Latent traction AGV with fixed universal wheel lifting switching function

Abstract

The utility model discloses a latent traction AGV with a fixed universal wheel lifting switching function. The latent traction AGV comprises a supporting mechanism, a driving mechanism, a driving lifting mechanism, a plug pin lifting mechanism and at least one fixed universal wheel switching mechanism. The fixed universal wheel switching mechanism comprises a supporting assembly, a driving assembly and a wheel switching assembly, the wheel switching assembly comprises at least one wheel switching mechanism, and each wheel switching mechanism comprises a transmission structure, a connecting rod and a swing wheel structure; the swing wheel structure comprises a swing arm which is hinged to the supporting assembly and is in transmission connection with the connecting rod. The universal wheel and the directional wheel are rotationally arranged below the swing arm, and the connecting rod drives the swing arm to rotate relative to the supporting assembly, so that the universal wheel or the directional wheel is in contact with the ground. According to the utility model, the problem that the wheel of the existing latent traction AGV cannot be switched between the universal direction and the directional direction according to the actual demand is effectively solved.

Description

TECHNICAL FIELD

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

[0002] The latent traction AGV trolley is an automatic transportation device, which can be hidden at the bottom of a material loading trolley, is mainly used for dragging a vehicle loaded with goods, is flexible in limited space, and realizes efficient goods carrying.

[0003] In the prior art, the latent traction AGV generally adopts two universal wheels arranged at the front of the vehicle, a driving mechanism arranged in the middle of the vehicle, and two directional wheels arranged at the rear of the vehicle. The trolley generally adopts two universal wheels at the front and two directional wheels at the rear. When the directional wheels of the latent traction AGV and the directional wheels of the trolley are not level and the latent traction AGV turns with the trolley, the directional wheels of the latent traction AGV and the directional wheels of the trolley will be in competition, and sliding friction with the ground will occur, 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. The two cannot be switched, thereby failing to meet the actual use requirements of the latent traction AGV. Therefore, the vehicle wheel mechanism and the latent traction AGV are provided to solve the above problems. SUMMARY

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

[0005] The latent traction AGV with the function of lifting and switching of fixed universal wheels can be realized through the following technical solutions.

[0006] The latent traction AGV with the function of lifting and switching of fixed universal wheels 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 through the supporting mechanism, the bolt lifting mechanism realizing detachable connection of the latent traction AGV and the trolley, and at least one fixed universal wheel switching mechanism rotatably arranged at the tail end of the supporting mechanism.

[0007] The fixed direction wheel switching mechanism comprises a supporting assembly, a driving assembly fixedly arranged on the supporting assembly, a switching wheel assembly movably arranged on the supporting assembly and in transmission connection with the driving assembly, at least one switching wheel mechanism, a transmission structure rotatably arranged on the supporting assembly and in transmission connection with the driving assembly, a connecting rod in transmission connection with the transmission structure at one end and in transmission connection with a swing wheel structure at the other end and penetrating through the supporting assembly.

[0008] The swing wheel structure comprises a swing arm hingedly arranged on the supporting assembly and in transmission connection with the connecting rod, a universal wheel and a directional wheel rotatably arranged below the swing arm respectively, and the connecting rod drives the swing arm to rotate relative to the supporting assembly so that the universal wheel or the directional wheel is in contact with the ground.

[0009] In one embodiment, the switching wheel assembly comprises two switching wheel mechanisms arranged oppositely, the two switching wheel mechanisms are movably arranged on the supporting assembly respectively, the driving assembly is in transmission connection with one of the switching wheel mechanisms, and a transmission shaft is arranged in transmission between the two switching wheel mechanisms.

[0010] In one embodiment, the supporting assembly comprises a supporting plate, the driving assembly is fixedly arranged on the supporting plate, the two switching wheel mechanisms are movably arranged on the supporting plate respectively, a first inductive switch and a second inductive switch are fixedly arranged on the supporting plate respectively and arranged on the side edges of the two switching wheel mechanisms respectively, the switching wheel mechanism further comprises an inductive sheet fixedly arranged on the side edge corresponding to the transmission structure, and the inductive sheet can be in inductive operation with the first inductive switch or the second inductive switch.

[0011] In one embodiment, the driving assembly comprises a fixed seat fixedly arranged on the supporting assembly, a driving motor fixedly arranged on the fixed seat and capable of forward and reverse rotation, a speed reducer arranged in transmission on the output shaft of the driving motor, a driving gear and a transmission gear in transmission connection with the speed reducer in sequence, and the transmission gear is in transmission connection with the switching wheel assembly.

[0012] In one embodiment, the transmission structure comprises a first rotating shaft rotatably penetrating through a first mounting seat of the supporting assembly via a bearing and in transmission connection with the transmission gear, a transmission block movably arranged in the first mounting seat and fixedly connected with the first rotating shaft, and a second rotating shaft rotatably penetrating through the first mounting seat via a bearing and fixedly connected with the transmission block.

[0013] In one of the embodiments, the driving mechanism comprises a support rotating assembly; a driving wheel assembly rotatably arranged below the support rotating assembly; a swing arm assembly rotatably arranged above the support rotating assembly and hingedly connected with the support mechanism; and an angle identification assembly penetratingly arranged on the swing arm assembly and in meshing transmission connection with the support rotating assembly, which can monitor the rotating angle between the driving mechanism and the support mechanism in real time.

[0014] In one of the embodiments, the driving lifting mechanism comprises a manual lifting assembly and an automatic lifting assembly, which are respectively arranged in the support mechanism and in transmission connection with the lifting plate on the swing arm assembly; the manual lifting assembly comprises a first mounting base, a lifting rod and a rotating handle, the first mounting base is fixedly arranged in the support mechanism, the lifting rod is slidingly penetratingly arranged on the first mounting base and in transmission connection with the lifting plate, and the rotating handle is rotatably arranged on the first mounting base and in transmission connection with the lifting rod; the automatic lifting assembly comprises a second mounting base, an electric push rod and a rotating block, the second mounting base is fixedly arranged in the support mechanism; the electric push rod is fixedly arranged on the second mounting base; and the rotating block is rotatably connected on the second mounting base and in transmission connection with the electric push rod and the lifting plate at two ends thereof.

[0015] In one of the embodiments, the bolt lifting mechanism comprises a bolt assembly, which is movably penetratingly arranged in the support mechanism; a bolt automatic lowering assembly and a bolt manual lowering assembly, which are respectively in transmission connection with the bolt assembly.

[0016] In one of the embodiments, the bolt assembly comprises a third mounting base, which is fixedly arranged in the support mechanism; a guide shaft, which is longitudinally fixedly arranged on the third mounting base; a bolt shaft structure, which is movably penetratingly arranged on the guide shaft and movably penetratingly arranged in the third mounting base, and the bolt automatic lowering assembly and the bolt manual lowering assembly are respectively in transmission connection with the bolt shaft structure; and an elastic member, which is movably penetratingly arranged on the guide shaft and arranged between the third mounting base and the bolt shaft structure.

[0017] 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 respectively arranged in the support mechanism, the electric control mechanism is electrically connected 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, the scanning monitoring mechanism is arranged on the side of the support mechanism, and the display key mechanism is penetratingly arranged on the support mechanism.

[0018] The utility model discloses a kind of latent traction AGV with fixed universal wheel lifting switching function, which can be realized by the following technical solutions:

[0019] The utility model discloses a kind of latent traction AGV with fixed universal wheel lifting switching function, which is driven by driving assembly in turn through transmission structure, connecting rod to drive swing arm relative supporting assembly rotation, so that universal wheel or directional wheel is contacted with ground, switching operation between universal wheel and directional wheel is realized, effectively solve the problem that the wheel of existing latent traction AGV cannot be switched according to actual demand;By the induction operation between inductive switch and sensing sheet, precise control operation is realized;At the same time, by the bevel of connecting rod and transmission block, transmission block is fixed and closely attached on supporting plate, under the action of normal pressure of latent traction AGV car body and material car, the oblique fit between connecting rod and transmission block is firm, no matter directional wheel or universal wheel is subjected to any direction force, directional wheel or universal wheel cannot be separated from ground, the stability and safety of fixed universal wheel switching mechanism are effectively realized;

[0020] 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 in turn to rotate, so that the angle encoder obtains the position signal of the driving wheel assembly rotating along the slewing bearing axial direction, and the recognition operation of the rotating angle between the driving mechanism and the suspended AGV car body is realized;At the same time, the driving wheel assembly adopts an integrated driving wheel, so that the components of the driving mechanism are less, thereby facilitating the assembly operation of the driving mechanism.

[0021] The utility model discloses a kind of latent traction AGV with fixed universal wheel lifting switching function, which is respectively provided with manual lifting assembly and automatic lifting assembly, both of which 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;At the same time, by the movement of the pin assembly downward driven by the bolt automatic descending assembly or the bolt manual descending assembly, the disengagement operation of the pin assembly and the material car is realized, in the condition of power failure or control failure, the unhooking operation of latent traction AGV and the material car can be manually realized by bolt manual descending assembly. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will be briefly introduced to the drawings needed to be used in the embodiment, it should be understood that the following drawings only show some embodiments of the utility model, therefore should not be regarded as the limitation to the scope, for ordinary skilled person in the art, on the premise of not paying creative labor, other related drawings can also be obtained according to these drawings.

[0023] Figure 1 is a structure schematic view of a latent traction AGV with fixed universal wheel lifting switching function of the utility model;

[0024] Figure 2 is another structure schematic view of a latent traction AGV with fixed universal wheel lifting switching function of the utility model from another angle;

[0025] Figure 3 is Figure 1 the explosion structure schematic view of the latent traction AGV with fixed universal wheel lifting switching function of the utility model, including drive mechanism, drive lifting mechanism, bolt lifting mechanism and switching wheel mechanism;

[0026] Figure 4 is Figure 3 the structure schematic view of the drive mechanism;

[0027] Figure 5 is Figure 4 the explosion structure schematic view of the drive mechanism;

[0028] Figure 6 is Figure 3 the structure schematic view of the drive lifting mechanism;

[0029] Figure 7 is Figure 3 the structure schematic view of the bolt lifting mechanism;

[0030] Figure 8 is Figure 3 the structure schematic view of the fixed universal wheel switching mechanism;

[0031] Figure 9 is Figure 8 the explosion structure schematic view of the fixed universal wheel switching mechanism, including switching wheel assembly;

[0032] Figure 10 is Figure 9 the structure schematic view of the switching wheel assembly, including first switching wheel mechanism;

[0033] Figure 11 is Figure 10 the explosion structure schematic view of the first switching wheel mechanism.

[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, first support plate; 2111, first hinged seat; 212, swing bearing; 2121, outer 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, fixed universal wheel switching mechanism; 51, support assembly; 511, second support plate; 5111, fourth mounting seat; 5112, fifth mounting seat; 5113, second hinged seat; 512, first induction switch; 513, second induction switch; 52, driving assembly; 521, fixed seat; 522, driving motor; 523, speed reducer; 524, driving gear; 525, transmission gear; 53, switching wheel assembly; 531, first switching wheel mechanism; 5311, first transmission structure; 53111, first rotating shaft; 53112, transmission block; 531121, first connecting hole; 531122, second connecting hole; 53113, second rotating shaft; 5312, first connecting rod; 53121, first rotating shaft; 53122, second rotating shaft; 5313, first swing wheel structure; 53131, swing plate; 531311, third hinged seat; 531312, connecting rotating shaft; 53132, universal wheel; 53133, directional wheel; 5314, first induction sheet; 532, second switching wheel mechanism; 5321, second transmission structure; 5322, second connecting rod; 5323, second swing wheel structure; 5324, second induction sheet; 533, transmission shaft; 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 present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application 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 present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the protection of the present application.

[0037] Please refer to Figures 1-3As shown, the utility model discloses a kind of latent traction AGV with fixed universal wheel switching function comprising support mechanism 10, drive mechanism 20, drive lifting mechanism 30, bolt lifting mechanism 40, at least one fixed universal wheel switching mechanism 50, electric control mechanism 60, power supply 70, scanning monitoring mechanism 80 and display button mechanism 90;Support mechanism 10 is support main body, dolly is detachably arranged on support mechanism 10;Drive mechanism 20 is connected with support mechanism 10, and it drives support mechanism 10 to move;Drive lifting mechanism 30 is arranged in support mechanism 10 and is connected with drive mechanism 20, and it can drive drive mechanism 20 to separate from the contact connection with ground, to facilitate the transfer of AGV;Bolt lifting mechanism 40 is movably penetrated on support mechanism 10, and hooking and unhooking operation of latent traction AGV and dolly can be realized by bolt lifting mechanism 40;At least one fixed universal wheel switching mechanism 50 is rotatably arranged at the tail end of support mechanism 10 respectively, and it can be switched to directional wheel and universal wheel, to prevent the interference operation of directional wheel in fixed universal wheel switching mechanism 50 and 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 one fixed universal wheel switching mechanism 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 one fixed universal wheel switching mechanism 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, and it 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 for user and latent traction AGV by display button mechanism 90.

[0038] Please refer to Figures 1-3 As shown, in the embodiment, support mechanism 10 includes housing assembly 11, front universal wheel group 12, multiple guide wheels 13 and multiple counterweights 14;Housing assembly 11 is a hollow cavity, which is support main body;Front universal wheel group 12 is rotatably arranged at the front side of lower end of housing assembly 11;Multiple guide wheels 13 are rotatably arranged at the upper end of housing assembly 11 respectively, and sliding friction generated during the docking process of housing assembly 11 and dolly is avoided by the cooperation of multiple guide wheels 13;Multiple counterweights 14 are fixedly arranged in housing assembly 11 respectively, and the center of gravity of latent traction AGV is changed by counterweight 14, to match different dollies.

[0039] Please refer to Figures 1-3As shown, 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; 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 plug-in and lifting mechanism 40, the electric control mechanism 60, the scanning and monitoring mechanism 80 and the display and button mechanism 90 respectively pass through the main shell 111 through the corresponding through holes 1111; the side of the main shell 111 is provided with a buffer 1112, which buffers the collision between the main shell 111 and external objects; the bottom of the main shell 111 is also provided with a brush 1113, which cleans the foreign matter on the latent traction AGV movement line; the cover plate 112 is movably provided with a movable door 1121, the position of the movable door 1121 corresponds to the position of the driving lifting mechanism 30, which facilitates manual operation of the driving lifting mechanism 30, 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 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 rotatably arranged below the support rotating assembly 21, and its two ends can be operated up and down relative to the support rotating assembly 21; the swing arm assembly 23 is rotatably arranged above the support rotating assembly 21 and is hinged to the shell assembly 11, and can be operated relative to the support rotating assembly 21; the angle identification assembly 24 is arranged through the swing arm assembly 23 and is in meshing transmission connection with the support rotating assembly 21, which 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 5 As shown, in the embodiment, the support rotating assembly 21 comprises a first support plate 211 and a slewing bearing 212; the first support plate 211 is a support body, and the driving wheel assembly 22 is in rotational connection with the first support plate 211; the slewing bearing 212 is arranged on the first support plate 211, and its outer ring is fixedly connected with the first support plate 211, and the inner ring of the slewing bearing 212 is fixedly connected with the swing arm assembly 23, so that the swing arm assembly 23 can be operated relative to the first support plate 211 through the slewing bearing 212. Specifically, two first hinge seats 2111 are symmetrically arranged at the lower end of the first support plate 211, and the driving wheel assembly 22 is rotatably connected with the two first hinge seats 2111 respectively; a plurality of fixing holes are arranged on the first support plate 211, and the outer ring of the slewing bearing 212 is fixedly connected on the first 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 identification assembly 24 is in meshing transmission connection with the plurality of outer gears 2121.

[0042] Please refer to Figure 4 and Figure 5 In the embodiment, the driving wheel assembly 22 includes 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 rotatably connected to the first 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 and electrically connected to the electric control mechanism 60, and the two wheels 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 to the two first hinge seats 2111 through the corresponding first mounting holes. The first driving integrated wheel 222 and the second driving integrated wheel 223 both adopt the prior art, and thus the specific structure and working process thereof will not be described here. Specifically, the rotating shaft structure 224 includes an oil-free shaft sleeve and a rotating shaft body. The oil-free shaft sleeve is fixedly arranged in the first mounting hole, and the rotating shaft body is fixedly and penetratively arranged on the first hinge seat 2111 and penetratively arranged in the oil-free shaft sleeve. The first mounting bracket 221 rotates relative to the rotating shaft 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 first support plate 211.

[0043] Please refer to Figure 4 and Figure 5 As shown in the figure, the swing arm assembly 23 includes 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 to the inner ring of the slewing bearing 212. The at least one driving spring structure 232 is arranged at the upper end of the swing arm body 231, and the housing assembly 11 is connected to the at least one driving spring structure 232. The housing 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 fixedly and penetratively arranged on the swing arm body 231 and can be in contact with the first support plate 211, so as to realize the limiting operation of the floating angle of the first driving integrated wheel 222 and the second driving integrated wheel 223. In the embodiment, the two driving spring structures 232 are arranged at the upper end of the swing arm body 231. The two mechanical limiting structures 233 are fixedly and penetratively arranged on the swing arm body 231 and can be in contact with the first support plate 211. The lifting plate 234 is fixedly arranged on one side of the swing arm body 231 and is arranged opposite to the hinge part of the housing assembly 11. Specifically, the swing arm body 231 is provided with two hinge holes 2311, and the housing assembly 11 is hinged to the swing arm body 231 through the two hinge holes 2311.

[0044] Referring to Figure 5 In the embodiment, the driving spring structure 232 includes a fixed pin and a spring body, the fixed pin is fixedly arranged on the swing arm body 231, and the spring body is arranged at one end of the fixed pin and connected with the housing assembly 11 at the other end. Specifically, the mechanical limiting structure includes a first fixed plate and a limiting pin, the first fixed plate is fixedly arranged on the swing arm body 231, and the limiting pin is fixedly arranged on the first fixed plate and penetrates through the swing arm body 231 to be in contact with the first support plate 211, so as to limit the floating angle of the first driving integrated wheel 222 and the second driving integrated wheel 223.

[0045] Referring to Figure 5 In the embodiment, the angle identification assembly 24 includes 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 to penetrate through the swing arm body 231, the output shaft is electrically connected with the electric control mechanism 60, and 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 slewing bearing 212.

[0046] Referring to 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 through 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 2 , Figure 3 , Figure 8 and Figure 9As shown in the figure, the fixed direction wheel switching mechanism 50 comprises a support assembly 51, a driving assembly 52 and a switching wheel assembly 53; the support assembly 51 is a support body, which is fixedly installed on the shell assembly 11; the driving assembly 52 is fixedly arranged on the support assembly 51; the switching wheel assembly 53 is movably arranged on the support assembly 51 and is in transmission connection with the driving assembly 52, and the driving assembly 52 drives the switching wheel assembly 53 to switch between the directional wheel and the universal wheel.

[0049] As shown in the figure, Figure 8 and Figure 9 As shown in the figure, in the embodiment, the support assembly 51 comprises a second support plate 511, a first inductive switch 512 and a second inductive switch 513; the second support plate 511 is fixedly installed on the shell assembly 11, the driving assembly 52 is fixedly arranged on the second support plate 511, and the switching wheel assembly 53 is movably arranged on the second support plate 511; the first inductive switch 512 and the second inductive switch 513 are respectively fixedly arranged on the second support plate 511 and are respectively arranged on the two sides of the switching wheel assembly 53, and they respectively inductively operate different switching states of the switching wheel assembly 53. Specifically, the second support plate 511 is respectively provided with a fourth mounting seat 5111, a fifth mounting seat 5112 and two second hinge seats 5113.

[0050] As shown in the figure, Figure 8 and Figure 9 As shown in the figure, in the embodiment, the driving assembly 52 comprises a fixed seat 521, a driving motor 522, a speed reducer 523, a driving gear 524 and a transmission gear 525; the fixed seat 521 is fixedly arranged on the second support plate 511; the driving motor 522 is fixedly arranged on the fixed seat 521 and can be reversely rotated; the speed reducer 523 is in transmission connection with the output shaft of the driving motor 522, which reduces the rotating speed of the driving motor 522 and increases the output torque thereof; the driving gear 524 is in transmission connection with the speed reducer 523; the transmission gear 525 is in meshing transmission connection with the driving gear 524 and is in transmission connection with the switching wheel assembly 53, and the driving motor 522 drives the switching wheel assembly 53 to convert between different switching states through the speed reducer 523, the driving gear 524 and the transmission gear 525 in sequence.

[0051] As shown in the figure, Figures 8-10As shown in the drawings, in the embodiment, the switching wheel assembly 53 comprises a first switching wheel mechanism 531, a second switching wheel mechanism 532 and a transmission shaft 533; the first switching wheel mechanism 531 and the second switching wheel mechanism 532 are oppositely arranged and movably arranged on the fourth mounting seat 5111 and the fifth mounting seat 5112 respectively, the transmission gear 525 is in transmission connection with the first switching wheel mechanism 531, the driving motor 522 drives the first switching wheel mechanism 531 to perform the conversion operation in different switching states through the speed reducer 523, the driving gear 524 and the transmission gear 525 in sequence; the transmission shaft 533 is fixedly arranged between the first switching wheel mechanism 531 and the second switching wheel mechanism 532, and the first switching wheel mechanism 531 drives the second switching wheel mechanism 532 to move synchronously through the transmission shaft 533. In other embodiments, the switching wheel assembly 53 can also only comprise the first switching wheel mechanism 531, and the transmission gear 525 is in transmission connection with the first switching wheel mechanism 531.

[0052] As shown in the drawings, Figure 9 and Figure 10 As shown in the drawings, in the embodiment, the first switching wheel mechanism 531 comprises a first transmission structure 5311, a first connecting rod 5312, a first swing wheel structure 5313 and a first induction sheet 5314; the first transmission structure 5311 is rotatably arranged on the fourth mounting seat 5111 and in transmission connection with the transmission gear 525; one end of the first connecting rod 5312 is in transmission connection with the first transmission structure 5311, and the other end thereof penetrates through the second support plate 511 and is in transmission connection with the first swing wheel structure 5313, the driving assembly 52 drives the first swing wheel structure 5313 to change the angle relative to the support assembly 51 through the first transmission structure 5311 and the first connecting rod 5312 in sequence, so as to realize the switching operation between the omnidirectional and directional of the first swing wheel structure 5313; the first induction sheet 5314 is fixedly arranged on the side of the first transmission structure 5311, and rotates following the rotation of the first transmission structure 5311, the first induction sheet 5314 can perform the induction operation with the first induction switch 512, and when the first induction sheet 5314 moves into the first induction switch 512, the driving motor 522 stops rotating.

[0053] As shown in the drawings, Figure 11As shown, in the embodiment, the first transmission structure 5311 comprises a first rotating shaft 53111, a transmission block 53112 and a second rotating shaft 53113; the first rotating shaft 53111 is rotatably arranged on the fourth mounting base 5111 through a bearing and is in transmission connection with the transmission gear 525, the transmission gear 525 drives the first rotating shaft 53111 to rotate on the fourth mounting base 5111; the transmission block 53112 is movably arranged in the fourth mounting base 5111 and is fixedly connected with the first rotating shaft 53111, the first rotating shaft 53111 drives the transmission block 53112 to rotate relative to the fourth mounting base 5111; the second rotating shaft 53113 is rotatably arranged on the fourth mounting base 5111 through a bearing and is fixedly connected with the transmission block 53112, the first sensing sheet 5314 is fixedly arranged on one side of the second rotating shaft 53113, and the rotation of the transmission block 53112 is limited and guided by the cooperation of the first rotating shaft 53111 and the second rotating shaft 53113. Specifically, the transmission block 53112 is in the shape of a "H" character, and the part in contact with the first connecting rod 5312 is provided with an inclined surface; the transmission block 53112 is respectively provided with a first connecting hole 531121 and a second connecting hole 531122, one end of the first rotating shaft 53111 and the second rotating shaft 53113 is fixedly arranged in the corresponding first connecting hole 531121, and the first connecting rod 5312 is in transmission connection with the transmission block 53112 through the second connecting hole 531122. Specifically, the first connecting rod 5312 is respectively provided with a first rotating shaft 53121 and a second rotating shaft 53122, the first rotating shaft 53121 is in transmission connection with the transmission block 53112 through the second connecting hole 531122; the first connecting rod 5312 is in transmission connection with the first swing wheel structure 5313 through the second rotating shaft 53122, so as to drive the first swing wheel structure 5313 to switch between universal and directional.

[0054] Please refer to Figure 11As shown, in the embodiment, the first swing wheel structure 5313 comprises a swing plate 53131, a universal wheel 53132 and a directional wheel 53133; both ends of the swing plate 53131 are respectively rotationally connected to the corresponding second hinge seat 5113 and drivingly connected with the first connecting rod 5312; the universal wheel 53132 and the directional wheel 53133 are respectively rotationally arranged below the swing plate 53131, the first connecting rod 5312 drives the swing plate 53131 to rotate relative to the support assembly 51, so that the universal wheel 53132 or the directional wheel 53133 is in contact with the ground, thereby realizing the switching operation between the universal wheel and the directional wheel of the second switching wheel mechanism 50. Specifically, the swing plate 53131 is provided with a third hinge seat 531311, and the first connecting rod 5312 is drivingly connected with the third hinge seat 531311 through the second rotation shaft 53122; the swing plate 53131 is provided with a connecting rotation shaft 531312 penetratingly arranged, and both ends of the connecting rotation shaft 531312 are respectively arranged in the corresponding second hinge seat 5113.

[0055] Please refer to Figures 8-10 As shown, in the embodiment, the second switching wheel mechanism 532 comprises a second driving structure 5321, a second connecting rod 5322, a second swing wheel structure 5323 and a second induction sheet 5324; the second driving structure 5321 is rotationally arranged on the fifth mounting seat 5112 and fixedly connected with the transmission shaft 533; one end of the second connecting rod 5322 is drivingly connected with the second driving structure 5321, and the other end thereof is drivingly connected with the second swing wheel structure 5323 penetratingly through the second support plate 511, the driving assembly 52 drives the second swing wheel structure 5323 to change the angle relative to the support assembly 51 in sequence through the first driving structure 5311, the transmission shaft 533, the second driving structure 5321 and the second connecting rod 5322, thereby realizing the switching operation between the universal wheel and the directional wheel of the second swing wheel structure 5323; the second induction sheet 5324 is fixedly arranged at the side of the second driving structure 5321, and rotates following the rotation of the second driving structure 5321, the second induction sheet 5324 can be inductive operation with the second induction switch 513, when the second induction sheet 5324 moves into the second induction switch 513, the driving motor 522 stops rotating. Specifically, the second driving structure 5321 and the second swing wheel structure 5323 are similar to the first driving structure 5311 and the first swing wheel structure 5313 respectively, and thus the specific structures of the two are not described herein.

[0056] Please refer to Figures 1-3As 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 one fixed universal wheel switching mechanism 50, the power supply 70, the scanning monitoring mechanism 80 and the display key mechanism 90 respectively, and 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 includes a charging interface 61, and the power supply 70 is charged through the charging interface 61; the power supply 70 adopts a polymer lithium ion battery. In the embodiment, the scanning monitoring mechanism 80 includes 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 electrically connected with the electric control mechanism 60, and the depth camera 82 is arranged through the front end of the shell assembly 11 and electrically connected with the electric control mechanism 60, and the surrounding environment of the latent traction AGV is monitored in real time through cooperation of the plurality of radars 81 and the depth camera 82. In the embodiment, the display key mechanism 90 includes a display screen 91 and a plurality of keys 92, the display screen 91 and the plurality of keys 92 are arranged through the shell assembly 11 respectively and electrically connected with the electric control mechanism 60 respectively, and the display screen 91 performs human-computer interaction operation, and the plurality of keys 92 include a power-on key, a reset key, an unclamping key and an emergency stop key.

[0057] It should be noted that the specific working process of the latent traction AGV with the fixed universal wheel lifting switching function is as follows: when the latent traction AGV is empty and runs, the fixed universal wheel switching mechanism 50 is required to be actively switched from the universal wheel to the directional wheel mode, the driving motor 522 rotates clockwise, sequentially drives the first transmission structure 5311 and the second transmission structure 5321 through the speed reducer 523, the driving gear 524 and the transmission gear 525, and drives the first swing wheel structure 5313 and the second swing wheel structure 5323 on the first transmission structure 5311 and the second transmission structure 5321 to rotate 180 degrees through the first connecting rod 5312 and the second connecting rod 5322 respectively, and the directional wheels 53133 on the first swing wheel structure 5313 and the second swing wheel structure 5323 are in contact with the ground when the second induction sheet 5324 moves to the second induction switch 513 following the second transmission structure 5321, and the driving motor 522 stops rotating, thereby realizing the switching operation from the universal wheel to the directional wheel;

[0058] When the latent traction AGV pulls the material car to travel, the universal wheel mechanism 50 needs to be switched from the directional wheel to the universal wheel mode, the driving motor 522 rotates counterclockwise, sequentially through the speed reducer 523, the driving gear 524, the transmission gear 525, the first transmission structure 5311 and the second transmission structure 5321 are driven to rotate 180 degrees synchronously, the first transmission structure 5311 and the second transmission structure 5321 drive the first swing wheel structure 5313 and the second swing wheel structure 5323 on the universal wheel 53132 to contact the ground through the first connecting rod 5312 and the second connecting rod 5322 respectively, when the first sensing sheet 5314 moves to the first sensing switch 512 following the first transmission structure 5311, the driving motor 522 stops rotating, thereby realizing the operation of switching the directional wheel to the universal wheel.

[0059] The technical features of the above-described embodiments can be combined in any manner, 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 contradictions, they should be considered as the scope of the present disclosure.

[0060] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but it should not be understood as the limitation of the scope of the present application. It should be pointed out that for ordinary skilled in the art, on the premise of not departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A latent traction AGV with a fixed universal wheel lifting and switching function, characterized in that, The utility model relates to a kind of AGV (Automatic Guided Vehicle) and material car's detachable connection mechanism, including: support mechanism;Drive mechanism, which is in transmission connection with the support mechanism;Drive lifting mechanism, which is arranged in the support mechanism and is in transmission connection with the drive mechanism, the drive lifting mechanism drives the drive mechanism to be connected with the ground contact;Lift bolt lifting mechanism, which is movably penetrated in the support mechanism, the lift bolt lifting mechanism realizes the detachable connection of latent traction AGV and material car;At least one fixed trunnion wheel switching mechanism, which is rotatably arranged at the tail end of the support mechanism;Wherein, the fixed trunnion wheel switching mechanism includes support assembly and drive assembly fixedly arranged on the support assembly;Switching wheel assembly, which is movably penetrated on the support assembly and is in transmission connection with the drive assembly, includes at least one switching wheel mechanism, the switching wheel mechanism includes transmission structure, which is rotatably arranged on the support assembly and is in transmission connection with the drive assembly;Connecting rod, which is in transmission connection with the transmission structure at one end, and is in transmission connection with swing wheel structure through the support assembly at the other end;Wherein, the swing wheel structure includes swing arm, which is hingedly connected to the support assembly and is in transmission connection with the connecting rod;Fixed trunnion wheel and directional wheel, which are rotatably arranged below the swing arm respectively, the connecting rod drives the swing arm to rotate relative to the support assembly, so that the fixed trunnion wheel or the directional wheel is in contact with the ground. The switching wheel assembly includes two switching wheel mechanisms arranged oppositely, and the two switching wheel mechanisms are movably penetrated on the support assembly respectively, the drive assembly is in transmission connection with one of the switching wheel mechanisms;Transmission shaft, which is in transmission between the two switching wheel mechanisms. The support assembly includes support plate, the drive assembly is fixedly arranged on the support plate, and the two switching wheel mechanisms are movably penetrated on the support plate respectively;First and second inductive switches, which are fixedly arranged on the support plate respectively and arranged on the side of the two switching wheel mechanisms respectively;The switching wheel mechanism further includes inductive sheet, which is fixedly arranged on the side corresponding to the transmission structure, and can be in inductive operation with the first and second inductive switches. The drive assembly includes fixed seat, which is fixedly arranged on the support assembly;Drive motor, which is fixedly arranged on the fixed seat and can be forward and reverse rotated;Speed reducer, which is in transmission on the output shaft of drive motor;Driving gear and transmission gear, which are in transmission connection with the speed reducer in sequence, and the transmission gear is in transmission connection with the switching wheel assembly. The transmission structure includes first rotating shaft, which is rotatably penetrated on the first mounting seat of the support assembly through bearing and is in transmission connection with the transmission gear;Transmission block, which is movably arranged in the first mounting seat and is fixedly connected with the first rotating shaft;Second rotating shaft, which is rotatably penetrated on the first mounting seat through bearing and is fixedly connected with the transmission block. The drive mechanism includes support rotating assembly;Drive wheel assembly, which is rotatably arranged below the support rotating assembly. ​ ​ 2. The latent traction AGV with the fixed omnidirectional wheel lifting and switching function according to claim 1, characterized in that, ​ 3. The latent traction AGV with the function of lifting and switching of the fixed orientation wheels according to claim 2, characterized in that, ​ 4. The latent traction AGV with the function of lifting and switching of the fixed orientation wheels according to claim 1, characterized in that, ​ 5. The latent traction AGV with the function of lifting and switching of the fixed orientation wheels according to claim 4, characterized in that, ​ 6. The latent traction AGV with the fixed omnidirectional wheel lifting and switching function according to claim 1, characterized in that, ​ A swing arm assembly is arranged above the supporting rotating assembly and is hinged with the supporting mechanism; an angle identification assembly is arranged through the swing arm assembly and is in meshing transmission connection with the supporting rotating assembly, which can monitor the rotating angle between the driving mechanism and the supporting mechanism in real time.

7. The latent traction AGV with the function of lifting and switching of the fixed orientation wheels according to claim 6, characterized in that, The driving lifting mechanism comprises a manual lifting assembly and an automatic lifting assembly, which are respectively arranged in the supporting mechanism and are respectively in transmission connection with the lifting plate on the swing arm assembly; the manual lifting assembly comprises a first mounting base, a lifting rod and a rotating handle, the first mounting base is fixedly installed in the supporting mechanism, the lifting rod is slidingly arranged through the first mounting base and is in transmission connection with the lifting plate, and the rotating handle is rotationally arranged on the first mounting base and is in transmission connection with the lifting rod; the automatic lifting assembly comprises a second mounting base, an electric push rod and a rotating block, the second mounting base is fixedly installed in the supporting mechanism; the electric push rod is fixedly arranged on the second mounting base; and the rotating block is rotationally connected to the second mounting base and is in transmission connection with the electric push rod and the lifting plate at both ends thereof.

8. The latent traction AGV with the function of lifting and switching of the fixed orientation wheels according to claim 1, characterized in that, The bolt lifting mechanism comprises a bolt assembly, which is movably arranged through the supporting mechanism; a bolt automatic lowering assembly and a bolt manual lowering assembly, which are respectively in transmission connection with the bolt assembly.

9. The latent traction AGV with the function of lifting and switching of the fixed orientation wheels according to claim 8, characterized in that, The bolt assembly comprises a third mounting base, which is fixedly arranged in the supporting mechanism; a guide shaft, which is longitudinally fixedly arranged on the third mounting base; a bolt shaft structure, which is movably arranged through the guide shaft and the third mounting base; the bolt automatic lowering assembly and the bolt manual lowering assembly are respectively in transmission connection with the bolt shaft structure; and an elastic member, which is movably arranged through the guide shaft and is arranged between the third mounting base and the bolt shaft structure.

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