Self-adaptable ground heavy-load latent AGV

Abstract

The utility model discloses a heavy load latent AGV of self -adaptation ground relates to heavy load AGV technical field, including AGV chassis, AGV chassis side fixedly be provided with the lamp area, through swing bridge type suspension release whole bridge rotation degree of freedom, four wheel layout is equivalent to 'three point one face' structure, ensure that all wheel train reliable ground connection on uneven ground, avoid wheel train from the root source to hang in the air, simplify suspension structure and improve complex ground traffic stability significantly, simultaneously, adopt the linkage of many filiform rods and lift the platform, by precision transmission mechanism drive high accuracy ball screw lifter of servo motor, combine closed loop control, realized very high lifting positioning accuracy and repeat stability, satisfy the demand of precision operation, response speed is fast, no hydraulic lag, combine diagonal laser obstacle avoidance radar, four around anticollision strip, emergency stop button, lamp area and multilevel safety protection of voice loudspeaker, realized 360 degree dead angleless safety guarantee, ensure the operation reliability under the emergency situation.

Description

Technical Field

[0001] This utility model relates to the field of heavy-duty AGV technology, specifically a heavy-duty lurking AGV that can adapt to the ground. Background Technology

[0002] The challenge of ground adaptation for four-wheel drive AGVs: Existing four-wheel drive AGVs are prone to drive wheel slippage when facing uneven ground. To solve this problem, traditional solutions require complex suspension structures, which include springs, dampers, and other components, making them difficult to design and cumbersome. The core issue lies in the "over-positioning" of the four-wheel layout—when there are bumps, depressions, or inclinations on the ground, it is difficult for all four wheels to maintain effective contact with the ground simultaneously, and some wheel systems are prone to being suspended in the air, resulting in unstable transmission of driving force and affecting the operational reliability of the AGV.

[0003] The lifting function of existing heavy-duty AGVs mostly relies on hydraulic lifting solutions. This solution has significant drawbacks, including the risk of leakage and pollution. Hydraulic oil leakage may pollute the environment, making it particularly unsuitable for clean environments. The lifting accuracy and repeatability are low, making it difficult to meet the requirements of precision docking. The system is complex to maintain, requiring regular replacement of wear parts (such as seals) and maintenance of hydraulic oil, resulting in high long-term costs. It also has poor environmental adaptability, being sensitive to temperature, producing significant noise, and being unable to adapt to working environments with high cleanliness requirements. Utility Model Content

[0004] Therefore, in order to overcome the above-mentioned shortcomings, this utility model provides a heavy-duty lurking AGV that can adapt to the ground.

[0005] This invention is implemented as follows: a heavy-duty, stealthy AGV that can adapt to different terrains is constructed. The device includes an AGV chassis; light strips are fixedly installed on the side of the AGV chassis; laser obstacle avoidance radars are installed around the AGV chassis; a touch screen is opened at the center of the front side of the AGV chassis; a voice speaker is fixedly installed on the left side of the front end of the AGV chassis; anti-collision switch strips are installed on both the left and right sides of the front end of the AGV chassis; an emergency stop button is fixedly installed on the side of the front end of the AGV chassis; and a swing bridge suspension is fixedly installed at the bottom of the AGV chassis by bolts.

[0006] Preferably, magnetic navigation sensors are fixedly installed on all four sides of the bottom of the AGV chassis, and an RFID sensor is fixedly installed on the middle side of the bottom of the AGV chassis by bolts; a fixed base plate is fixedly installed on the bottom of the swing bridge suspension by bolts, and swing bearing seats are provided at both ends of the side of the fixed base plate.

[0007] Preferably, a swing shaft is rotatably provided inside the swing bearing housing, and a drive steering wheel for driving and an electric steering wheel for steering are respectively provided on both sides of the bottom of the swing bridge suspension; a servo motor is fixedly installed on the middle side of the AGV chassis by bolts.

[0008] Preferably, the servo motor shaft drive end is equipped with a planetary reducer; the side output shaft of the planetary reducer is fixedly installed with the internal gear of the one-to-two reduction gearbox; the side output shaft of the one-to-two reduction gearbox is fixedly installed with the internal gear of the ball screw jack.

[0009] Preferably, the ball screw jack is specifically composed of a lifting screw, two sets of bevel gears disposed on the bottom side of the lifting screw, and a ball nut, wherein the ball nut is fixedly installed at the bottom of the lifting platform by bolts.

[0010] This utility model has the following advantages: This utility model provides an improved, heavy-duty, stealthy AGV that can adapt to different terrains, and compared with similar equipment, it has the following improvements:

[0011] This utility model describes a heavy-duty, lurking AGV that can adapt to different terrains. By using a swing-bridge suspension to release the rotational freedom of the entire bridge, the four-wheel layout is equivalent to a "three-point, one-plane" structure, ensuring that all wheels are reliably grounded on uneven ground. This fundamentally avoids wheel suspension, simplifies the suspension structure, and significantly improves stability on complex terrain. Simultaneously, a multi-screw linkage lifting platform is employed, driven by a servo motor via a precision transmission mechanism to a high-precision ball screw lifter. Combined with closed-loop control, this achieves extremely high lifting and positioning accuracy and repeatability, meeting the requirements of precision operations. With a fast response speed and no hydraulic lag, combined with multi-layered safety protection including diagonal laser obstacle avoidance radar, four-sided anti-collision strips, an emergency stop button, light strips, and a voice speaker, it achieves 360° safety assurance without blind spots, ensuring operational reliability in emergency situations. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the AGV chassis structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the bottom structure of the AGV chassis of this utility model;

[0014] Figure 3 This is a schematic diagram of the swing bridge suspension layout structure of this utility model;

[0015] Figure 4 This is a schematic diagram of the ball screw jack and servo motor structure of this utility model.

[0016] The components include: AGV chassis-1, light strip-2, laser obstacle avoidance radar-3, touch screen-4, voice speaker-5, anti-collision switch strip-6, emergency stop button-7, lifting screw-8, lifting platform-9, magnetic navigation sensor-10, RFID sensor-11, swing bridge suspension-12, fixed base plate-13, swing bearing seat-14, swing shaft-15, drive steering wheel-16, electric steering wheel-17, servo motor-18, planetary reducer-19, one-to-two reduction gearbox-20, and ball screw jack-21. Detailed Implementation

[0017] The following is in conjunction with the appendix Figures 1-4 The principles and features of this utility model are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of this utility model. The utility model is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.

[0020] Please see Figures 1-4 The present invention relates to a heavy-duty lurking AGV that can adapt to the ground, including an AGV chassis 1; a light strip 2 is fixedly installed on the side of the AGV chassis 1; laser obstacle avoidance radar 3 is installed around the AGV chassis 1; a touch screen 4 is opened in the middle of the front side of the AGV chassis 1; and a voice speaker 5 is fixedly installed on the left side of the front end of the AGV chassis 1.

[0021] Anti-collision switch strips 6 are provided on both the left and right sides of the front end of the AGV chassis 1; an emergency stop button 7 is fixedly provided on the side of the front end of the AGV chassis 1; and a swing bridge suspension 12 is fixedly installed at the bottom of the AGV chassis 1 by bolts.

[0022] Magnetic navigation sensors 10 are fixedly installed on all four sides of the bottom of the AGV chassis 1, and RFID sensors 11 are fixedly installed on the middle side of the bottom of the AGV chassis 1 by bolts; a fixed base plate 13 is fixedly installed on the bottom of the swing bridge suspension 12 by bolts, and swing bearing seats 14 are provided on both sides of the fixed base plate 13.

[0023] The swing bearing housing 14 has a swing shaft 15 rotatably mounted inside, and the bottom sides of the swing bridge suspension 12 are respectively provided with a drive steering wheel 16 for driving and an electric steering wheel 17 for steering; the AGV chassis 1 has a servo motor 18 fixedly mounted on the middle side inside by bolts.

[0024] The servo motor 18-axis drive end is equipped with a planetary reducer 19; the side output shaft of the planetary reducer 19 is fixedly installed with the internal gear of the one-to-two reduction gearbox 20; the side output shaft of the one-to-two reduction gearbox 20 is fixedly installed with the internal gear of the ball screw jack 21.

[0025] The ball screw jack 21 is specifically composed of a lifting screw 8, two sets of bevel gears located on the bottom side of the lifting screw 8, and a ball nut. The ball nut is fixedly installed at the bottom of the lifting platform 9 by bolts.

[0026] The working principle of a heavy-duty, stealthy AGV that can adapt to different terrains, as described above, is as follows:

[0027] First, when using this device, place it in the work area, and then connect it to an external power source to provide the power required for its operation.

[0028] Secondly, when the AGV chassis 1 traverses uneven ground, it releases the rotational freedom of the entire swing bridge suspension 12 to adapt to the uneven ground. This design equates the four-wheel layout formed by the two sets of drive steering wheels 16 and electric steering wheels 17 to a "three-point-one-plane" structure, that is, the virtual fulcrum formed by the swing of the first two wheels and the swing shaft 15. This ensures that all wheel systems can reliably ground when the ground is uneven, fundamentally avoiding the problem of wheel system suspension caused by over-positioning. It eliminates the need for complex springs and damping components, simplifies the suspension structure, and improves the stability of the AGV on complex ground. At the same time, it uses multiple precision ball screws of the multi-screw linkage lifting platform to achieve lifting; the servo motor 18 drives the ball screw lifter 21 through the planetary reducer 19 and the one-to-two reduction gearbox 20 for meshing and utilization. The high-precision lead of the ball screw jack 21 and the closed-loop control of the servo motor 18 achieve extremely high positioning accuracy and repeatability, meeting the requirements of precision operations. It features fast response speed, no hydraulic system lag effect, and improved work efficiency. Its simple structure, low maintenance cost, and lack of leakage and pollution risk make it suitable for clean environments. Synchronous control through multi-screw linkage ensures smooth load lifting, enhancing system rigidity and reliability, adapting to heavy-duty scenarios while improving environmental adaptability. During operation, the use of diagonal laser obstacle avoidance radar 3, anti-collision strips around the AGV chassis 1, an emergency stop button 7, light strips 2 around the AGV chassis 1, and a voice speaker 5 ensures 360° safe operation without blind spots, guaranteeing operational reliability in emergency situations.

[0029] This invention provides an improved, heavy-duty, stealthy AGV that adapts to different terrains. By using a swing-bridge suspension to release the entire bridge's rotational freedom, the four-wheel layout is effectively transformed into a "three-point, one-plane" structure, ensuring reliable grounding of all wheels on uneven surfaces. This fundamentally prevents wheel suspension, simplifies the suspension structure, and significantly improves stability on complex terrains. Simultaneously, a multi-screw linkage lifting platform is employed, driven by a servo motor via a precision transmission mechanism to a high-precision ball screw lifter. Combined with closed-loop control, this achieves extremely high lifting and positioning accuracy and repeatability, meeting the demands of precision operations. With a fast response speed and no hydraulic lag, combined with multi-layered safety protection including diagonal laser obstacle avoidance radar, four-sided anti-collision strips, an emergency stop button, light strips, and a voice speaker, 360° safety assurance is achieved, ensuring operational reliability in emergency situations.

[0030] The above describes the basic principles, main features, and advantages of this utility model. All standard parts used in this utility model can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all adopt conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the circuit connections adopt conventional connection methods in the prior art, which will not be detailed here.

[0031] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A heavy-duty, lurking AGV capable of adapting to different terrains, comprising an AGV chassis (1); characterized in that: The AGV chassis (1) is fixedly provided with light strips (2) on the side; the AGV chassis (1) is provided with laser obstacle avoidance radar (3) on all four sides; a touch screen (4) is opened in the middle of the front side of the AGV chassis (1), and a voice speaker (5) is fixedly provided on the left side of the front end of the AGV chassis (1); The AGV chassis (1) is provided with anti-collision switch strips (6) on both the left and right sides of the front end; the AGV chassis (1) is fixedly provided with an emergency stop button (7) on the side of the front end; and the AGV chassis (1) is fixedly installed with a swing bridge suspension (12) by bolts at the bottom.

2. The heavy-duty, stealthy AGV that can adapt to different terrains according to claim 1, characterized in that: The AGV chassis (1) is fixedly equipped with magnetic navigation sensors (10) on all four sides of the bottom. The AGV chassis (1) is fixedly installed with RFID sensors (11) by bolts on the middle side of the bottom. The bottom of the swing bridge suspension (12) is fixedly installed with a fixed base plate (13) by bolts, and swing bearing seats (14) are provided at both ends of the side of the fixed base plate (13).

3. The heavy-duty, stealthy AGV that can adapt to different terrains according to claim 2, characterized in that: The swing bearing seat (14) is rotatably provided with a swing shaft (15), and the bottom sides of the swing bridge suspension (12) are respectively provided with a drive steering wheel (16) for driving and an electric steering wheel (17) for steering; the AGV chassis (1) is fixedly installed with a servo motor (18) by bolts in the middle of the interior.

4. The heavy-duty, stealthy AGV that can adapt to different terrains according to claim 3, characterized in that: The servo motor (18) is equipped with a planetary reducer (19) at the shaft drive end; the side output shaft of the planetary reducer (19) is fixedly installed with the internal gear of the one-to-two reduction gearbox (20); the side output shaft of the one-to-two reduction gearbox (20) is fixedly installed with the internal gear of the ball screw jack (21).

5. The heavy-duty, stealthy AGV that can adapt to different terrains according to claim 4, characterized in that: The ball screw jack (21) is specifically composed of a lifting screw (8), two sets of bevel gears and ball nuts located on the bottom side of the lifting screw (8), and the ball nuts are fixedly installed at the bottom of the lifting platform (9) by bolts.

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