 4 and Figure 5As shown in the drawings, in the embodiment, the support rotating assembly 21 comprises a support plate 211 and a slewing bearing 212; the support plate 211 is a support main body, and the driving wheel assembly 22 is rotationally connected with the support plate 211; the slewing bearing 212 is arranged on the support plate 211 and the outer ring thereof is fixedly connected with the support plate 211, the inner ring of the slewing bearing 212 is fixedly connected with the swing arm assembly 23, and the swing arm assembly 23 can be rotationally operated relative to the support plate 211 through the slewing bearing 212. Specifically, the lower end of the support plate 211 is symmetrically provided with two hinged seats 2111, and the driving wheel assembly 22 is rotationally connected with the two hinged seats 2111 respectively; a plurality of fixing holes are arranged on the support plate 211, and the outer ring of the slewing bearing 212 is fixedly connected with the support plate 211 through the plurality of fixing holes; a plurality of outer gears 2121 are arranged around the outer side of the slewing bearing 212, and the angle recognition assembly 24 and the plurality of outer gears 2121 are in meshing transmission connection.

[0042] As shown in the drawings, Figure 4 and Figure 5 As shown in the drawings, in the embodiment, the driving wheel assembly 22 comprises a first mounting bracket 221, a first driving integrated wheel 222, a second driving integrated wheel 223 and two rotating shaft structures 224; the first mounting bracket 221 is rotationally connected with the support plate 211 through the two rotating shaft structures 224; the first driving integrated wheel 222 and the second driving integrated wheel 223 are fixedly arranged on the first mounting bracket 221 respectively and are electrically connected with the electric control mechanism 60 respectively, and the two of them realize the walking or turning operation of the latent traction AGV. Specifically, the first mounting bracket 221 is symmetrically provided with two first mounting holes, and the two rotating shaft structures 224 are connected with the two hinged seats 2111 respectively through the corresponding first mounting holes; the first driving integrated wheel 222 and the second driving integrated wheel 223 both adopt the prior art, so the specific structure and working process thereof will not be described here, as long as they meet the present application. Specifically, the rotating shaft structure 224 comprises an oil-free shaft sleeve and a rotating shaft main body, the oil-free shaft sleeve is fixedly arranged in the first mounting hole, the rotating shaft main body is fixedly and penetratively arranged on the hinged seat 2111 and penetratively arranged in the oil-free shaft sleeve, and the first mounting bracket 221 is rotationally connected with the rotating shaft main body through the oil-free shaft sleeve, so as to realize the up-and-down floating operation of the first driving integrated wheel 222 and the second driving integrated wheel 223 relative to the support plate 211.

[0043] As shown in the drawings, Figure 4 and Figure 5As shown, the swing arm assembly 23 comprises a swing arm body 231, at least one driving spring structure 232, at least two mechanical limiting structures 233 and a lifting plate 234; the swing arm body 231 is fixedly connected with the inner ring of the swing bearing 212; the at least one driving spring structure 232 is arranged at the upper end of the swing arm body 231, and the shell assembly 11 is connected with the at least one driving spring structure 232; the shell assembly 11 synchronously transmits the elastic force to the first driving integrated wheel 222 and the second driving integrated wheel 223 through the at least one driving spring structure 232, so as to increase the normal pressure of the first driving integrated wheel 222 and the second driving integrated wheel 223 on the ground; the at least two mechanical limiting structures 233 are respectively fixedly arranged on the swing arm body 231 and can be respectively connected with the support plate 211 in contact, so as to realize the limiting operation on the floating angle of the first driving integrated wheel 222 and the second driving integrated wheel 223. In the embodiment, two driving spring structures 232 are respectively arranged at the upper end of the swing arm body 231; two mechanical limiting structures 233 are respectively fixedly arranged on the swing arm body 231 and can be respectively connected with the support plate 211 in contact; and the lifting plate 234 is fixedly arranged on one side of the swing arm body 231 and is arranged opposite to the hinged part of the shell assembly 11. Specifically, two hinged holes 2311 are arranged through the swing arm body 231, and the shell assembly 11 is hinged with the swing arm body 231 through the two hinged holes 2311.

[0044] As shown in the drawings, Figure 5 In the embodiment, the driving spring structure 232 comprises a fixed pin and a spring body, the fixed pin is fixedly arranged on the swing arm body 231; one end of the spring body is arranged on the fixed pin, and the other end is connected with the shell assembly 11. Specifically, the mechanical limiting structure comprises a first fixed plate and a limiting pin, the first fixed plate is fixedly arranged on the swing arm body 231; the limiting pin is fixedly arranged through the first fixed plate and can be connected with the support plate 211 in contact through the swing arm body 231, so as to realize the limiting operation on the floating angle of the first driving integrated wheel 222 and the second driving integrated wheel 223.

[0045] As shown in the drawings, Figure 5 In the embodiment, the angle recognition assembly 24 comprises a mounting plate 241, an angle encoder 242 and a pinion 243; the mounting plate 241 is fixedly arranged on the swing arm body 231; the angle encoder 242 is fixedly arranged on the mounting plate 241 and the output shaft thereof is movably arranged through the swing arm body 231, and the output shaft is electrically connected with the electric control mechanism 60; the pinion 243 is fixedly arranged on the output shaft of the angle encoder 242 and is in meshing transmission connection with a plurality of outer gear wheels 2121 on the outer ring of the swing bearing 212.

[0046] As shown in the drawings, Figure 3 and Figure 6As shown, in the embodiment, the driving lifting mechanism 30 comprises a manual lifting assembly 31 and an automatic lifting assembly 32, which are respectively arranged in the housing assembly 11 and are respectively in transmission connection with the lifting plate 234, and both of them can drive the first driving integrated wheel 222 and the second driving integrated wheel 223 in the driving mechanism 21 to be out of contact with the ground through the lifting plate 234. Specifically, the manual lifting assembly 31 comprises a first mounting seat 311, a lifting rod 312 and a rotating handle 313, the first mounting seat 311 is fixedly installed in the housing assembly 11, the lifting rod 312 is slidingly arranged on the first mounting seat 311 and is in transmission connection with the lifting plate 234, and the rotating handle 313 is rotatably arranged on the first mounting seat 311 and is in transmission connection with the lifting rod 312, by pulling the rotating handle 313, the lifting rod 312 drives the lifting plate 234 to move upward under the guidance of the first mounting seat 311, so that the first driving integrated wheel 222 and the second driving integrated wheel 223 are out of contact with the ground. Specifically, the automatic lifting assembly 32 comprises a second mounting seat 321, an electric push rod 322 and a rotating block 323, the second mounting seat 321 is fixedly installed in the housing assembly 11, the electric push rod 322 is fixedly arranged on the second mounting seat 321 and is in electrical connection with the electric control mechanism 60, and the rotating block 323 is rotatably connected to the second mounting seat 321 and is in transmission connection with the electric push rod 322, which can be in transmission connection with the lifting plate 234, by driving the rotating block 323 through the electric push rod 322, the lifting plate 234 is driven to move, so that the first driving integrated wheel 222 and the second driving integrated wheel 223 are out of contact with the ground. Specifically, the electric push rod 322 is a prior art, so its specific structure and working process will not be described here, as long as it meets the requirements of the present application.

[0047] Please refer to Figure 3 and Figure 7As shown, in the embodiment, the latch lifting mechanism 40 comprises a latch assembly 41, a latch automatic lowering assembly 42 and a latch manual lowering assembly 43; the latch assembly 41 is movably arranged in the housing assembly 11, and the latch assembly 41 can be detachably connected with the dolly; the latch automatic lowering assembly 42 and the latch manual lowering assembly 43 are respectively in driving connection with the latch assembly 41, and both of them can drive the latch assembly 41 to move downward, thereby realizing the disconnection operation with the dolly. Specifically, the latch assembly 41 comprises a third mounting seat 411, a guide shaft 412, a latch shaft structure 413 and an elastic member 414; the third mounting seat 411 is fixedly arranged in the housing assembly 11; the guide shaft 412 is longitudinally fixedly arranged on the third mounting seat 411; the latch shaft structure 413 is movably arranged through the guide shaft 412 and the third mounting seat 411, the guide shaft 412 guides and limits the lifting movement of the latch shaft structure 413, and the latch automatic lowering assembly 42 and the latch manual lowering assembly 43 are respectively in driving connection with the latch shaft structure 413; the elastic member 414 is movably arranged through the guide shaft 412 and arranged between the third mounting seat 411 and the latch shaft structure 413, which provides upward supporting force for the latch shaft structure 413, thereby enabling the latch shaft structure 413 to be engagedly connected with the dolly. Specifically, the latch automatic lowering assembly 42 comprises a rotary motor 421 and an eccentric block 422; the rotary motor 421 is fixedly arranged at the side of the third mounting seat 411 and electrically connected with the electric control mechanism 60, and its output shaft movably penetrates the third mounting seat 411; the eccentric block 422 is fixedly arranged on the output shaft of the rotary motor 421 and in driving connection with the latch shaft structure 413, and the rotary motor 421 drives the latch shaft structure 413 to move downward through the eccentric block 422, thereby automatically realizing the disconnection operation between the latch shaft structure 413 and the dolly. Specifically, the latch manual lowering assembly 43 comprises a mounting cavity 431, a push rod 432 and a return spring 433; the mounting cavity 431 is fixedly arranged through the side of the housing assembly 11; the push rod 432 is rotatably arranged in the mounting cavity 431 and in contact driving connection with the latch shaft structure 413; one end of the return spring 433 is connected with the push rod 432, and the other end thereof is connected with the mounting cavity 431; the push rod 432 is in contact driving connection with the latch shaft structure 413 by overcoming the action force of the return spring 433, thereby driving the latch shaft structure 413 to move downward, and manually realizing the disconnection operation between the latch shaft structure 413 and the dolly.

[0048] Please refer to Figure 3 , Figure 8 and Figure 9As shown in the drawings, in the embodiment, the switching wheel mechanism 50 comprises a support assembly 51, a rotating wheel assembly 52, a following assembly 53 and a directional limiting assembly 54; the support assembly 51 is a support main body, which is fixedly arranged at the lower end of the shell assembly 11; the rotating wheel assembly 52 is rotatably arranged on the support assembly 51, and can rotate 360 degrees relative to the support assembly 51; the following assembly 53 is rotatably arranged on the support assembly 51 and is in meshing connection with the rotating wheel assembly 52, and can rotate following the rotation of the rotating wheel assembly 52; the directional limiting assembly 54 is arranged on the support assembly 51 and can perform a fixed limiting operation on the following assembly 53, so that the rotating wheel assembly 52 can realize directional rotation operation.

[0049] As shown in the drawings, Figure 8 and Figure 9 As shown in the drawings, in the embodiment, the support assembly 51 comprises a support structure 511, a guide rail 512, a first inductor 513 and a second inductor 514; the support structure 511 is fixedly installed on the lower end of the shell assembly 11; the guide rail 512 is fixedly arranged on the support structure 511, the directional limiting assembly 54 is slidingly arranged on the guide rail 512, and the guide rail 512 guides the movement of the directional limiting assembly 54; the first inductor 513 and the second inductor 514 are respectively fixedly arranged on the support structure 511, and respectively induct the movement of the directional limiting assembly 54. In the embodiment, the support structure 511 comprises a fixed plate and a support plate; the fixed plate is fixedly installed on the lower end of the shell assembly 11; the support plate is vertically fixedly arranged on the fixed plate, and the directional limiting assembly 54 is arranged on the support plate. Specifically, the first inductor 513 and the second inductor 514 both adopt photoelectric switches.

[0050] As shown in the drawings, Figures 8-10 As shown in the drawings, in the embodiment, the rotating wheel assembly 52 comprises a rotating support structure 521, a wheel main body 522, a first bearing 523 and a first gear 524; the first bearing 523 is fixedly arranged through the fixed plate; the rotating support structure 521 is arranged through the first bearing 523, and can rotate 360 degrees relative to the fixed plate through the first bearing 523; the wheel main body 522 is rotatably arranged on the rotating support structure 521; the first gear 524 is fixedly arranged on the rotating support structure 521 and is in meshing connection with the following assembly 53, and the first gear 524 rotates following the rotation of the rotating support structure 521, so as to drive the following assembly 53 to rotate relative to the fixed plate.

[0051] As shown in the drawings, Figure 10As shown, specifically, the rotating support structure 521 comprises a support base 5211, a fixed shaft 5212 and a rotating shaft 5213; the support base 5211 is a support main body; the fixed shaft 5212 is fixedly and penetratingly arranged on the support base 5211, and the wheel main body 522 is rotatably arranged on the fixed shaft 5212; the rotating shaft 5213 is fixedly arranged on the support base 5211 and penetratingly arranged in the first bearing 523, and it can be operated to rotate 360 degrees relative to the fixed plate through the first bearing 523; the first gear 524 is fixedly connected with the rotating shaft 5213 through a flat key, so that the first gear 524 and the wheel main body 522 can be freely realized to rotate universally along the axial direction of the rotating shaft 5213 and can bear axial force and radial force.

[0052] Please refer to Figure 8 , Figure 9 and Figure 11 As shown, in the embodiment, the following components are included in the follower assembly 53: a second bearing 531, a follower shaft 532, a second gear 533 and a limiting block 534; the second bearing 531 is fixedly and penetratingly arranged on the fixed plate; the follower shaft 532 is rotatably arranged on the second bearing 531 and can be operated to rotate relative to the fixed plate; the second gear 533 and the limiting block 534 are sequentially fixedly arranged on the follower shaft 532; the second gear 533 is in meshing connection with the first gear 524, the first gear 524 drives the second gear 533 to rotate, thereby sequentially driving the follower shaft 532 and the limiting block 534 to rotate; the directional limiting assembly 54 can be operated to fixedly limit the limiting block 534.

[0053] Please refer to Figure 8 , Figure 9 and Figure 12 As shown, the directional limiting assembly 54 comprises a driving device 541, a sliding structure 542, at least two guide wheel structures 543, a first induction sheet 544 and a second induction sheet 545; the driving device 541 is fixedly installed on the support plate; the sliding structure 542 is slidingly arranged on the guide rail 512 and in transmission connection with the driving device 541, the driving device 541 drives the sliding structure 542 to reciprocate on the guide rail 512; the at least two guide wheel structures 543 are arranged on the sliding structure 542 and can be operated to limit the limiting block 534, thereby realizing directional rotation of the rotating wheel assembly 52; the first induction sheet 544 and the second induction sheet 545 are respectively fixedly arranged on the sliding structure 542 and can be respectively operated to induce the first inductor 513 and the second inductor 514. In the embodiment, the driving device 541 is an electric push rod.

[0054] Please refer to Figure 12As shown, specifically, the sliding structure 542 comprises a sliding bracket 5421 and a sliding seat 5422; the sliding bracket 5421 is in transmission connection with the driving device 541, at least two guide wheel structures 543, a first induction sheet 544 and a second induction sheet 545 are fixedly arranged on the sliding bracket 5421 respectively; the sliding seat 5422 is fixedly arranged on the sliding bracket 5421 and is slidingly arranged on the guide rail 512. Specifically, the guide wheel structure 543 comprises a second guide shaft 5431 and a pulley body 5432; the second guide shaft 5431 is fixedly arranged on the sliding bracket 5421; the pulley body 5432 is rotatably arranged on the second guide shaft 5431 and can be in limiting contact connection with the limiting block 534.

[0055] Please refer to Figures 1-3 As shown, in the embodiment, the electric control mechanism 60 is electrically connected with the driving mechanism 20, the driving lifting mechanism 30, the bolt lifting mechanism 40, the at least two switching wheel mechanisms 50, the power supply 70, the scanning monitoring mechanism 80 and the display key mechanism 90 respectively, the control technology adopted is all prior art, so the specific control process and the product model adopted will not be described here, as long as the application is met; specifically, the electric control mechanism 60 comprises a charging interface 61, the charging operation of the power supply 70 is performed through the charging interface 61; the power supply 70 adopts a polymer lithium ion battery. In the embodiment, the scanning monitoring mechanism 80 comprises a plurality of radars 81 and a depth camera 82, the plurality of radars 81 are arranged on the side edges of the shell assembly 11 and are electrically connected with the electric control mechanism 60, the depth camera 82 is penetratingly arranged at the front end of the shell assembly 11 and is electrically connected with the electric control mechanism 60, the surrounding environment of the latent traction AGV is monitored in real time through the cooperation of the plurality of radars 81 and the depth camera 82. In the embodiment, the display key mechanism 90 comprises a display screen 91 and a plurality of keys 92, the display screen 91 and the plurality of keys 92 are penetratingly arranged on the shell assembly 11 respectively and are electrically connected with the electric control mechanism 60 respectively, at the same time, the display screen 91 performs human-computer interaction operation, the plurality of keys 92 comprise a power on / off key, a reset key, an unclamping brake key and an emergency stop key.

[0056] It needs to be explained that the specific working process of the utility model discloses a latent traction AGV with fixed universal wheel switching function is: when the latent traction AGV empty car travels, the switching wheel mechanism 50 is actively switched from the universal wheel to the directional wheel mode, the driving device 541 drives the sliding structure 542 to move on the guide rail 512 to the direction away from the limiting block 534, the two guide wheel structures 543 follow the movement of the sliding structure 542 and remove the fixed limiting operation on the limiting block 534, so that the first gear 524 and the second gear 533 can relatively rotate, so that the rotating support structure 521 can rotate 360 degrees relative to the fixed plate, and the switching wheel mechanism 50 is switched from the directional wheel to the universal wheel, when the first sensing sheet 544 moves to the first inductor 513 following the movement of the sliding structure 542, the driving device 541 stops working, so that the sliding structure 542 stops moving;

[0057] When the latent traction AGV pulls the material car and travels, the switching wheel mechanism 50 is actively switched from the directional wheel to the universal wheel mode, the driving device 541 drives the sliding structure 542 to move on the guide rail 512 to the direction close to the limiting block 534, the two guide wheel structures 543 follow the movement of the sliding structure 542 and realize the fixed limiting operation on the limiting block 534, so that the second gear 533 is clamped on the first gear 524, and since the rotating support structure 521 is fixedly connected with the first gear 524, the rotating support structure 521 cannot rotate relative to the fixed plate, and the switching wheel mechanism 50 is switched from the universal wheel to the directional wheel, when the second sensing sheet 143 moves to the second inductor 514 following the movement of the sliding structure 542, the driving device 541 stops working, so that the sliding structure 542 stops moving.

[0058] The technical features of the above-described embodiments can be combined arbitrarily, and to make the description concise, all possible combinations of the technical features in the embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that the combinations are within the scope of the description.

[0059] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but it should not be understood as the limitation of the scope of the utility model patent. It should be pointed out that for ordinary skilled persons in the art, on the premise of not departing from the concept of the utility model, a number of modifications and improvements can be made, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A latent traction AGV with a fixed universal wheel switching function, characterized in that, include: Supporting institutions; A drive mechanism, which is connected in transmission to the support mechanism; A drive lifting mechanism is disposed in the support mechanism and is connected to the drive mechanism in a transmission manner. The drive lifting mechanism drives the drive mechanism to disengage from the contact connection with the ground. A pin lifting mechanism is movably installed in the support mechanism, and the pin lifting mechanism enables a detachable connection between the AGV and the material cart. At least two wheel switching mechanisms are rotatably mounted at the rear end of the support mechanism; The wheel switching mechanism includes a support assembly and a rotating wheel assembly that is rotatably disposed on the support assembly, which is capable of rotating 360 degrees relative to the support assembly. A follower component is rotatably mounted on the support assembly and meshes with the rotating wheel assembly; a directional limiting component is mounted on the support assembly and is capable of fixing and limiting the follower component; when the directional limiting component fixes and limits the follower component, the follower component engages with the rotating wheel assembly to achieve the directional operation of the rotating wheel assembly.

2. The latent traction AGV with fixed universal wheel switching function according to claim 1, characterized in that, The rotating wheel assembly includes a rotating support structure, which is rotatably mounted on the support assembly via a first bearing; a wheel body rotatably mounted on the rotating support structure; and a first gear fixedly mounted on the rotating support structure and meshing with the follower assembly.

3. A latent traction AGV with a fixed universal wheel switching function according to claim 2, characterized in that, The follower component includes a second bearing, which is fixedly mounted on the support component; a follower shaft rotatably mounted on the second bearing; a second gear and a limiting block, which are respectively fixedly mounted on the follower shaft. The second gear meshes with the first gear, and the directional limiting component can perform a fixed limiting operation on the limiting block.

4. A latent traction AGV with a fixed universal wheel switching function according to claim 3, characterized in that, The directional limiting component includes a driving device fixedly mounted on the support component; a sliding structure that is pulsatorically connected to the driving device and slidably connected to the support component; and at least two guide wheel structures disposed on the sliding structure and capable of limiting the limiting block.

5. A latent traction AGV with a fixed universal wheel switching function according to claim 4, characterized in that, The support assembly is fixedly provided with a first sensor and a second sensor respectively; the orientation and limiting assembly is provided with a first sensing plate and a second sensing plate, which can respectively perform sensing operations with the first sensor and the second sensor.

6. A latent traction AGV with a fixed universal wheel switching function according to claim 1, characterized in that, The drive mechanism includes a support rotation assembly; a drive wheel assembly rotatably disposed below the support rotation assembly; a swing arm assembly rotatably disposed above the support rotation assembly and hinged to the support mechanism; and an angle recognition assembly that is disposed through the swing arm assembly and meshes with the support rotation assembly, which can monitor the rotation angle between the drive mechanism and the support mechanism in real time.

7. A latent traction AGV with a fixed universal wheel switching function according to claim 6, characterized in that, The drive lifting mechanism includes a manual lifting component and an automatic lifting component, both of which are respectively disposed in the support mechanism and are pulsatorically connected to the lifting plate on the swing arm assembly. The manual lifting component includes a first mounting base, a lifting rod, and a rotating handle. The first mounting base is fixedly installed in the support mechanism. The lifting rod is slidably disposed on the first mounting base and is pulsatorically connected to the lifting plate. The rotating handle is rotatably disposed on the first mounting base and is pulsatorically connected to the lifting rod. The automatic lifting component includes a second mounting base, an electric push rod, and a rotating block. The second mounting base is fixedly installed in the support mechanism. The electric push rod is fixedly disposed on the second mounting base. The rotating block is rotatably connected to the second mounting base, and its two ends are pulsatorically connected to the electric push rod and the lifting plate, respectively.

8. A latent traction AGV with a fixed universal wheel switching function according to claim 1, characterized in that, The pin lifting mechanism includes a pin assembly that is movably disposed within the support mechanism; and an automatic pin lowering assembly and a manual pin lowering assembly that are respectively connected to the pin assembly in a transmission manner.

9. A latent traction AGV with a fixed universal wheel switching function according to claim 8, characterized in that, The pin assembly includes a third mounting base, which is fixedly disposed in the support mechanism; a guide shaft, which is longitudinally fixedly disposed on the third mounting base; a pin shaft structure, which is movably disposed on the guide shaft and movably disposed through the third mounting base, wherein the automatic pin lowering assembly and the manual pin lowering assembly are respectively capable of being drivenly connected to the pin shaft structure; and an elastic element, which is movably disposed on the guide shaft and disposed between the third mounting base and the pin shaft structure.

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