An agv mobile carrier

Abstract

The application provides an AGV mobile carrier, comprising: a vehicle body, which is used for self movement of the AGV mobile carrier; a first motion mechanism, which is used for driving a target structure installed on the first motion mechanism to realize motion of at least three degrees of freedom; the first motion mechanism comprises a rotating mechanism, a translating mechanism and a lifting mechanism; the rotating mechanism is used for driving part or the whole of the first motion mechanism to rotate around an axis of the rotating mechanism; the translating mechanism is used for driving the target structure to translate relative to the vehicle body; the lifting mechanism is used for driving the target structure to lift; the AGV mobile carrier further comprises a second motion mechanism, which is used for correcting a roll angle of the target structure; through the cooperation of various motion mechanisms, the cooperation of "overall movement - local posture adjustment" can be realized, and flexible adjustment of multiple degrees of freedom can be realized.

Description

Technical Field

[0001] This application belongs to the field of automation equipment technology, and in particular relates to an AGV mobile carrier. Background Technology

[0002] As the core equipment for logistics automation, AGVs (Automated Guided Vehicles) are increasingly revealing structural shortcomings in traditional chassis designs for confined indoor spaces: While AGVs have strong environmental adaptability and load capacity, their positioning accuracy is low, and they require a large turning radius for steering; the AGV body and the upper tooling are generally rigidly connected, and when faced with requirements such as precision docking, they can only rely on the overall movement of the AGV and cannot make fine adjustments on the spot; in confined environments, they are prone to getting stuck in "dead zones" due to dynamic changes in obstacles and workstations, and cannot meet the needs of operations under complex conditions.

[0003] In summary, existing AGV structures have inherent shortcomings in scenarios involving "narrow channels, high precision, and multiple postures," necessitating the introduction of a new type of AGV mobile carrier. Utility Model Content

[0004] This application provides an AGV mobile carrier to solve the inherent shortcomings of existing AGV structures in scenarios involving "narrow channels, high precision, and multiple postures".

[0005] In a first aspect, this application provides an AGV mobile carrier, the AGV mobile carrier comprising: a vehicle body for the self-movement of the AGV mobile carrier; and a first motion mechanism mounted on the vehicle body for driving a target structure mounted on the first motion mechanism to achieve at least three degrees of freedom of motion.

[0006] In this application, the AGV mobile carrier can carry a variety of functional structures. The target structure can be driven to the corresponding work point by the vehicle body, and then the first motion mechanism can further refine the position and posture of the target structure, so that the target structure can achieve at least three degrees of freedom of movement, thereby improving the operational flexibility and operational accuracy of the target structure.

[0007] In one implementation of the first aspect, the first motion mechanism includes a rotary mechanism for driving a portion or the entire first motion mechanism to rotate about the axis of the rotary mechanism.

[0008] In one implementation of the first aspect, the first motion mechanism further includes a translation mechanism for driving the target structure to translate relative to the vehicle body.

[0009] In one implementation of the first aspect, the translation mechanism is mounted on the rotary mechanism, and the translation mechanism rotates around the axis of the rotary mechanism under the drive of the rotary mechanism.

[0010] In one implementation of the first aspect, the first motion mechanism further includes a lifting mechanism, which is used to drive the target structure to move up and down.

[0011] In one implementation of the first aspect, the lifting mechanism includes at least two lifting modules, adjacent lifting modules are slidably connected by a vertical guide rail, the first lifting module is fixed, and the target structure is installed on the last lifting module. The at least two lifting modules are used to drive the target structure to move up and down along the track extension direction of the vertical guide rail.

[0012] In one implementation of the first aspect, the at least two-stage lifting module is at least two-stage ball screw lifting module, and each stage of ball screw lifting module is independently driven by its corresponding motor.

[0013] In one implementation of the first aspect, the AGV mobile carrier further includes a second motion mechanism for correcting the tilt angle of the target structure.

[0014] In one implementation of the first aspect, the AGV mobile carrier further includes a third motion mechanism, which is used to drive the target structure to rotate around the axis of the third motion mechanism.

[0015] In one implementation of the first aspect, the AGV mobile carrier is a tracked AGV mobile carrier.

[0016] As described above, the AGV mobile carrier described in this application has the following beneficial effects:

[0017] The AGV mobile carrier, through the coordinated operation of multiple motion mechanisms, can achieve "overall movement - local posture adjustment" and realize flexible adjustment with multiple degrees of freedom. It can adapt to the operation requirements of different work surfaces (flat surfaces, corners, heights, and narrow environments), improve the operation accuracy and flexibility of the target structure, and reduce the cost of rework and repair.

[0018] The AGV mobile carrier can navigate autonomously, enabling automated and intelligent continuous operation, ensuring the stability of operation quality and improving operation efficiency.

[0019] The AGV mobile carrier adopts a highly integrated design, which reduces reliance on manual labor and reduces production costs; at the same time, it is safer, more reliable and more environmentally friendly, avoiding many problems that exist in manual operations. Attached Figure Description

[0020] Figure 1 The diagram shown is a schematic representation of the overall structure of an AGV mobile carrier as described in an embodiment of this application.

[0021] Figure 2 The diagram shown is a structural schematic of the AGV mobile carrier described in the embodiments of this application.

[0022] Figure 3 The diagram shown is a schematic representation of the internal structure of the rotary mechanism in the first motion mechanism described in this application embodiment.

[0023] Figure 4 The diagram shown is a schematic representation of the internal structure of the translation mechanism in the first motion mechanism described in this application embodiment.

[0024] Figure 5 The diagram shown is a schematic representation of the overall structure of an AGV mobile carrier as described in an embodiment of this application.

[0025] Figure 6 This is a schematic diagram of the overall structure of the AGV mobile carrier described in an embodiment of this application from another angle.

[0026] Figure 7 The diagram shown is a schematic representation of the overall structure of the lifting mechanism in the first motion mechanism described in this application embodiment.

[0027] Figure 8 The diagram shown is a partial structural schematic of the lifting mechanism in the first motion mechanism described in this application embodiment.

[0028] Figure 9 The diagram shown is a structural schematic of the guide profile described in an embodiment of this application.

[0029] Figure 10 The diagram shown is a structural schematic of the second motion mechanism described in the embodiments of this application.

[0030] Figure 11 The diagram shown is a structural schematic of the third motion mechanism described in the embodiments of this application.

[0031] Component designation explanation

[0032] 1. Vehicle body 23. Lifting mechanism

[0033] 11 Main Body 231 Guide Profile

[0034] 12 Tracks 232 T-screw

[0035] 13 Driven wheel 233 T-nut

[0036] 14 Load-bearing wheels 234 Large sprockets

[0037] 15 drive sprocket, 235 sprocket

[0038] 16 Motor 235 Chain

[0039] 17 Gearbox 237 Motor

[0040] 18 Electrical box 238 Gearbox

[0041] 2 First movement mechanism 3 Second movement mechanism

[0042] 21 Rotary mechanism 31 Hinge shaft

[0043] 211 Slewing bearing 32 Lower support

[0044] 212 Motor 33 Upper Support

[0045] 213 Reducer 34 Screw Structure

[0046] 22 Translation mechanism 35 Motor

[0047] 221 Fixed ring 36 Reducer

[0048] 222 Mounting Plate 4 Third Motion Mechanism

[0049] 223 Translational slide plate 41 Active rotating gear

[0050] 224 Roller slide rail 42 Driven rotary gear

[0051] 225 Roller assembly 43 Motor

[0052] 226 T-screw 44 reducer

[0053] 227 T-nut 45 Rotary Shaft

[0054] 228 Motor 46 Guide Profile

[0055] 229 Gearbox Detailed Implementation

[0056] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0057] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0058] To provide a clearer understanding of the technical features, objectives, and effects of this application, a detailed description is now provided with reference to the accompanying drawings.

[0059] Specific embodiments of this application. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "up," "down," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the mechanism or element referred to must have a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," "setting," and "mounting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0061] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, mechanisms, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0062] The following embodiments of this application provide an AGV mobile carrier that solves the inherent shortcomings of existing AGV structures in scenarios involving "narrow channels, high precision, and multiple postures".

[0063] Example 1 (The AGV mobile carrier includes a vehicle body and a first motion mechanism, wherein the first motion mechanism includes a rotation mechanism and a translation mechanism)

[0064] The following embodiments of this application provide an AGV mobile carrier, including: a vehicle body and a first motion mechanism. The first motion mechanism is mounted on the vehicle body, which is used for the movement of the AGV mobile carrier itself. The first motion mechanism is used to drive a target structure mounted on the first motion mechanism to achieve at least three degrees of freedom of movement.

[0065] It should be noted that the AGV mobile carrier can carry various functional structures, and the target structures it carries can achieve multi-degree-of-freedom motion under its drive. Even in a narrow working environment, the target structure can complete high-precision, multi-posture operation tasks. Among them, the target structures are, for example, lightweight processing structures (such as wall grooving mechanisms, small drilling modules), precision assembly structures (such as small assembly robotic arms, bolt tightening modules), and material grasping structures (such as mechanical grippers, pallet clamping components), etc.

[0066] In this embodiment, the vehicle body is used for the movement of the AGV mobile carrier itself. Specifically, the vehicle body is used for the overall movement of the AGV mobile carrier and to drive the target structure mounted on the AGV mobile carrier to move synchronously.

[0067] It should be noted that an AGV is an automated mobile device that moves autonomously without human driving, through a preset guided path or autonomous navigation technology. For example, the vehicle body of this application includes a traditional guided AGV body, an autonomously navigated AMR (Autonomous Mobile Robot) body, or a tracked AGV body that combines multiple navigation technologies. It may also include a tracked AGV body, a wheeled AGV body, a rail-mounted AGV body, or a walking bionic AGV body, etc., and this application does not limit it.

[0068] Preferably, the vehicle body is a tracked AGV body, which can achieve stable movement in complex terrain; the driving method of the tracked AGV body includes, but is not limited to, dual motors independently driving the tracks, multiple motors cooperating to drive the tracks, and tracks and auxiliary steering wheels cooperating to drive.

[0069] The following will combine Figure 1 and Figure 2 The specific structure of the aforementioned vehicle body will be illustrated with examples.

[0070] by Figure 1Taking the structure and coordinate system shown as an example, the AGV mobile carrier includes a vehicle body 1 and a first motion mechanism 2. The first motion mechanism 2 includes a rotary mechanism 21 and a translation mechanism 22.

[0071] It should be noted that, Figure 1 The installation method and position of the trolley body 1 and the first motion mechanism 2 are for illustrative purposes only, and this application is not actually limited to them.

[0072] like Figure 2 As shown, the vehicle body 1 is a tracked AGV vehicle body with dual motors independently driven. The tracked AGV vehicle body includes a main body 11, a track 12, a driven wheel 13, a load-bearing wheel 14, a drive wheel 15, and a mobile drive module (including a motor 16, a reducer 17, and an electrical box 18). The motor 16 and the reducer 17 are placed inside the electrical box 18.

[0073] It should be noted that, in this embodiment, the output shaft of the motor 16 is connected to the input shaft of the reducer 17, and the output shaft of the reducer 17 is connected to the drive wheel 15. The axles of the drive wheel 15, the driven wheel 13, and the weighing wheel 14 are all mounted on the bracket at the bottom of the vehicle body 11. The track 12 is fitted on the outside of the drive wheel 15, the driven wheel 13, and the drive wheel 13, and meshes with the teeth of the drive wheel 15. The two tracks 12 are driven independently by two motors (two motors 16), and the forward, backward, and turning movements of the tracked AGV mobile carrier are realized through differential speed control.

[0074] Preferably, the track 12 is a rubber track, which can better adapt to complex terrain, protect the ground, and operate smoothly with low noise.

[0075] In this embodiment, the first motion mechanism is used to drive the target structure mounted on the first motion mechanism to achieve at least three degrees of freedom of motion, so that the target structure can complete high-precision, multi-posture operation tasks.

[0076] For example, the first motion mechanism includes a rotary mechanism, which is used to drive part or the whole of the first motion mechanism to rotate around the axis of the rotary mechanism, and at the same time drive the target structure fixed on the first motion mechanism to rotate synchronously, thereby satisfying the degree of freedom of the target structure to rotate around the axis of the rotary mechanism. Therefore, the rotary mechanism can be used to adjust the rotation angle (i.e., the first rotation angle) of the target structure.

[0077] By way of example and not limitation, the rotary mechanism includes, but is not limited to, gear mechanisms (such as slewing bearings, rack and pinion mechanisms, worm gear mechanisms, etc.), friction / traction mechanisms, hydraulic / pneumatic drive mechanisms, direct drive mechanisms, and linkage mechanisms.

[0078] The following will combine Figure 1 and Figure 3 The specific structure of the aforementioned rotary mechanism will be illustrated with an example.

[0079] like Figure 1 and Figure 3 As shown, the slewing mechanism 21 is a slewing bearing structure. The slewing mechanism 21 includes a slewing bearing 211 and a slewing drive module (including a motor 212 and a reducer 213). The slewing mechanism 21 can rotate around the axis shown in the figure. Therefore, the corresponding structure fixedly connected to the upper part of the slewing mechanism 21 can also rotate synchronously around the axis shown in the figure with the slewing mechanism 21.

[0080] It should be noted that, in this embodiment, the outer ring (fixed ring) of the slewing bearing 211 is fixed to the top mounting surface of the vehicle body 1; the inner ring (rotating ring) of the slewing bearing 211 is fixed to the bottom frame of the upper structure (e.g., translation mechanism) of the slewing mechanism 21, and bears the weight of the upper structure; the motor 212 is fixed to the input end of the reducer 213, and the gear at the output end of the reducer 213 meshes with the gear ring of the slewing bearing 211 to form a transmission connection.

[0081] Therefore, the rotation angle of the mounted structure can be flexibly adjusted using the rotary mechanism; in other words, the initial rotation angle of the target structure can be flexibly adjusted through this mechanism. This design can flexibly adapt to diverse operating scenarios, enabling precise and efficient operation of the target structure even in narrow working environments where the vehicle body is difficult to turn, through flexible angle adjustment.

[0082] For example, the first motion mechanism includes a translation mechanism, which is fixed to the aforementioned rotary mechanism. The translation mechanism can rotate around the axis of the rotary mechanism under its drive. The translation mechanism is used to translate the target structure relative to the vehicle body 1, satisfying the degree of freedom of the target structure to move along the X-axis and / or Y-axis. For instance, when the vehicle body is no longer moving, the translation mechanism performs further translational motion compensation on the target structure.

[0083] As an example and not a limitation, the guiding method of the translation mechanism includes, but is not limited to, slide rail type translation mechanism (such as rolling guide rail, sliding guide rail, air-bearing guide rail, etc.), and the driving method of the translation mechanism includes, but is not limited to, mechanical drive (such as screw drive, gear and rack drive, belt / chain drive, linkage mechanism, etc.), hydraulic drive, pneumatic drive, and linear motor drive.

[0084] The following will combine Figure 1 and Figure 4 The specific structure of the aforementioned translation mechanism will be illustrated with an example.

[0085] like Figure 1 and Figure 4As shown, the translation mechanism 22 is a rolling guide rail type translation mechanism, including a fixed ring 221, a mounting plate 222, a translation slide plate 223, a roller slide rail 224, a roller assembly 225, a T-screw 226, a T-nut 227, and a translation drive module (including a motor 228 and a reducer 229). The fixed ring 221 is used to fix the translation mechanism 22 to the rotary mechanism 21. The roller assembly 225 and the T-screw 226 are mounted on the mounting plate 222. The reducer 229 is connected to the T-screw 226 via a coupling.

[0086] It should be noted that, in this embodiment, the translation mechanism 22 is based on the screw drive and achieves precise linear displacement through the cooperation of multiple components. Specifically, the motor 228 outputs power, which is reduced and increased in torque by the reducer 229 and then transmitted to the T-screw 226. The rotation of the T-screw 226 drives the T-nut 227 to move linearly along the axis. The T-nut 227 drives the translation slide plate 223 to move synchronously, while the roller assembly 225 rolls and slides along the roller rail 224.

[0087] It should be noted that the translation direction of the translation mechanism 22 is consistent with the movement direction of the translation slide 223. The translation slide 223 can smoothly translate along a specific straight line direction along the extension direction of the roller slide rail 224 (consistent with the axial direction of the T-screw 226). In other words, the translation mechanism 22 has a degree of freedom of translation along the X-axis. Since the bottom of the translation mechanism 22 is fixedly connected to the rotary mechanism 21, the rotary mechanism 21 can drive the translation mechanism 22 to rotate at any angle. That is, the translation mechanism 22 can rotate at any angle and then translate along the extension direction of the roller slide rail 224. Therefore, the translation mechanism 22 also has a degree of freedom of translation along the Y-axis.

[0088] Example 2 (The AGV mobile carrier includes a vehicle body and a first motion mechanism, wherein the first motion mechanism includes a rotation mechanism, a translation mechanism and a lifting mechanism)

[0089] For example, the first motion mechanism further includes a lifting mechanism, which is used to drive the target structure to rise and fall, satisfying the degree of freedom of the target structure to rise and fall along the Z-axis, and enabling precise control of the height of the target structure.

[0090] As an example and not a limitation, the lifting mechanism includes, but is not limited to, the combination mechanism of lead screw and guide rail, the combination mechanism of sprocket and guide rail, the telescopic mechanism of sleeve, the gear and rack transmission mechanism, and the scissor lifting mechanism.

[0091] As an example and not a limitation, the lifting mechanism includes at least two lifting modules, adjacent lifting modules are slidably connected by vertical guide rails, the first lifting module is fixed, and the target structure can be installed on the last lifting module. The at least two lifting modules are used to drive the target structure to rise and fall along the track extension direction of the vertical guide rails.

[0092] Preferably, the target structure is slidably connected to the last-stage lifting module, further expanding the movement flexibility and adaptability of the target structure.

[0093] It should be noted that the lifting mechanism also includes a lifting drive module, which is installed on at least two lifting modules and is used to drive the movement of at least two lifting modules.

[0094] Preferably, the at least two-stage lifting module is a ball screw lifting module, and the lifting drive module includes multiple motors that correspond one-to-one with the at least two-stage ball screw lifting modules. Each stage of the ball screw lifting module is driven independently by its corresponding motor.

[0095] Optionally, the lifting drive module includes one or more motors. Accordingly, the at least two-stage lifting module can be driven by a single motor or by multiple motors working together.

[0096] It should be understood that the first motion mechanism of this application includes any one or any combination of the above-mentioned rotary mechanism, translation mechanism and lifting mechanism.

[0097] Preferably, the target structure is mounted on the lifting mechanism. In this application, the installation relationship of the above-mentioned mechanisms can be that the lifting mechanism is mounted on the translation mechanism, the translation mechanism is mounted on the rotary mechanism, and the rotary mechanism is mounted on the vehicle body. Therefore, the rotary mechanism can drive its related structures (target structure, lifting mechanism, translation mechanism) to rotate as a whole, the translation mechanism can drive its related structures (target structure, lifting mechanism) to translate as a whole, and the lifting mechanism can drive the target structure to rise and fall. The various mechanisms work together to achieve multi-degree-of-freedom movement of the target structure and ensure the operational accuracy of the target structure.

[0098] It should be understood that the above installation relationship is only for illustration. The above mechanism in this application can also be other installation relationships, such as the target structure being mounted on the lifting mechanism, the lifting mechanism being mounted on the rotary mechanism, the rotary mechanism being mounted on the translation mechanism, the translation mechanism being mounted on the vehicle body, etc. Correspondingly, the rotary mechanism is used to drive the part of the first motion mechanism (the lifting mechanism) to rotate around the axis of the rotary mechanism. This application does not limit this.

[0099] The following will combine Figures 5 to 9 The specific structure of the above-mentioned lifting mechanism will be illustrated with examples.

[0100] like Figures 5 to 9As shown, the lifting mechanism 23 of the first motion mechanism 2 includes at least two lifting modules. Taking one lifting module as an example, the other lifting modules have the same structure. This lifting module includes: guide profile 231, T-screw 232, T-nut 233, large sprocket 234, small sprocket 235, chain 236, and lifting drive module (including motor 237 and reducer 238).

[0101] It should be noted that, in this embodiment, the motor 237 is connected to the reducer 238, the output shaft of the reducer 238 is connected to the small sprocket 235, the small sprocket 235 is connected to the large sprocket 234 through the chain 236, the large sprocket 234 is connected to the T-screw 232 through the bearing seat and rotates together with the small sprocket 235, the threads of the T-screw 232 and the T-nut 233 are matched with each other, the T-nut 233 can move linearly along the axis of the T-screw 232, and the T-nut 233 is fixedly connected to the relevant structure of the adjacent lifting module. At the same time, the adjacent lifting modules are also slidably connected through their respective guide profiles 231, so that the T-nut 233 can drive the lifting module of that stage to slide and lift relative to the adjacent lifting module along the guide rail direction of the guide profile 231.

[0102] Example 3 (The AGV mobile carrier includes a vehicle body, a first motion mechanism, and a second motion mechanism)

[0103] Furthermore, in some embodiments, the AGV mobile carrier further includes a second motion mechanism, which is used to correct the tilt angle deviation of the target structure carried by the AGV mobile carrier.

[0104] As an example and not a limitation, the target structure is mounted on a first motion mechanism of an AGV mobile carrier, and a second motion mechanism corrects the tilt angle of the first motion mechanism via a hinge. For example, the second motion mechanism includes a hinge axis and a tilt drive module, which corrects the tilt angle of the first motion mechanism by driving part or all of the first motion mechanism to rotate around the hinge axis.

[0105] In some embodiments, the second motion mechanism includes a hinge shaft, a transmission structure (such as a lead screw structure), and a tilt drive module. The tilt drive module drives the first motion mechanism to rotate around the hinge shaft through the transmission structure to correct the tilt angle of the first motion mechanism.

[0106] The following will combine Figure 5 , Figure 6 and Figure 10 The specific structure of the second motion mechanism described above will be illustrated with an example.

[0107] like Figure 5 , Figure 6 and Figure 10As shown, the second motion mechanism 3 includes: a hinge shaft 31 (see...) Figure 10 The second motion mechanism 23 comprises a lower support 32, an upper support 33, a lead screw structure 34, and a tilt drive module (including a motor 35 and a reducer 36). The first side of the lifting mechanism 23 is rotatably connected to the translation mechanism 22 via a hinge shaft 31. The second side of the lifting mechanism 23 is sequentially connected to the lead screw structure 34, the motor 35, and the reducer 36 of the second motion mechanism 4 via the upper support 33. The reducer 36 is connected to the translation mechanism 22 via the lower support 32.

[0108] In this embodiment, the lifting mechanism is hinged to the translation mechanism via the hinge shaft of the second motion mechanism and the lower support. A motor and reducer drive the lead screw structure to rotate, transmitting thrust or pull force. This allows the lifting mechanism and its mounted target structure to rotate around the hinge shaft, correcting the tilt angle (i.e., the offset angle around the X-axis shown in the figure) of the lifting mechanism and its mounted target structure. This reduces the impact of environmental conditions around the AGV mobile carrier (such as uneven ground) on the operational accuracy of the target structure, increasing the flexibility of target structure operation.

[0109] Example 4 (The AGV mobile carrier includes a vehicle body, a first motion mechanism, a second motion mechanism, and a third motion mechanism)

[0110] Furthermore, in some embodiments, the AGV mobile carrier also includes a third motion mechanism for driving the target structure carried by the AGV mobile carrier to rotate around the axis of the third motion mechanism, so as to adjust the second rotation angle of the target structure, further increasing the flexibility of the target structure and enabling the target structure to adapt to more operating environment conditions and operating requirements.

[0111] As an example and not a limitation, the third motion mechanism includes, but is not limited to, gear-driven rotary mechanisms, worm gear rotary mechanisms, electric rotary slide mechanisms, and harmonic gear-driven rotary mechanisms.

[0112] The following will combine Figure 5 , Figure 6 and Figure 11 The specific structure of the third motion mechanism mentioned above will be illustrated with an example.

[0113] like Figure 5 , Figure 6 and Figure 11 As shown, the third motion mechanism 4 includes: an active rotary gear 41, a driven rotary gear 42, a rotary drive module (including a motor 43 and a reducer 44), and a rotary shaft 45. The third motion mechanism 4 is slidably connected to the last stage lifting module of the lifting mechanism 23 through a guide profile 46.

[0114] In this configuration, motor 43 is connected to reducer 44, and the output end of reducer 44 is connected to drive gear 41. Drive gear 41 meshes with driven gear 42, and driven gear 42 can be fixedly connected to the target structure. Therefore, the target structure can rotate together with driven gear 42 around the extension direction of rotation shaft 45. Figure 10 The axis rotates clockwise or counterclockwise.

[0115] It should be noted that, Figure 9 The diagram shows one possible structure of the guide profile 231 in the lifting mechanism 23 and the guide profile 46 in the third motion mechanism 4.

[0116] Preferably, the motor type in this embodiment is a servo motor, and the reducer type is a harmonic reducer.

[0117] In the above embodiments, the AGV mobile carrier moves the target structure it carries to the corresponding work point, and then, through the coordinated operation of the first motion mechanism, the second motion mechanism, and the third motion mechanism, the posture of the target structure is further adjusted. Specifically, the rotation and translation mechanisms of the first motion mechanism satisfy the target structure's degrees of freedom of rotation about the Z-axis and translation along the X-axis and / or Y-axis; the lifting mechanism of the first motion mechanism satisfies the target structure's degrees of freedom of lifting along the Z-axis; the second motion mechanism satisfies the target structure's degrees of freedom of rotation along the X-axis; and the third motion mechanism satisfies the target structure's degrees of freedom of rotation along the rotation axis. This allows the target structure to achieve at least three degrees of freedom of movement, increasing the operational flexibility and improving the operational accuracy of the target mechanism.

[0118] Optionally, the AGV mobile carrier is also equipped with an information acquisition module for collecting environmental information (such as obstacle information) and its own information (such as the motion state of the first motion mechanism and the vehicle body) around the AGV mobile carrier. The first motion mechanism, the second motion mechanism, the third motion mechanism and the vehicle body work together based on the multi-source data collected by the information acquisition module.

[0119] As an example and not a limitation, the aforementioned information acquisition module includes a ranging sensor (such as a lidar sensor), a tilt sensor (such as an inertial measurement unit or gyroscope), a vision sensor (such as a vision camera), and a displacement sensor (such as a wire sensor). The ranging sensor can scan the surrounding environment in real time, identify obstacles, and trigger obstacle avoidance actions; the vision sensor can assist the target structure in job positioning and job quality inspection; the tilt sensor can detect the tilt angle deviation of the target structure and correct the tilt angle in real time through the aforementioned second motion mechanism; the displacement sensor can monitor the displacement of the target structure, facilitating precise operation control.

[0120] It should be understood that the information acquisition module can be installed at any suitable location on the AGV mobile carrier, such as on the first motion mechanism and / or the vehicle body.

[0121] It should be noted that the aforementioned AGV mobile carrier also includes a power supply module, which is used to provide power for the movement of the vehicle body, the first motion mechanism, the second motion mechanism and the third motion mechanism. The power supply module can be installed at any suitable location on the AGV mobile carrier, such as on the first motion mechanism and / or the vehicle body.

[0122] In summary, the AGV mobile carrier provided in this application can flexibly incorporate various functional structures, and its operation process and core advantages are as follows:

[0123] First, the AGV mobile carrier can move the target structure it carries to the designated work point. Then, through the coordinated operation of the first, second, and third motion mechanisms, the position and posture of the target structure are precisely adjusted, forming a highly efficient collaborative mode of "overall movement – ​​local posture adjustment." This design enables flexible adjustment of the target structure with multiple degrees of freedom, allowing it to adapt to diverse working conditions such as flat surfaces, corners, heights, and confined spaces, effectively improving the target structure's operational accuracy, efficiency, operational flexibility, and environmental adaptability.

[0124] Secondly, AGV mobile carriers can navigate autonomously, enabling automated and intelligent continuous operation, ensuring the stability of operation quality and improving operation efficiency.

[0125] Third, the AGV mobile carrier adopts a highly integrated design, which reduces reliance on manual labor and reduces production costs; at the same time, it is safer, more reliable and more environmentally friendly, avoiding many problems that exist in manual operations.

[0126] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0127] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. An AGV mobile carrier, characterized in that, For use in confined working environments, the AGV mobile carrier includes: The vehicle body is used for the self-movement of the AGV mobile carrier; The first motion mechanism is mounted on the vehicle body and is used to drive the target structure mounted on the first motion mechanism to achieve at least three degrees of freedom of movement; The first motion mechanism includes a rotary mechanism, a translation mechanism, and a lifting mechanism; The rotary mechanism is used to drive part or the whole of the first motion mechanism to rotate around the axis of the rotary mechanism; the rotary mechanism is a rotary bearing structure, the rotary mechanism includes a rotary bearing and a rotary drive module, the outer ring of the rotary bearing is fixed to the top mounting surface of the vehicle body, and the inner ring of the rotary bearing is fixed to the bottom frame of the translation mechanism. The translation mechanism is used to drive the target structure to translate relative to the vehicle body; the translation mechanism is mounted on the rotary mechanism, and the translation mechanism rotates around the axis of the rotary mechanism under the drive of the rotary mechanism; the translation mechanism is a rolling guide rail type translation mechanism, including a fixing ring, a mounting plate, a translation slide plate, a roller slide rail, a roller assembly, a T-screw, a T-nut, and a translation drive module, wherein the fixing ring is used to fix the translation mechanism and the rotary mechanism in a fixed connection; The lifting mechanism is used to drive the target structure to rise and fall; the lifting mechanism includes at least two lifting modules, adjacent lifting modules are slidably connected by vertical guide rails, the first lifting module is fixed, and the target structure is installed on the last lifting module. The at least two lifting modules are used to drive the target structure to rise and fall along the track extension direction of the vertical guide rails; the at least two lifting modules are at least two ball screw lifting modules, and each ball screw lifting module is independently driven by its corresponding motor. The AGV mobile carrier further includes a second motion mechanism, which is used to correct the tilt angle of the target structure. The second motion mechanism includes a hinge shaft, a lower support, an upper support, a lead screw structure, and a tilt drive module. The tilt drive module includes a motor and a reducer. The first side of the lifting mechanism is rotatably connected to the translation mechanism through the hinge shaft. The second side of the lifting mechanism is sequentially connected to the lead screw structure, the motor, and the reducer through the upper support. The reducer is connected to the translation mechanism through the lower support.

2. The AGV mobile carrier according to claim 1, characterized in that, The AGV mobile carrier also includes a third motion mechanism, which is used to drive the target structure to rotate around the axis of the third motion mechanism.

3. The AGV mobile carrier according to claim 1, characterized in that, The AGV mobile carrier is a tracked AGV mobile carrier.

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