CN109533085B - Heavy load AGV - Google Patents

Abstract

The invention discloses a heavy-load AGV, and relates to the technical field of AGVs. The heavy-load AGV comprises a frame, a bearing wheel set and a driving wheel set. The frame is provided with a central line, the bearing wheel sets and the driving wheel sets are oppositely arranged on two sides of the central line, the vertical distance between the bearing wheel sets and the central line is a first interval, the vertical distance between the driving wheel sets and the central line is a second interval, and the first interval is smaller than the second interval. Compared with the prior art, the heavy-load AGV provided by the invention has the advantages that as the first interval smaller than the second interval is adopted, most of the load can be borne on the bearing wheel set, so that the bearing load of the driving wheel set is reduced, the stress distribution is reasonable, the service life is prolonged, and the heavy-load AGV is practical and efficient.

Description

A heavy-duty AGV

Technical Field

The present invention relates to the technical field of AGVs, and in particular to a heavy-load AGV.

Background technique

AGV (Automated Guided Vehicle) is a handling robot equipped with an electromagnetic or photoelectric automatic guidance device, which can automatically travel along a specified guidance path and has programming and mode selection devices, safety protection and various transfer functions. AGV has the characteristics of high degree of automation, safety and flexibility, and is therefore widely used in automated production and warehousing systems such as automobile manufacturing and mechanical processing. It is also one of the key equipment in modern logistics and warehousing systems such as flexible manufacturing production lines and automated warehouses. In recent years, with the introduction of the concept of "Industry 4.0" represented by smart factories, smart production and smart logistics, the manufacturing industry's demand for smart devices has greatly increased, and the scope and scale of AGV applications have continued to expand.

At present, the application of AGV technology is mainly to meet the needs of light loads, and its general load is 3 tons or less, and it is mainly used in logistics, warehousing and other fields. The inventor found that the load of the current heavy-load AGV is evenly distributed on each wheel. When the load is large, it is easy to cause damage to the wheels. In addition, the current heavy-load AGV is designed to be large in size and has poor steering flexibility, so it cannot be used in workshops and factories.

In view of this, it is particularly important to design and manufacture a heavy-duty AGV with good load-bearing effect, especially in AGV production.

Summary of the invention

The purpose of the present invention is to provide a heavy-duty AGV that can carry most of its load on the load-bearing wheel group to reduce the load-bearing load of the driving wheel group, so that the force distribution is reasonable, the service life is extended, and it is practical and efficient.

The present invention is achieved by adopting the following technical solutions.

A heavy-load AGV includes a frame, a load-bearing wheel group and a driving wheel group. The frame has a center line. The load-bearing wheel group and the driving wheel group are relatively arranged on both sides of the center line. The vertical distance between the load-bearing wheel group and the center line is a first spacing, and the vertical distance between the driving wheel group and the center line is a second spacing. The first spacing is smaller than the second spacing.

Further, the ratio of the first spacing to the second spacing ranges from 45% to 65%. Preferably, the ratio of the first spacing to the second spacing is 55%.

Furthermore, the vertical line of the center of gravity of the geometric figure formed by the combination of the driving wheel set and the load-bearing wheel set does not coincide with the vertical line of the center of gravity of the frame.

Furthermore, the load-bearing wheel group is used to bear the range of 65 to 75% of the frame weight, and the driving wheel group is used to bear the range of 25 to 35% of the frame weight. Preferably, the load-bearing wheel group is used to bear 70% of the frame weight, and the driving wheel group is used to bear 30% of the frame weight.

Further, the extension direction of the center line is arranged parallel to the long axis direction of the frame. The extension direction of the center line is arranged parallel to the long axis direction of the frame.

Furthermore, the load-bearing wheel group includes a first steering mechanism, a first mounting seat and a load-bearing wheel body. The load-bearing wheel body is mounted on the first mounting seat and can rotate relative to the first mounting seat. The first steering mechanism is mounted on the frame and connected to the first mounting seat. The first steering mechanism can drive the first mounting seat to rotate relative to the frame.

Furthermore, the first steering mechanism includes a first steering motor and a first transmission assembly, the first transmission assembly includes a first gear and a second gear, the diameter of the first gear is smaller than the diameter of the second gear, the first gear is fixedly sleeved outside the output shaft of the first steering motor, the second gear is fixedly connected to the first mounting seat, and the first gear is meshed with the second gear.

Furthermore, the driving wheel group includes a driving frame, a second steering mechanism, a second mounting seat, a driving assembly and a shock absorbing assembly, and the driving frame is fixedly connected to the frame; the second steering mechanism includes a second steering motor and a second transmission assembly, the second transmission assembly includes a worm and a worm wheel, the second steering motor is mounted on the driving frame and fixedly connected to the worm, the second mounting seat is fixedly connected to the worm wheel, and the worm is meshed with the worm wheel; the driving assembly includes a driving wheel body, a driving motor, a third transmission assembly and a fixing frame, the driving motor is fixedly mounted on the fixing frame and is connected to the driving wheel body through the third transmission assembly The driving wheel body is installed on the fixing frame and can rotate relative to the fixing frame, and the fixing frame is fixedly connected to the second mounting seat; the third transmission assembly includes a first pulley, a second pulley and a transmission belt, the diameter of the first pulley is smaller than the diameter of the second pulley, the first pulley is fixedly sleeved outside the output shaft of the driving motor, the second pulley is fixedly connected to the driving wheel body, and the first pulley is connected to the second pulley through the transmission belt; the shock-absorbing assembly includes a shock-absorbing plate and a plurality of shock-absorbing springs, the plurality of shock-absorbing springs are arranged in parallel and spaced apart, one end of the shock-absorbing spring is fixedly connected to the second mounting seat, and the other end is fixedly connected to the shock-absorbing plate.

Furthermore, the driving wheel group includes a driving frame, a second steering mechanism, a second mounting seat, a driving assembly and a shock absorbing assembly. The driving frame includes a first bracket, a hinge and a second bracket. The first bracket is fixedly mounted on the frame, one end of the hinge is hinged to the first bracket, and the other end is hinged to the second bracket. The second bracket can rotate relative to the first bracket; the second steering mechanism includes a second steering motor and a second transmission assembly. The second transmission assembly includes a worm and a worm wheel. The second steering motor is mounted on the driving frame and fixedly connected to the worm. The second mounting seat is fixedly connected to the worm wheel, and the worm is meshed with the worm wheel; the driving assembly includes a driving wheel body, a driving motor, a third transmission assembly and a fixed A fixed frame, a driving motor is fixedly mounted on the fixed frame, and is connected to the driving wheel body through a third transmission assembly, the driving wheel body is mounted on the fixed frame, and can rotate relative to the fixed frame, and the fixed frame is fixedly connected to the second mounting seat; the third transmission assembly includes a first pulley, a second pulley and a transmission belt, the diameter of the first pulley is smaller than the diameter of the second pulley, the first pulley is fixedly sleeved outside the output shaft of the driving motor, the second pulley is fixedly connected to the driving wheel body, and the first pulley is connected to the second pulley through the transmission belt; the shock absorbing assembly includes a plurality of buffer springs, the plurality of buffer springs are arranged in parallel and spaced apart, one end of the buffer spring is fixedly connected to the first bracket, and the other end is fixedly connected to the second bracket.

Furthermore, the driving wheel group includes a driving frame, a second steering mechanism, a second mounting seat and a driving assembly, and the driving frame is fixedly connected to the vehicle frame; the second steering mechanism includes a second steering motor and a second transmission assembly, the second transmission assembly includes a third gear and a fourth gear, the second steering motor is mounted on the driving frame and fixedly connected to the third gear, the second mounting seat is fixedly connected to the fourth gear, and the third gear is meshed with the fourth gear; the driving assembly includes a driving wheel body, a driving motor, a third transmission assembly and a fixed frame, the third transmission assembly is a reducer, the driving motor is fixedly mounted on the fixed frame and connected to the driving wheel body through the third transmission assembly, the driving wheel body is mounted on the fixed frame and can rotate relative to the fixed frame, and the fixed frame is fixedly connected to the second mounting seat.

Furthermore, the heavy-load AGV also includes a roller conveyor mechanism, which includes a first roller assembly, a second roller assembly and a first hydraulic component. The first roller assembly is installed in the second roller assembly and is connected to the frame through the first hydraulic component. The second roller assembly is fixedly connected to the frame. The first roller assembly and the second roller assembly are not in the same plane, and the conveying directions are arranged perpendicular to each other.

Furthermore, the heavy-load AGV also includes a receiving wheel, which is installed on one side of the frame and can rotate relative to the frame. The conveying direction of the receiving wheel is the same as the conveying direction of the first roller assembly.

Furthermore, the first roller assembly includes a conveying motor, a mounting frame, a fourth transmission assembly and multiple rollers. The conveying motor is fixedly mounted on the mounting frame and is connected to the multiple rollers through the fourth transmission assembly to drive the multiple rollers to rotate synchronously. The rollers are mounted on the mounting frame and can rotate relative to the mounting frame. The mounting frame is connected to the first hydraulic component.

Furthermore, a plurality of rollers are arranged in two rows in parallel on the mounting frame, the number of the fourth transmission assemblies is two, and each fourth transmission assembly is connected to a row of rollers.

Furthermore, the fourth transmission assembly includes a transmission shaft, a first sprocket, a chain and multiple second sprockets. The conveying motor is connected to the transmission shaft in transmission. The first sprocket is fixedly sleeved outside the transmission shaft. Each second sprocket is fixedly connected to a roller respectively. The first sprocket is connected to the multiple second sprockets respectively through chains.

Furthermore, there are multiple chains, two adjacent second sprockets are connected by a chain, and the first sprocket is connected to one of the second sprockets by a chain.

Furthermore, the heavy-load AGV also includes a plurality of first guide wheels and a plurality of second guide wheels, both of which are mounted on the frame and can rotate relative to the frame, the plurality of first guide wheels are arranged in two rows in parallel on both sides of the first roller assembly, the axial direction of the first guide wheels is perpendicular to the conveying direction of the first roller assembly, the plurality of second guide wheels are arranged in two rows in parallel on both sides of the second roller assembly, the axial direction of the second guide wheels is perpendicular to the conveying direction of the second roller assembly, and the axial direction of the first guide wheels is arranged parallel to the axial direction of the second guide wheels.

Furthermore, the heavy-load AGV also includes an anti-skid mechanism, which includes a second hydraulic component and a lifting plate, one end of the second hydraulic component is connected to the top of the frame, and the other end is connected to the lifting plate.

Furthermore, the heavy-load AGV also includes four jacking mechanisms, which are installed in a rectangular array at the bottom of the frame. The jacking mechanism includes a third hydraulic component and a jacking bracket. One end of the third hydraulic component is connected to the frame, and the other end is connected to the jacking bracket.

Furthermore, the heavy-load AGV also includes a laser scanner, a safety scanner, a laser navigator and a controller. The load-bearing wheel group and the driving wheel group are all connected to the controller. The laser scanner, the safety scanner and the laser navigator are all installed on the frame and are all connected to the controller.

The heavy-duty AGV provided by the present invention has the following beneficial effects:

The heavy-duty AGV provided by the present invention comprises a frame, a load-bearing wheel group and a driving wheel group, the frame has a center line, the load-bearing wheel group and the driving wheel group are relatively arranged on both sides of the center line, the vertical distance between the load-bearing wheel group and the center line is a first spacing, the vertical distance between the driving wheel group and the center line is a second spacing, and the first spacing is smaller than the second spacing. Compared with the prior art, the heavy-duty AGV provided by the present invention adopts a first spacing smaller than the second spacing, so most of its load can be carried on the load-bearing wheel group to reduce the load-bearing load of the driving wheel group, so that the force distribution is reasonable, the service life is extended, and it is practical and efficient.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic structural diagram of a heavy-duty AGV provided by a first embodiment of the present invention from one viewing angle;

FIG2 is a schematic structural diagram of a heavy-duty AGV provided by the first embodiment of the present invention from another perspective;

FIG3 is a schematic structural diagram of a load-bearing wheel group in a heavy-duty AGV provided in the first embodiment of the present invention;

FIG4 is a schematic structural diagram of a driving wheel assembly in a heavy-duty AGV provided by the first embodiment of the present invention from one perspective;

FIG5 is a schematic structural diagram of the second transmission assembly in FIG4 ;

FIG6 is a schematic structural diagram of a driving wheel assembly in a heavy-duty AGV provided in the first embodiment of the present invention from another perspective;

7 is a schematic structural diagram of a roller conveyor mechanism in a heavy-duty AGV provided by the first embodiment of the present invention from one perspective;

FIG8 is a schematic structural diagram of the roller conveyor mechanism in the heavy-duty AGV provided by the first embodiment of the present invention from another perspective;

9 is a schematic structural diagram of a lifting mechanism in a heavy-duty AGV provided in the first embodiment of the present invention;

FIG10 is a schematic diagram of the structure of a driving wheel group in a heavy-duty AGV provided in a second embodiment of the present invention;

FIG11 is a schematic structural diagram of a driving wheel assembly in a heavy-duty AGV provided in a third embodiment of the present invention from one perspective;

FIG. 12 is a schematic structural diagram of a driving wheel assembly in a heavy-duty AGV provided in the third embodiment of the present invention from another perspective.

Icons: 100-heavy-load AGV; 110-frame; 120-load-bearing wheel group; 121-first steering mechanism; 1211-first steering motor; 1212-first transmission assembly; 123-first mounting seat; 124-load-bearing wheel body; 125-first gear; 126-second gear; 130-driving wheel group; 131-driving frame; 1311-first bracket; 1312-hinged member; 1313-second bracket; 132-shock-absorbing assembly; 1321-shock-absorbing plate; 1322-shock-absorbing spring; 1323-buffer spring; 133-second rotating mechanism; 1331-second steering motor; 1332-second transmission assembly; 1341-worm; 1342-worm wheel; 1343-third gear; 1344-fourth gear; 135-second mounting seat; 136-driving The first transmission component is as follows: 1361-driving wheel body; 1362-driving motor; 1363-third transmission component; 1364-fixed frame; 1365-first pulley; 1366-second pulley; 1367-transmission belt; 140-roller conveying mechanism; 141-first roller assembly; 142-second roller assembly; 143-first hydraulic component; 144-conveying motor; 145-mounting frame; 146-fourth transmission component; 1461-transmission shaft; 1462-first sprocket; 1463-chain; 1464-second sprocket; 147-roller; 150-anti-skid mechanism; 151-second hydraulic component; 152-lifting plate; 160-lifting mechanism; 161-third hydraulic component; 162-lifting bracket; 170-supporting wheel; 180-first guide wheel; 190-second guide wheel.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the groups of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

First embodiment

1 and 2 , an embodiment of the present invention provides a heavy-duty AGV 100 for transporting goods. It can carry most of its load on the load-bearing wheel set 120 to reduce the load of the driving wheel set 130, so that the force distribution is reasonable, the service life is extended, and it is practical and efficient.

The heavy-duty AGV 100 includes a frame 110, a load-bearing wheel set 120, a driving wheel set 130, a roller conveyor mechanism 140, an anti-skid mechanism 150, a lifting mechanism 160 and a receiving wheel 170. The load-bearing wheel set 120 and the driving wheel set 130 are both installed at the bottom of the frame 110 to drive the frame 110 to move, wherein the load-bearing wheel set 120 is mainly used for load bearing and steering, and the driving wheel set 130 is mainly used for driving and steering. The roller conveyor mechanism 140 is installed on the frame 110, and the roller conveyor mechanism 140 is used to dock with the roller assembly line of the factory to transfer goods, thereby realizing the function of fully automatic cargo transportation. The anti-skid mechanism 150 is installed on the frame 110, and the anti-skid mechanism 150 is used to abut against the bottom wall of the goods when the heavy-duty AGV 100 moves, increase the friction of the goods, and prevent the goods from sliding off the roller conveyor mechanism 140. The lifting mechanism 160 is installed at the bottom of the frame 110. The lifting mechanism 160 is used to lift the entire frame 110 during the cargo transfer process to ensure that the frame 110 will not deviate or tip over due to changes in load. The receiving wheel 170 is installed on the frame 110 and can rotate relative to the frame 110. The cargo enters the roller conveyor mechanism 140 through the receiving wheel 170. The receiving wheel 170 can reduce the friction between the cargo and the frame 110 to ensure that the cargo can slide onto the roller conveyor mechanism 140.

It is worth noting that the frame 110 has a center line, and the extension direction of the center line is parallel to the long axis direction of the frame 110. The load-bearing wheel group 120 and the driving wheel group 130 are relatively arranged on both sides of the center line. The materials and structures of the load-bearing wheel group 120 and the driving wheel group 130 are different. The load-bearing wheel group 120 is mainly used for bearing, and the driving wheel group 130 is mainly used for driving. Specifically, the vertical distance between the load-bearing wheel group 120 and the center line is the first spacing, and the vertical distance between the driving wheel group 130 and the center line is the second spacing, and the first spacing is smaller than the second spacing. Specifically, the ratio of the first spacing to the second spacing ranges from 45% to 65%, so that the load of the cargo is reasonably distributed on the load-bearing wheel group 120 and the driving wheel group 130, and the load borne by the load-bearing wheel group 120 accounts for the majority, and the load borne by the driving wheel group 130 accounts for a small part. In this embodiment, the ratio of the first spacing to the second spacing is 55%, but is not limited thereto. The ratio of the first spacing to the second spacing may be 45% or 65%, and the ratio of the first spacing to the second spacing is not specifically limited.

It should be noted that in the prior art, the multiple wheels of the AGV are evenly distributed, and the centers of the multiple wheels coincide with the center of gravity of the vehicle body so that the load-bearing of each wheel is even. In this way, due to the limited load-bearing capacity of the wheels used for driving, the maximum load of the existing AGV is seriously insufficient and cannot meet the needs of modern industry. In this embodiment, a load-bearing wheel group 120 and a driving wheel group 130 of different materials and structures are used, and the vertical line of the center of gravity of the geometric figure formed by the driving wheel group 130 and the load-bearing wheel group 120 does not coincide with the vertical line of the center of gravity of the frame 110. Among them, the load-bearing wheel group 120 is arranged close to the center line, and the range of the load-bearing wheel group 120 for bearing the weight of the frame 110 is between 65 and 75%, and the driving wheel group 130 is arranged away from the center line, and the range of the driving wheel group 130 for bearing the weight of the frame is between 25 and 35%. Specifically, the load-bearing wheel group is used to bear 70% of the weight of the frame, and the driving wheel group is used to bear 30% of the weight of the frame, which can significantly increase the maximum load of the heavy-load AGV 100.

Please refer to Figure 3, the load-bearing wheel group 120 includes a first steering mechanism 121, a first mounting seat 123 and a load-bearing wheel body 124. The first steering mechanism 121 is installed on the frame 110 and connected to the first mounting seat 123. The first steering mechanism 121 can drive the first mounting seat 123 to rotate relative to the frame 110. The load-bearing wheel body 124 is installed on the first mounting seat 123 and can rotate relative to the first mounting seat 123 to drive the frame 110 to move. The rotation of the first steering mechanism 121 can drive the first mounting seat 123 to turn, thereby driving the load-bearing wheel body 124 to turn, thereby improving the steering flexibility of the heavy-load AGV 100. Specifically, the first steering mechanism 121 includes a first steering motor 1211 and a first transmission assembly 1212. The first steering motor 1211 is fixedly installed on the frame 110 and is connected to the first mounting seat 123 through the first transmission assembly 1212. In this embodiment, the first steering mechanism 121 further includes an encoder (not shown), which is connected to the first steering motor 1211 . The first steering motor 1211 can realize controllable self-rotation, and the encoder can control the steering angle of the first steering motor 1211 .

In this embodiment, the first transmission assembly 1212 includes a first gear 125 and a second gear 126. The first gear 125 is fixedly sleeved outside the output shaft of the first steering motor 1211, and the second gear 126 is fixedly connected to the first mounting seat 123, and the first gear 125 is meshed with the second gear 126. Specifically, the diameter of the first gear 125 is smaller than the diameter of the second gear 126, so as to reduce the transmission speed, increase the transmission torque, and facilitate the rotation of the first mounting seat 123 and the load-bearing wheel body 124.

Referring to FIG. 4 , the driving wheel assembly 130 includes a driving frame 131, a shock absorbing assembly 132, a second steering mechanism 133, a second mounting seat 135 and a driving assembly 136. The driving frame 131 is fixedly mounted on the vehicle frame 110 and connected to the shock absorbing assembly 132. The shock absorbing assembly 132 can buffer and damp the driving frame 131. The second steering mechanism 133 is mounted on the driving frame 131 and connected to the second mounting seat 135. The driving assembly 136 is mounted on the second mounting seat 135. The second steering mechanism 133 can drive the second mounting seat 135 to turn, thereby driving the driving assembly 136 to turn. Specifically, the second steering mechanism 133 includes a second steering motor 1331 and a second transmission assembly 1332. The second steering motor 1331 is fixedly mounted on the driving frame 131 and connected to the second mounting seat 135 through the second transmission assembly 1332.

Please refer to FIG. 5 . In this embodiment, the second transmission assembly 1332 includes a worm 1341 and a worm wheel 1342. The second steering motor 1331 is fixedly connected to the worm 1341, and the rotation of the second steering motor 1331 can drive the worm 1341 to rotate. The second mounting seat 135 is fixedly connected to the worm wheel 1342, and the worm 1341 is meshed with the worm wheel 1342. The rotation of the worm 1341 can drive the worm wheel 1342 to rotate, thereby driving the second mounting seat 135 to rotate, and then realizing the steering of the driving assembly 136.

Please refer to FIG. 6 . It is worth noting that the driving assembly 136 includes a driving wheel body 1361, a driving motor 1362, a third transmission assembly 1363 and a fixing frame 1364. The driving motor 1362 is fixedly mounted on the fixing frame 1364 and connected to the driving wheel body 1361 through the third transmission assembly 1363. The driving wheel body 1361 is mounted on the fixing frame 1364 and can rotate relative to the fixing frame 1364 to drive the fixing frame 1364 to move. The fixing frame 1364 is fixedly connected to the second mounting seat 135. The rotation of the driving motor 1362 can drive the driving wheel body 1361 to rotate, thereby providing power to the heavy-load AGV 100, so that the heavy-load AGV 100 can move.

In this embodiment, the third transmission assembly 1363 includes a first pulley 1365, a second pulley 1366 and a transmission belt 1367. The first pulley 1365 is fixedly sleeved outside the output shaft of the driving motor 1362, the second pulley 1366 is fixedly connected to the driving wheel body 1361, and the first pulley 1365 is connected to the second pulley 1366 through the transmission belt 1367. Specifically, the diameter of the first pulley 1365 is smaller than the diameter of the second pulley 1366, so as to reduce the transmission speed, increase the transmission torque, and facilitate the rotation of the driving wheel body 1361.

In this embodiment, the shock absorbing assembly 132 includes a shock absorbing plate 1321 and a plurality of shock absorbing springs 1322. The plurality of shock absorbing springs 1322 are arranged in parallel and spaced apart to enhance the force effect. One end of the shock absorbing spring 1322 is fixedly connected to the second mounting seat 135, and the other end is fixedly connected to the shock absorbing plate 1321. The shock absorbing spring 1322 is arranged vertically, and the shock absorbing plate 1321 is spaced apart from the ground. When the road surface is uneven, the shock absorbing plate 1321 is driven by the shock absorbing spring 1322 to move up and down, thereby achieving a buffering and shock absorbing effect on the second mounting seat 135.

Referring to FIG. 7 , the roller conveying mechanism 140 includes a first roller assembly 141, a second roller assembly 142 and a first hydraulic component 143. The first roller assembly 141 is installed in the second roller assembly 142 and connected to the frame 110 through the first hydraulic component 143. The first roller assembly 141 can be raised or lowered under the action of the first hydraulic component 143, so that the horizontal height of the first roller assembly 141 is higher or lower than the horizontal height of the second roller assembly 142. The second roller assembly 142 is fixedly connected to the frame 110, the first roller assembly 141 and the second roller assembly 142 are not in the same plane, and the conveying directions are arranged perpendicular to each other. In this embodiment, the conveying direction of the second roller assembly 142 is the extension direction of the center line, that is, the horizontal direction, and the conveying direction of the first roller assembly 141 is the longitudinal direction. When the level of the first roller assembly 141 is higher than the level of the second roller assembly 142, the goods fall on the first roller assembly 141, and the roller conveying mechanism 140 drives the goods to be transported in the longitudinal direction; when the level of the first roller assembly 141 is lower than the level of the second roller assembly 142, the goods fall on the second roller assembly 142, and the roller conveying mechanism 140 drives the goods to be transported in the transverse direction. The conveying directions of the first roller assembly 141 and the second roller assembly 142 are different to improve the flexibility of the heavy-load AGV 100 in transporting goods.

It is worth noting that the heavy-duty AGV 100 further includes a receiving wheel 170, which is mounted on one side of the vehicle frame 110 and corresponds to the entrance of the first roller assembly 141. The conveying direction of the receiving wheel 170 is the same as that of the first roller assembly 141, so as to reduce the friction of the movement of the goods and facilitate the delivery of the goods on the assembly line into the first roller assembly 141. Specifically, there are four receiving wheels 170, two of which are arranged at one end of the first roller assembly 141, and the other two receiving wheels 170 are arranged at the other end of the first roller assembly 141.

Please refer to FIG8 , the first roller assembly 141 includes a conveying motor 144, a mounting frame 145, a fourth transmission assembly 146 and a plurality of rollers 147. The conveying motor 144 is fixedly mounted on the mounting frame 145, and is connected to the plurality of rollers 147 through the fourth transmission assembly 146 to synchronously drive the plurality of rollers 147 to rotate, thereby driving the displacement of the goods. The rollers 147 are mounted on the mounting frame 145, and can rotate relative to the mounting frame 145 to send the goods into or out of the range where the mounting frame 145 is located. The mounting frame 145 is connected to the first hydraulic component 143, and the mounting frame 145 can be raised or lowered under the action of the first hydraulic component 143 to flexibly select the direction of cargo transportation.

It is worth noting that the plurality of rollers 147 are divided into two rows and are distributed in parallel on the mounting frame 145 to simultaneously support and transport the two ends of the cargo. There are two fourth transmission assemblies 146, each of which is connected to a row of rollers 147. The conveying motor 144 inputs power to the two rows of rollers 147 through the two fourth transmission assemblies 146 to drive the two rows of rollers 147 to rotate synchronously, thereby transporting the cargo.

In this embodiment, the fourth transmission assembly 146 includes a transmission shaft 1461, a first sprocket 1462, a chain 1463 and a plurality of second sprockets 1464. The conveying motor 144 is connected to the transmission shaft 1461 in transmission connection to drive the transmission shaft 1461 to rotate. The first sprocket 1462 is fixedly sleeved outside the transmission shaft 1461, each second sprocket 1464 is fixedly connected to a roller 147, and the first sprocket 1462 is connected to the plurality of second sprockets 1464 through the chain 1463. The rotation of the first sprocket 1462 can drive the plurality of second sprockets 1464 to rotate synchronously, thereby realizing the synchronous rotation of the plurality of rollers 147. Specifically, the number of the chain 1463 is multiple, two adjacent second sprockets 1464 are connected by a chain 1463, and the first sprocket 1462 is connected to one of the second sprockets 1464 by a chain 1463, so as to improve the transmission efficiency.

In this embodiment, the specific structure of the second roller assembly 142 is the same as the specific structure of the first roller assembly 141, and will not be repeated here.

It is worth noting that the heavy-duty AGV 100 also includes a plurality of first guide wheels 180 and a plurality of second guide wheels 190. The first guide wheels 180 and the second guide wheels 190 are both mounted on the frame 110 and can rotate relative to the frame 110 to guide and limit the cargo to ensure that the cargo can only move along a preset track. The axial direction of the first guide wheel 180 is arranged parallel to the axial direction of the second guide wheel 190, and the rotation direction of the first guide wheel 180 is the same as the rotation direction of the second guide wheel 190.

Among them, a plurality of first guide wheels 180 are arranged in two rows in parallel on both sides of the first roller assembly 141, and the axial direction of the first guide wheel 180 is perpendicular to the conveying direction of the first roller assembly 141. When the goods move on the first roller assembly 141, the bottom wall of the goods contacts with the plurality of rollers 147, and the rollers 147 drive the goods to move forward, and the side walls of the goods contact with the first guide wheels 180, and the first guide wheels 180 limit the movement of the goods. A plurality of second guide wheels 190 are arranged in two rows in parallel on both sides of the second roller assembly 142, and the axial direction of the second guide wheel 190 is perpendicular to the conveying direction of the second roller assembly 142. When the goods move on the second roller assembly 142, the bottom wall of the goods contacts with the plurality of rollers 147, and the rollers 147 drive the goods to move forward, and the side walls of the goods contact with the second guide wheels 190, and the second guide wheels 190 limit the movement of the goods.

The anti-skid mechanism 150 includes a second hydraulic component 151 and a lifting plate 152. One end of the second hydraulic component 151 is connected to the top of the frame 110, and the other end is connected to the lifting plate 152. The second hydraulic component 151 can drive the lifting plate 152 to rise or fall to resist or detach the goods on the roller conveyor mechanism 140. Specifically, the lifting plate 152 is arranged in the first roller assembly 140. When the lifting plate 152 falls, the plane where it is located is lower than the plane where the first roller assembly 141 is located, and lower than the plane where the second roller assembly 142 is located. When the lifting plate 152 rises, the plane where it is located is flush with the highest plane of the first roller assembly 140. The lifting plate 152 can support the goods together with the first roller assembly 140 to prevent the goods on the first roller assembly 140 from slipping. In this embodiment, a soft pad is provided on the lifting plate 152 to increase the friction between the lifting plate 152 and the cargo, further preventing the cargo from sliding off the lifting plate 152, and preventing the cargo from causing wear on the lifting plate 152, thereby protecting the lifting plate 152 and extending the service life of the lifting plate 152.

Please refer to FIG. 9 . It is worth noting that there are four lifting mechanisms 160 . The four lifting mechanisms 160 are installed in a rectangular array at the bottom of the frame 110 to lift the frame 110 synchronously to prevent the frame 110 from shaking or deflecting during transportation. The lifting mechanism 160 includes a third hydraulic component 161 and a lifting bracket 162 . One end of the third hydraulic component 161 is connected to the frame 110 , and the other end is connected to the lifting bracket 162 . The third hydraulic component 161 can drive the lifting bracket 162 to extend or shorten so that the load-bearing wheel group 120 and the driving wheel group 130 are separated from the ground or attached to the ground.

It should be noted that the heavy-duty AGV 100 also includes a laser scanner (not shown), a safety scanner (not shown), a laser navigator (not shown) and a controller (not shown). The load-bearing wheel group 120 and the driving wheel group 130 are both connected to the controller, and the controller can control the steering of the load-bearing wheel group 120. The controller can also control the steering, forward or backward movement of the driving wheel group 130 to achieve the movement of the entire heavy-duty AGV 100. The laser scanner, the safety scanner and the laser navigator are all installed on the frame and are all connected to the controller. The laser navigator is used to store navigation path data to control the entire heavy-duty AGV 100 to move along the navigation path through the controller. The laser scanner is used to sense the position of the goods on the frame 110 to prevent the goods from falling. The safety scanner is used to scan the surrounding objects during driving. If an obstacle is found on the navigation path, the safety scanner can control the entire heavy-duty AGV 100 to slow down or stop through the controller to improve safety performance.

It should be noted that the heavy-duty AGV 100 also includes a battery (not shown). A guide rail is provided in the frame 110, and a slider is provided at the bottom of the battery. The slider is slidably connected to the guide rail to facilitate inserting the battery into the frame 110 or taking it out from the frame 110, which is convenient for installing and removing the battery.

The heavy-duty AGV 100 provided in the embodiment of the present invention comprises a frame 110, a load-bearing wheel set 120 and a driving wheel set 130. The frame 110 has a center line, the load-bearing wheel set 120 and the driving wheel set 130 are relatively arranged on both sides of the center line, the vertical distance between the load-bearing wheel set 120 and the center line is a first spacing, the vertical distance between the driving wheel set 130 and the center line is a second spacing, and the first spacing is smaller than the second spacing. Compared with the prior art, the heavy-duty AGV 100 provided in the present invention adopts a first spacing smaller than the second spacing, so most of its load can be carried on the load-bearing wheel set 120 to reduce the load-bearing load of the driving wheel set 130, so that the force distribution is reasonable, the service life is extended, and it is practical and efficient.

Second embodiment

Referring to FIG. 10 , an embodiment of the present invention provides a heavy-duty AGV 100 . Compared with the first embodiment, the present embodiment is different in that the structure of the driving wheel set 130 is different.

In this embodiment, the driving frame 131 includes a first bracket 1311, a hinge 1312 and a second bracket 1313. The first bracket 1311 is fixedly mounted on the vehicle frame 110, one end of the hinge 1312 is hinged to the first bracket 1311, and the other end is hinged to the second bracket 1313, the second bracket 1313 can rotate relative to the first bracket 1311, the second steering motor 1331 is fixedly mounted on the second bracket 1313, and is connected to the second mounting seat 135 through the second transmission assembly 1332, and the driving assembly 136 is mounted on the second mounting seat 135. The shock absorbing assembly 132 is fixedly mounted on the first bracket 1311 and connected to the second bracket 1313.

In this embodiment, the shock absorbing assembly 132 includes a plurality of buffer springs 1323 arranged in parallel and at intervals, and the plurality of buffer springs 1323 are all arranged between the first bracket 1311 and the second bracket 1313. The buffer springs 1323 are arranged obliquely, and one end of the buffer spring 1323 is fixedly connected to the first bracket 1311, and the other end is fixedly connected to the second bracket 1313. When the road surface is uneven, the second bracket 1313 shakes up and down, and the second bracket 1313 rotates relative to the first bracket 1311. In this process, the buffer spring 1323 is compressed or stretched to reduce the shaking of the second bracket 1313, thereby achieving a buffering and shock absorbing effect.

The beneficial effects of the heavy-load AGV 100 provided by the embodiment of the present invention are the same as those of the first embodiment, and will not be described in detail herein.

Third embodiment

11 and 12 , an embodiment of the present invention provides a heavy-duty AGV 100 . Compared with the first embodiment, the present embodiment is different in that the structure of the driving wheel set 130 is different.

In this embodiment, the driving wheel assembly 130 no longer includes the shock absorbing assembly 132 to save space. The second steering motor 1331 is fixedly mounted on the driving frame 131 and connected to the second mounting seat 135 through the second transmission assembly 1332. The driving assembly 136 is mounted on the second mounting seat 135. The rotation of the second steering motor 1331 can drive the second mounting seat 135 to turn, thereby driving the driving assembly 136 to turn.

In this embodiment, the second transmission assembly 1332 includes a third gear 1343 and a fourth gear 1344. The third gear 1343 is fixedly sleeved outside the output shaft of the second steering motor 1331, and the fourth gear 1344 is fixedly connected to the second mounting seat 135, and the third gear 1343 is meshed with the fourth gear 1344. Specifically, the diameter of the third gear 1343 is smaller than the diameter of the fourth gear 1344, so as to reduce the transmission speed, increase the transmission torque, and facilitate the rotation of the second mounting seat 135 and the driving assembly 136.

In this embodiment, the driving assembly 136 includes a driving wheel body 1361, a driving motor 1362, a third transmission assembly 1363 and a fixed frame 1364. The driving motor 1362 is fixedly mounted on the fixed frame 1364 and is connected to the driving wheel body 1361 through the third transmission assembly 1363. The driving wheel body 1361 is mounted on the fixed frame 1364 and can rotate relative to the fixed frame 1364 to drive the fixed frame 1364 to move. The fixed frame 1364 is fixedly connected to the second mounting seat 135. The rotation of the driving motor 1362 can drive the driving wheel body 1361 to rotate, thereby providing power to the heavy-loaded AGV 100, so that the heavy-loaded AGV 100 can move. Specifically, the third transmission assembly 1363 is a reducer.

The beneficial effects of the heavy-load AGV 100 provided by the embodiment of the present invention are the same as those of the first embodiment, and will not be described in detail herein.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (13)

1. A heavy-load AGV, characterized in that it comprises a frame, a load-bearing wheel group and a driving wheel group, the frame having a center line, the load-bearing wheel group and the driving wheel group being relatively arranged on both sides of the center line, the vertical distance between the load-bearing wheel group and the center line being a first spacing, the vertical distance between the driving wheel group and the center line being a second spacing, and the first spacing being smaller than the second spacing; The extension direction of the center line is arranged parallel to the long axis direction of the frame; The ratio of the first spacing to the second spacing ranges from 45% to 65%; The vertical line of the center of gravity of the geometric figure formed by the combination of the driving wheel group and the load-bearing wheel group does not coincide with the vertical line of the center of gravity of the frame; The load-bearing wheel group is used to bear the weight of the frame in a range of 65% to 75%, and the driving wheel group is used to bear the weight of the frame in a range of 25% to 35%; The driving wheel group includes a driving frame, a second steering mechanism, a second mounting seat, a driving assembly and a shock absorbing assembly, the driving frame includes a first bracket, a hinge and a second bracket, the first bracket is fixedly mounted on the frame, one end of the hinge is hinged to the first bracket, and the other end is hinged to the second bracket, and the second bracket can rotate relative to the first bracket; the second steering mechanism includes a second steering motor and a second transmission assembly, the second transmission assembly includes a worm and a worm wheel, the second steering motor is mounted on the driving frame and fixedly connected to the worm, the second mounting seat is fixedly connected to the worm wheel, and the worm is meshed with the worm wheel; the driving assembly includes a driving wheel body, a driving motor, a third transmission assembly and a fixing frame, the driving motor The machine is fixedly mounted on the fixing frame and is connected to the driving wheel body through the third transmission assembly, the driving wheel body is mounted on the fixing frame and can rotate relative to the fixing frame, and the fixing frame is fixedly connected to the second mounting seat; the third transmission assembly includes a first pulley, a second pulley and a transmission belt, the diameter of the first pulley is smaller than the diameter of the second pulley, the first pulley is fixedly sleeved outside the output shaft of the driving motor, the second pulley is fixedly connected to the driving wheel body, and the first pulley is connected to the second pulley through the transmission belt; the shock absorbing assembly includes a plurality of buffer springs, the plurality of buffer springs are arranged in parallel and spaced apart, one end of the buffer spring is fixedly connected to the first bracket, and the other end is fixedly connected to the second bracket; The heavy-load AGV further includes a roller conveying mechanism, which includes a first roller assembly, a second roller assembly and a first hydraulic component, wherein the first roller assembly is installed in the second roller assembly and connected to the frame through the first hydraulic component, and the second roller assembly is fixedly connected to the frame, the first roller assembly and the second roller assembly are not in the same plane, and the conveying directions are arranged perpendicular to each other; The heavy-load AGV also includes a plurality of first guide wheels and a plurality of second guide wheels, wherein the first guide wheels and the second guide wheels are both mounted on the frame and can rotate relative to the frame, wherein the plurality of first guide wheels are arranged in two rows in parallel on both sides of the first roller assembly, wherein the axial direction of the first guide wheels is perpendicular to the conveying direction of the first roller assembly, and wherein the plurality of second guide wheels are arranged in two rows in parallel on both sides of the second roller assembly, wherein the axial direction of the second guide wheels is perpendicular to the conveying direction of the second roller assembly, and wherein the axial direction of the first guide wheels is arranged in parallel with the axial direction of the second guide wheels. 2. A heavy-load AGV according to claim 1, characterized in that the ratio of the first spacing to the second spacing is 55%. 3. A heavy-load AGV according to claim 1, characterized in that the load-bearing wheel group is used to bear 70% of the weight of the frame, and the driving wheel group is used to bear 30% of the weight of the frame. 4. A heavy-load AGV according to claim 1, characterized in that the load-bearing wheel group includes a first steering mechanism, a first mounting seat and a load-bearing wheel body, the load-bearing wheel body is mounted on the first mounting seat and can rotate relative to the first mounting seat, the first steering mechanism is mounted on the frame and connected to the first mounting seat, and the first steering mechanism can drive the first mounting seat to rotate relative to the frame. 5. A heavy-load AGV according to claim 4, characterized in that the first steering mechanism includes a first steering motor and a first transmission assembly, the first transmission assembly includes a first gear and a second gear, the diameter of the first gear is smaller than the diameter of the second gear, the first gear is fixedly sleeved outside the output shaft of the first steering motor, the second gear is fixedly connected to the first mounting seat, and the first gear is meshed with the second gear. 6. A heavy-load AGV according to claim 1, characterized in that the heavy-load AGV also includes a receiving wheel, which is installed on one side of the frame and can rotate relative to the frame, and the conveying direction of the receiving wheel is the same as the conveying direction of the first roller assembly. 7. A heavy-load AGV according to claim 1, characterized in that the first roller assembly includes a conveying motor, a mounting frame, a fourth transmission assembly and a plurality of rollers, the conveying motor is fixedly mounted on the mounting frame, and is connected to the plurality of rollers through the fourth transmission assembly to drive the plurality of rollers to rotate synchronously, the rollers are mounted on the mounting frame and can rotate relative to the mounting frame, and the mounting frame is connected to the first hydraulic component. 8. A heavy-load AGV according to claim 7, characterized in that the plurality of rollers are arranged in two rows in parallel on the mounting frame, the number of the fourth transmission assemblies is two, and each of the fourth transmission assemblies is connected to a row of the rollers. 9. A heavy-load AGV according to claim 7, characterized in that the fourth transmission assembly includes a transmission shaft, a first sprocket, a chain and multiple second sprockets, the conveying motor is connected to the transmission shaft in transmission, the first sprocket is fixedly sleeved outside the transmission shaft, each of the second sprockets is fixedly connected to one of the rollers, and the first sprocket is connected to multiple second sprockets through the chain. 10. A heavy-load AGV according to claim 9, characterized in that there are multiple chains, two adjacent second sprocket wheels are connected by one chain, and the first sprocket wheel is connected to one of the second sprocket wheels by one chain. 11. A heavy-load AGV according to claim 1, characterized in that the heavy-load AGV also includes an anti-skid mechanism, which includes a second hydraulic component and a lifting plate, one end of the second hydraulic component is connected to the top of the frame, and the other end is connected to the lifting plate. 12. A heavy-load AGV according to claim 1, characterized in that the heavy-load AGV also includes four lifting mechanisms, which are installed in a rectangular array at the bottom of the frame, and the lifting mechanism includes a third hydraulic component and a lifting bracket, one end of the third hydraulic component is connected to the frame, and the other end is connected to the lifting bracket. 13. A heavy-load AGV according to claim 1, characterized in that the heavy-load AGV also includes a laser scanner, a safety scanner, a laser navigator and a controller, the load-bearing wheel group and the driving wheel group are both connected to the controller, the laser scanner, the safety scanner and the laser navigator are all installed on the frame and are all connected to the controller.