An AGV robot

Abstract

This utility model discloses an AGV robot, relating to the field of Automated Guided Vehicle (AGV) technology, including a main frame, a sub-frame, a drive mechanism, a controller, a connecting shaft, and a barcode reader. The sub-frame is hinged to the main frame via the connecting shaft, and the main frame and the sub-frame can rotate relative to each other around the axis of the connecting shaft. The controller is mounted on the main frame and has a barcode reader. The drive mechanism is positioned and connected to the main frame. The barcode reader is mounted on the controller, which has a positioning structure and a fixing structure. The positioning structure is used to achieve relative positioning with the AGV's main frame, and the fixing structure is used to fix the controller to the AGV's main frame. This utility model solves the problems of existing AGVs, such as small barcode reading field of view, inconvenient installation, large relative position error between the barcode reader and the robot, non-compact structure, and poor ground adaptability.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicles (AGV) technology, specifically to an AGV robot. Background Technology

[0002] Currently used AGVs generally suffer from limited field of view due to their cameras, restricting the code reading range. Furthermore, the installation and operation of cameras and code readers are cumbersome, and the relative positional error between the code reader and the AGV robot body is significant, making it difficult to guarantee reading accuracy. In addition, the overall structural design of existing AGVs is not compact enough, occupying a large space and hindering the development of miniaturized AGVs. Moreover, their frame structure has poor adaptability to different terrains, unable to flexibly adjust angles to adapt to uneven or sloping ground, affecting the operational stability of the AGV. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide an AGV robot that solves the problems of small reading field of existing AGVs, inconvenient installation, large relative position error between the barcode reader and the robot, non-compact structure and poor ground adaptability.

[0004] To solve the above problems, the technical solution provided by this utility model is as follows:

[0005] An AGV robot includes a main frame, a sub-frame, a drive mechanism, a controller, a connecting shaft, and a barcode reader. The sub-frame is hinged to the main frame via the connecting shaft, and the main frame and the sub-frame are rotatable relative to each other around the axis of the connecting shaft. The controller is mounted on the main frame and has a barcode reader. The drive mechanism is positioned and connected to the main frame. The barcode reader is mounted on the controller, which has a positioning structure and a fixing structure. The positioning structure is used to achieve relative positioning with the AGV's main frame, and the fixing structure is used to fix the controller to the AGV's main frame.

[0006] The main frame serves as the robot's main support structure, bearing key components such as the controller and barcode reader. The subframe is hinged to the main frame via a connecting shaft, enabling flexible adjustment of the vehicle's posture. The drive mechanism provides power and controls the AGV's movement. The controller integrates a barcode reader, responsible for identifying identification codes on the ground or in the environment to achieve navigation and positioning functions.

[0007] Alternatively, the positioning structure is a positioning protrusion, and the fixing structure is a threaded clearance hole; the threaded clearance hole is used for screws to pass through, so as to cooperate with the threaded holes on the AGV main frame to achieve fixing.

[0008] The positioning protrusion is used to mate with the positioning hole on the controlled object (such as the main frame) to achieve fast and accurate initial positioning; the threaded clearance hole is used to accommodate screws, and the controller is firmly fixed through threaded connection.

[0009] Optionally, the controller and the main frame are provided with a positioning and mating structure, the main frame is provided with a threaded hole, and the controller is provided with a threaded clearance hole; it also includes a screw, which passes through the threaded clearance hole and connects to the threaded hole to fix the controller on the main frame.

[0010] The positioning and fitting structure ensures the relative positional accuracy between the controller and the main frame; the threaded hole and the thread clearance hole fit together, and the mechanical connection and fixation are achieved by screws.

[0011] Optionally, the number of threaded clearance holes is at least one, and each of the threaded clearance holes is distributed at circumferential intervals along the controller.

[0012] Multiple threaded clearance holes are evenly distributed, providing multi-point and multi-directional fixing force, enhancing the stability and torsional resistance of the connection.

[0013] Optionally, the positioning and mating structure includes a positioning protrusion on the controller and a positioning hole on the main frame, wherein the positioning protrusion is embedded in the positioning hole.

[0014] The positioning protrusions and positioning holes work together to achieve quick and accurate installation alignment, avoiding manual adjustments and improving assembly efficiency and precision.

[0015] Optionally, the drive mechanism is provided with a second positioning hole, and the main frame is provided with a first positioning hole; it also includes a positioning pin, which passes through the first positioning hole and the second positioning hole to realize the relative position positioning of the drive mechanism and the main frame.

[0016] The first positioning hole and the second positioning hole work together with the positioning pin to achieve precise alignment between the drive mechanism and the main frame, ensuring that the power transmission axis is aligned.

[0017] Optionally, a fastener is also included, which passes through the drive mechanism and the main frame to secure the drive mechanism to the main frame.

[0018] Fasteners (such as bolts and screws) are used to further securely connect the drive mechanism to the main frame after positioning, preventing loosening.

[0019] Optionally, the main frame and the subframe can rotate around the connecting shaft at any angle between a first angle and a second angle.

[0020] The main and auxiliary frames are allowed to rotate freely within a certain angle range, enabling the AGV to adapt to different slopes or uneven terrain and maintain vehicle stability.

[0021] Optionally, both the main frame and the subframe are made of metal, such as aluminum alloy or steel.

[0022] The metal material provides high strength, high rigidity and good wear resistance, ensuring that the frame structure remains stable under heavy loads or frequent use.

[0023] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0024] Wide reading field of view: By reasonably setting the installation position of the barcode reader, the reading field of view of the barcode reader is effectively expanded, and the reading range is improved;

[0025] Easy installation: Both the controller and the drive mechanism adopt an easy-to-operate installation method, especially the top-to-bottom installation of the drive mechanism, which simplifies the installation process;

[0026] High installation accuracy: The controller and the main frame, as well as the drive mechanism and the main frame, all use a positioning and matching structure to ensure their relative positions, greatly reducing positional errors;

[0027] Compact structure: The components are highly integrated, and the controller is directly mounted on the main frame, reducing space occupation and facilitating the miniaturization of AGVs;

[0028] High adaptability to terrain: The main and auxiliary frames can rotate around the connecting shaft to adjust the angle, which can adapt to different uneven or inclined terrains and improve the stability of AGV operation. Attached Figure Description

[0029] Figure 1 A schematic diagram of the frame structure of an AGV robot proposed for an embodiment of this utility model;

[0030] Figure 2 An exploded view of an AGV robot proposed as an embodiment of this utility model;

[0031] Figure 3 A schematic diagram of a1 of an AGV robot proposed for an embodiment of this utility model;

[0032] Figure 4 A schematic diagram of a2 of an AGV robot proposed for an embodiment of this utility model;

[0033] Figure 5 A schematic diagram of the positioning pin hole of an AGV robot proposed for an embodiment of this utility model;

[0034] Figure 6A schematic diagram of the bottom structure of a controller for an AGV robot proposed for an embodiment of this utility model;

[0035] Figure 7 A schematic diagram of the field of view F of a barcode reader for an AGV robot, as proposed in an embodiment of this utility model;

[0036] 1. Main frame; 2. Subframe; 3. Drive mechanism; 4. Controller; 5. Connecting shaft; 6. Positioning pin; 101. Main frame body; 102. Threaded hole; 103. First positioning hole; 104. Positioning pin hole; 105. Positioning hole seat; 201. Subframe body; 301. Second positioning hole; 402. Threaded clearance hole; 410. Code reader; a1. First angle; a2. Second angle; F. Field of view. Detailed Implementation

[0037] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0038] Example 1

[0039] Combined with appendix Figure 1-7 An AGV robot includes a main frame 1, a sub-frame 2, a drive mechanism 3, a controller 4, a connecting shaft 5, and a code reader 410. The sub-frame 2 is hinged to the main frame 1 via the connecting shaft 5, and the main frame 1 and sub-frame 2 can rotate relative to each other around the axis of the connecting shaft 5. The controller 4 is mounted on the main frame 1 and has a code reader 410. The drive mechanism 3 is positioned and connected to the main frame 1. The code reader 410 is mounted on the controller 4, which has a positioning structure and a fixing structure. The positioning structure is used to achieve relative positioning with the main frame 1 of the AGV, and the fixing structure is used to fix the controller 4 to the main frame 1 of the AGV. The main frame 1 and sub-frame 2 form a hinge structure via the connecting shaft 5, allowing them to rotate relative to each other within a certain angle range, thereby adapting to uneven ground. Figure 7 The controller 4 is precisely docked with the main frame 1 through a positioning structure to ensure the stability of the reader 410's field of vision F; the drive mechanism 3 is installed on the main frame 1 through a positioning connection to ensure the accuracy and stability of power transmission.

[0040] Combined with appendix Figure 1-2 The positioning structure is a positioning protrusion, and the fixing structure is a threaded clearance hole 402. The threaded clearance hole 402 is used for screws to pass through and cooperate with the threaded hole 102 on the AGV main frame 1 to achieve fixation. During installation, the positioning protrusion is first inserted into the corresponding positioning hole on the main frame 1 to achieve initial alignment; then, the screw is passed through the threaded clearance hole 402 and screwed into the threaded hole 102 on the main frame 1 to complete the final fixation, ensuring that the controller 4 is installed in an accurate position and is not easily displaced.

[0041] A positioning and fitting structure is provided between the controller 4 and the main frame 1. The main frame 1 has a threaded hole 102, and the controller 4 has a threaded clearance hole 402. It also includes a screw, which passes through the threaded clearance hole 402 and connects to the threaded hole 102 to fix the controller 4 to the main frame 1. The positioning and fitting structure (such as protrusions and holes) provides guidance and limiting function during the initial installation to prevent misalignment. After the screw passes through the clearance hole, it is screwed into the threaded hole 102, generating a preload force through thread engagement to firmly fix the controller 4 to the main frame 1.

[0042] There is at least one threaded clearance hole 402, and the threaded clearance holes 402 are distributed circumferentially around the controller 4. Screws pass through the clearance holes from different directions and tighten, forming a uniformly distributed fastening force, avoiding stress concentration or loose installation caused by single-point fixing, and improving the reliability of the controller 4 in vibration environment.

[0043] The positioning and mating structure includes a positioning protrusion on the controller 4 and a positioning hole on the main frame 1, with the positioning protrusion embedded in the positioning hole. During installation, the positioning protrusion inserts into the positioning hole, forming a mechanical constraint that restricts the movement and rotation of the controller 4 in the plane, ensuring that its relative position with the main frame 1 meets the design requirements.

[0044] The drive mechanism 3 has a second positioning hole 301, and the main frame 1 has a first positioning hole 103. It also includes a positioning pin 6, which passes through both the first positioning hole 103 and the second positioning hole 301 to achieve relative positioning between the drive mechanism 3 and the main frame 1. The positioning pin 6 simultaneously enters both the first positioning hole 103 and the second positioning hole 301, forming a rigid connection that restricts the relative displacement between the drive mechanism 3 and the main frame 1, ensuring consistent installation positions and preventing operational deviations or wear caused by misalignment.

[0045] The robot also includes fasteners that pass through the drive mechanism 3 and the main frame 1 to secure the drive mechanism 3 to the main frame 1. After the locating pin 6 completes the initial alignment, the fasteners pass through the mounting holes on the drive mechanism 3 and the main frame 1, and apply a fixing force through threaded connection or clamping to ensure that the drive mechanism 3 will not shift or vibrate during operation.

[0046] Combined with appendix Figure 3 , 4 The main frame 1 and the subframe 2 can rotate around the connecting shaft 5 within any angle range between the first angle a1 and the second angle a2. The connecting shaft 5 serves as the center of rotation, allowing the main and subframes 2 to rotate relative to each other around its axis. The range of angle changes is limited by the mechanical structure, ensuring flexible adjustment within the allowable range and improving ground adaptability and operational stability.

[0047] Both the main frame 1 and the subframe 2 are made of metal, specifically aluminum alloy or steel. Aluminum alloy or steel has excellent mechanical properties and fatigue resistance, enabling it to withstand vibrations, impacts, and loads during AGV operation, extending its service life, while ensuring a balance between lightweight and strength in the structure.

[0048] Component preparation:

[0049] Prepare the main frame 1, subframe 2, drive mechanism 3, controller 4, connecting shaft 5, locating pin 6, and screws; combine with the attached... Figure 6 The controller 4 is pre-fixed with a code reader 410, which is installed facing the area to be read during AGV operation; the main frame 1 is machined with a threaded hole 102, a first positioning hole 103 and a positioning pin hole 104; the controller 4 is machined with a threaded clearance hole 402; and the drive mechanism 3 is machined with a second positioning hole 301.

[0050] Main and subframe assembly:

[0051] The connecting shaft 5 is inserted into the hinge hole of the main frame 1 and the sub-frame 2 to realize the hinge connection between the main frame 1 and the sub-frame 2. After assembly, the main frame 1 and the sub-frame 2 can rotate freely around the axis of the connecting shaft 5. The rotation angle can be adjusted within any range between the first angle a1 and the second angle a2 to adapt to the flatness requirements of different ground surfaces.

[0052] Controller 4 Assembly:

[0053] Combined with appendix Figure 2 , 5 Positioning: Place the controller 4 in the preset installation position of the main frame 1, so that the positioning structure on the controller 4 corresponds to the positioning pin hole 104 and positioning hole seat 105 on the main frame 1, and insert the positioning pin 6 into the positioning mating structure of the two to realize the relative position positioning of the controller 4 and the main frame 1.

[0054] Fixing: Pass the screw through the threaded clearance hole 402 on the controller 4 and screw it into the threaded hole 102 on the main frame 1 until the screw is tightened, and fix the controller 4 firmly on the main frame 1; after assembly, the field of view F of the code reader 410 covers the code reading area required for AGV operation.

[0055] Drive mechanism 3 assembly:

[0056] The drive mechanism 3 is placed from above in the preset installation position of the main frame 1, so that the second positioning hole 301 on the drive mechanism 3 is aligned with the first positioning hole 103 on the main frame 1. The positioning pin 6 is inserted into the first positioning hole 103 and the second positioning hole 301 to achieve relative positioning of the drive mechanism 3 and the main frame 1. Then, the drive mechanism 3 is fixedly connected to the main frame 1 by fasteners to complete the assembly of the drive mechanism 3.

[0057] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An AGV robot, characterized by, The system includes a main frame, a sub-frame, a drive mechanism, a controller, a connecting shaft, and a code reader. The sub-frame is hinged to the main frame via the connecting shaft, and the main frame and the sub-frame can rotate relative to each other around the axis of the connecting shaft. The controller is mounted on the main frame and has a code reader. The drive mechanism is positioned and connected to the main frame. The code reader is mounted on the controller, which has a positioning structure and a fixing structure. The positioning structure is used to achieve relative positioning with the main frame of the AGV, and the fixing structure is used to fix the controller to the main frame of the AGV.

2. The AGV robot according to claim 1, characterized in that, The positioning structure is a positioning protrusion, and the fixing structure is a threaded clearance hole; the threaded clearance hole is used for screws to pass through, so as to cooperate with the threaded holes on the AGV main frame to achieve fixing.

3. The AGV robot according to claim 1, characterized in that, The controller and the main frame are provided with a positioning and mating structure. The main frame is provided with a threaded hole, and the controller is provided with a threaded clearance hole. It also includes a screw, which passes through the threaded clearance hole and connects to the threaded hole to fix the controller on the main frame.

4. An AGV robot according to claim 3, characterized in that, The number of threaded clearance holes is at least one, and the threaded clearance holes are distributed at circumferential intervals along the controller.

5. An AGV robot according to claim 3, characterized in that, The positioning and mating structure includes a positioning protrusion on the controller and a positioning hole on the main frame, wherein the positioning protrusion is embedded in the positioning hole.

6. An AGV robot according to claim 1, characterized in that, The drive mechanism is provided with a second positioning hole, and the main frame is provided with a first positioning hole; it also includes a positioning pin, which passes through the first positioning hole and the second positioning hole to realize the relative position positioning of the drive mechanism and the main frame.

7. An AGV robot according to claim 6, characterized in that, It also includes fasteners that pass through the drive mechanism and the main frame to secure the drive mechanism to the main frame.

8. An AGV robot according to claim 1, characterized in that, The angle range of rotation of the main frame and the subframe around the connecting shaft is any value between the first angle and the second angle.

9. An AGV robot according to any one of claims 1 to 8, characterized in that, Both the main frame and the subframe are made of metal, specifically aluminum alloy or steel.

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