CN110843956A - AGV device - Google Patents
AGV device Download PDFInfo
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- CN110843956A CN110843956A CN201911102159.3A CN201911102159A CN110843956A CN 110843956 A CN110843956 A CN 110843956A CN 201911102159 A CN201911102159 A CN 201911102159A CN 110843956 A CN110843956 A CN 110843956A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
The present invention provides an AGV apparatus, including: the second split AGV mechanism is provided with a combined position attached to the first split AGV mechanism and a split position separated from the first split AGV mechanism; adjusting device, adjusting device set up between first components of a whole that can function independently AGV mechanism and second components of a whole that can function independently AGV mechanism, adjusting device is used for driving second components of a whole that can function independently AGV mechanism and moves between fit position and components of a whole that can function independently position. The AGV device is provided with the first split AGV mechanism and the second split AGV mechanism, and the first split AGV mechanism and the second split AGV mechanism can approach and separate through the adjusting device to change the overall length of the AGV device, so that the AGV device is suitable for different external spaces, and the movement is smoother.
Description
Technical Field
The invention relates to the technical field of AGV equipment, in particular to an AGV device.
Background
AGVs (mobile robots, automated guided vehicles) are widely used because of their high degree of automation and precision travel routes. The AGV is because the mechanism that bears is more, great so that bear the weight of the whole AGV of doing, and in actual use, the AGV often can meet different space types, when meetting the narrow and small space of some passageways, like passageway or door opening, all can't pass smoothly.
Disclosure of Invention
The invention mainly aims to provide an AGV device, which solves the problem that the AGV device in the prior art cannot pass through a narrow space.
To achieve the above object, the present invention provides an AGV apparatus including: the second split AGV mechanism is provided with a combined position attached to the first split AGV mechanism and a split position separated from the first split AGV mechanism; adjusting device, adjusting device set up between first components of a whole that can function independently AGV mechanism and second components of a whole that can function independently AGV mechanism, adjusting device is used for driving second components of a whole that can function independently AGV mechanism and moves between fit position and components of a whole that can function independently position.
Further, the adjusting device includes: the driving part is arranged on the first split AGV mechanism; first transmission portion, the first end of first transmission portion is installed on first components of a whole that can function independently AGV mechanism, and the second end of first transmission portion is installed on second components of a whole that can function independently AGV mechanism, and the output of drive division and the first end drive of first transmission portion are connected, and the motion of first transmission portion can make second components of a whole that can function independently AGV mechanism be close to or keep away from first components of a whole that can function independently AGV mechanism.
Furthermore, adjusting device still includes second transmission portion and lazytongs, and second transmission portion passes through lazytongs and is connected with the drive division, and the first end of second transmission portion is installed in second components of a whole that can function independently AGV mechanism, and the second end of second transmission portion is installed on first components of a whole that can function independently AGV mechanism.
Further, first transmission part includes first lead screw, is fixed with first nut on the second components of a whole that can function independently AGV mechanism, and first lead screw is worn to establish in first nut to with first nut looks adaptation, drive division and first lead screw drive are connected.
Further, the second transmission part comprises a second lead screw, a second nut is fixed on the second split AGV mechanism, and the second lead screw is arranged in the second nut in a penetrating mode and matched with the second nut.
Furthermore, the synchronizing mechanism comprises a first synchronizing wheel and a second synchronizing wheel, the first synchronizing wheel is installed at one end, far away from the second split AGV mechanism, of the first transmission part, the second synchronizing wheel is installed at one end, far away from the second split AGV mechanism, of the second transmission part, and the first synchronizing wheel and the second synchronizing wheel are connected through synchronous belt driving.
Further, first components of a whole that can function independently AGV mechanism includes first organism, and second components of a whole that can function independently AGV mechanism includes the second organism, all is equipped with helm and universal wheel on first organism and the second organism, and the helm on at least one of first organism and the second organism can go up and down.
Furthermore, the first split AGV mechanism further comprises a first driving wheel mechanism arranged on the first machine body, the second split AGV mechanism further comprises a second driving wheel mechanism arranged on the second machine body, the first driving wheel mechanism and the second driving wheel mechanism respectively comprise a steering wheel and a lifting device, the steering wheel is a driving wheel, and the steering wheel is arranged on the lifting device; the first driving wheel mechanism and the second driving wheel mechanism are partially overlapped or not overlapped in a plane projection perpendicular to the extending direction of the first lead screw.
Further, the AGV device still includes the guide post, and the first end fixed mounting of guide post is provided with the guiding hole on the second components of a whole that can function independently AGV mechanism on first components of a whole that can function independently AGV mechanism, and the second end of guide post is movably worn to establish in the guiding hole, the outer wall looks adaptation of guiding hole and guide post.
Further, a first roller is arranged at the bottom of the first split AGV mechanism; the bottom of second components of a whole that can function independently AGV mechanism is provided with the second gyro wheel, and the axis of rotation of first gyro wheel and second gyro wheel all is perpendicular with the length direction of first lead screw, when adjusting the distance between first components of a whole that can function independently AGV mechanism and the second components of a whole that can function independently AGV mechanism, through one of elevating gear lift two steering wheels.
By applying the technical scheme of the invention, the AGV device is provided with the first split AGV mechanism and the second split AGV mechanism, and the first split AGV mechanism and the second split AGV mechanism can approach and separate through the adjusting device to change the overall length of the AGV device, so that the AGV device is suitable for different external spaces and can move more smoothly.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 schematically illustrates a block diagram of an embodiment of an AGV device of the present invention;
FIG. 2 schematically illustrates an overhead view of an embodiment of an AGV device of the present invention;
FIG. 3 schematically illustrates a bottom view of an embodiment of a second split AGV mechanism of the AGV device of the present invention in the position of the tray.
Wherein the figures include the following reference numerals:
10. a first split AGV mechanism; 11. a first drive wheel mechanism; 12. a steering wheel; 20. a second split AGV mechanism; 21. a second drive wheel mechanism; 31. a drive section; 32. a first transmission unit; 321. a first lead screw; 322. a first nut; 33. a second transmission part; 331. a second lead screw; 332. a second nut; 34. a guide post; 35. a guide sleeve; 41. a synchronous belt; 7. a first roller; 8. a universal wheel; 9. a second roller.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As described in the background art, an AGV (mobile robot, automated guided vehicle) is widely used because of its advantages of high degree of automation and precise travel route. The AGV is because the mechanism that bears is more, great so that bear the weight of the whole AGV of doing, and in actual use, the AGV often can meet different space types, when meetting the narrow and small space of some passageways, like passageway or door opening, all can't pass smoothly.
In order to solve the above problems, referring to fig. 1 to 3, an AGV apparatus according to an embodiment of the present invention includes a first split AGV mechanism 10 and a second split AGV mechanism 20, where the second split AGV mechanism 20 has a combined position abutting against the first split AGV mechanism 10 and a split position separated from the first split AGV mechanism 10; the split type AGV structure is characterized by further comprising an adjusting device, wherein the adjusting device is arranged between the first split AGV mechanism 10 and the second split AGV mechanism 20, and the adjusting device is used for driving the second split AGV mechanism 20 to move between a combined position and a split position. The AGV device comprises a first split AGV mechanism 10 and a second split AGV mechanism 20, wherein the first split AGV mechanism 10 and the second split AGV mechanism 20 can approach and separate through an adjusting device to change the overall length of the AGV device, so that the AGV device is suitable for different external spaces, the movement is smoother, and the turning radius can be reduced when the AGV device passes through a narrow area. In order to enable the first split AGV mechanism 10 and the second split AGV mechanism 20 to automatically approach and separate, and to realize the automatic adjustment function of the adjustment device, the adjustment device in this embodiment includes a driving part 31 and a first transmission part 32, and the driving part 31 is installed on the first split AGV mechanism 10; the first end of first transmission portion 32 is installed on first components of a whole that can function independently AGV mechanism 10, the second end of first transmission portion 32 is installed on second components of a whole that can function independently AGV mechanism 20, specifically on the casing of second components of a whole that can function independently AGV mechanism, the output of drive portion 31 is connected with the first end drive of first transmission portion 32, first transmission portion 32 motion can make second components of a whole that can function independently AGV mechanism 20 be close to or keep away from first components of a whole that can function independently AGV mechanism 10, in operation, drive first transmission portion through drive portion and carry out the transmission, in order to realize the automation of first components of a whole that can function independently AGV mechanism 10 and second components of a whole that can function independently AGV mechanism 20 and be close to and separate, through setting up the drive portion on first components of a whole that can function independently AGV mechanism, the weight of first components of a whole that can function independently AGV mechanism can be increased, first transmission portion carries.
Specifically, the adjusting device further includes a second transmission part 33 and a synchronization mechanism, the second transmission part 33 is connected to the driving part through the synchronization mechanism, a first end of the second transmission part 33 is mounted on the second split AGV mechanism 20, and a second end of the second transmission part 33 is mounted on the first split AGV mechanism 10.
The first transmission part 32 in this embodiment includes a first lead screw 321, a first nut 322 is fixed on the second split AGV mechanism 20, the first lead screw 321 is inserted into the first nut 322 and is adapted to the first nut 322, and the driving part 31 is in driving connection with the first lead screw 321. The first lead screw is driven to rotate through the driving part, the second split AGV mechanism is driven to move through the first nut through the matching of the first nut and the first lead screw, and the driving part is preferably a motor.
The adjusting device in this embodiment further includes a second transmission portion 33, the second transmission portion 33 includes a second lead screw 331, a second nut 332 is fixed on the second split AGV mechanism 20, and the second lead screw 331 is inserted into the second nut 332 and is adapted to the second nut 332. Through the rotation of the second lead screw, the second nut is matched with the second lead screw, and the second split AGV mechanism is driven to move through the second nut.
In a preferred embodiment, the first transmission part 32 in this embodiment includes a first lead screw 321, a first nut 322 is disposed on the second split AGV mechanism 20, the first lead screw 321 is inserted into the first nut 322 and is adapted to the first nut 322, and the driving part 31 is in driving connection with the first lead screw 321. The adjusting device in this embodiment further includes a second transmission portion 33, the second transmission portion 33 includes a second lead screw 331, a second nut 332 is disposed on the second split AGV mechanism 20, the second lead screw 331 is disposed in the second nut 332 in a penetrating manner, and is adapted to the second nut 332, and the first nut and the second nut are enabled to drive the second split AGV mechanism to move together through the cooperation of the first lead screw and the second lead screw with the first nut and the second nut respectively.
In order to ensure the adjustment synchronism of the first transmission section and the second transmission section, the synchronization mechanism of the present embodiment is provided between the first transmission section 32 and the second transmission section 33 to transmit the power of the first transmission section 32 to the second transmission section 33. Specifically, the synchronizing mechanism in this embodiment includes a first synchronizing wheel and a second synchronizing wheel, the first synchronizing wheel is installed at the one end of the first transmission portion far away from the second split AGV mechanism 20, specifically, the one end of the first lead screw far away from the second split AGV mechanism 20, the second synchronizing wheel is installed at the one end of the second transmission portion far away from the second split AGV mechanism 20, specifically, the one end of the second lead screw 331 far away from the second split AGV mechanism 20, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronous belt 41 in a driving manner. During operation, the driving part drives the first lead screw to rotate, so as to drive the first synchronous wheel to rotate, and the second synchronous wheel and the first synchronous wheel synchronously rotate through synchronous belt synchronization, so that the second lead screw and the first lead screw synchronously rotate.
In order to realize the movement of the first and second split AGV mechanisms, the first split AGV mechanism 10 in this embodiment includes a first body, and the second split AGV mechanism 20 includes a second body, wherein the second body and the first body have a housing, the first body and the second body have a steering wheel 12 and a universal wheel 8, and the steering wheel 12 on at least one of the first body and the second body can be lifted.
Wherein, first components of a whole that can function independently AGV mechanism 10 still includes the first drive wheel mechanism of installing on first organism, second components of a whole that can function independently AGV mechanism 20 is still including installing the second drive wheel mechanism on the second organism, first drive wheel mechanism and second drive wheel mechanism all include helm 12 and elevating gear, helm 12 is the action wheel, helm 12 is installed on elevating gear, helm 12 is installed on first organism through first drive mechanism is indirect, first drive wheel mechanism and second drive wheel mechanism all include the drive arrangement of drive helm 12 rotation, wherein drive arrangement is preferred driving motor, first drive wheel mechanism and second drive wheel mechanism all still have the device that turns to that drives helm 12 turned to realize the drive and turn to of helm 12, no longer describe herein.
In order to reduce the turning moment, the first driving wheel mechanism 11 and the second driving wheel mechanism 21 in the present embodiment overlap or do not overlap each other in a planar projection perpendicular to the extending direction of the first screw 321, and the steering wheel 12 of the first driving wheel mechanism and the steering wheel 12 of the second driving wheel mechanism are arranged to be offset on both sides, so that the moment arm can be increased.
Wherein, for making second components of a whole that can function independently AGV mechanism 20 more accurate for the motion of first components of a whole that can function independently AGV mechanism 10, the AGV device still includes guide post 34, and the first end fixed mounting of guide post 34 is provided with the guiding hole on the second components of a whole that can function independently AGV mechanism 20 on first components of a whole that can function independently AGV mechanism 10, and the guiding hole is worn to establish in the guiding hole movably by the second end of guide post 34, the outer wall looks adaptation of guiding hole and guide post. The guide posts 34 and the guide holes in the embodiment are multiple, the second ends of the guide posts are arranged in the guide holes in a penetrating mode in a one-to-one correspondence mode, and the guide posts are matched with the guide holes to achieve guiding, so that the second split AGV mechanism 20 can move more accurately relative to the first split AGV mechanism 10.
In a preferred embodiment, a guide sleeve 35 is disposed on an inner wall of the housing of the second body, the position of the guide sleeve corresponds to the position of the guide hole, the inside of the guide sleeve is communicated with the guide hole, and the guide post sequentially penetrates through the guide hole and the guide sleeve. During specific application, the driving portion drives the first lead screw to rotate, and then drives the first synchronous wheel to rotate, through synchronous belt synchronization, the second synchronous wheel and the first synchronous wheel rotate synchronously, so that the second lead screw and the first lead screw rotate synchronously, the first nut and the second nut drive the second sub-AGV mechanism 20 to move to the integrated position, in the process, the guide post is matched with the guide hole and the guide sleeve to guide, and the movement accuracy of the second machine body is guaranteed.
The bottom of the first split AGV mechanism 10 of this embodiment is provided with a first roller 7; the second roller 9 is arranged at the bottom of the second split AGV mechanism 20, the rotating shafts of the first roller and the second roller are perpendicular to the length direction of the first screw 321, and when the distance between the first split AGV mechanism 10 and the second split AGV mechanism 20 is adjusted, one of the two steering wheels 12 is lifted through the lifting device.
Specifically, the first driving wheel mechanism 11 and the second driving wheel mechanism 21 in this embodiment may be provided with an elevating device, and the steering wheel 12, i.e., the driving wheel, of the first driving wheel mechanism 11 and the second driving wheel mechanism 21 is mounted on the elevating device, wherein the elevating device may be a cylinder elevating device or a motor elevating device, and when the overall length of the AGV device needs to be increased, the elevating device raises the steering wheel 12 of the first driving wheel mechanism 11 or the steering wheel 12 of the second driving wheel mechanism 21. In this embodiment, the steering wheel 12 of the second driving wheel mechanism is lifted, at this time, the friction force between the steering wheel 12 of the first driving wheel mechanism and the ground and the gravity of the first split AGV mechanism 10 itself can keep the first split AGV mechanism 10 stationary, and then the driving portion drives the first lead screw to rotate, so as to drive the first synchronous wheel to rotate reversely, and through synchronous belt synchronization, the second synchronous wheel and the first synchronous wheel rotate synchronously, so that the second lead screw and the first lead screw rotate synchronously, and the first nut and the second nut drive the second split AGV mechanism 20 to move to the split position together. After the adjustment is completed, the lifting device lowers the steering wheel 12, and the steering wheel 12 of the second driving wheel mechanism again lands. In the adjustment process, the friction between the second split AGV mechanism and the ground can be reduced by arranging the universal wheels 8.
In other embodiments of the present invention, the bottom of the first split AGV mechanism 10 in this embodiment is provided with a pneumatic lifting base that can extend downward; the bottom of the second components of a whole that can function independently AGV mechanism 20 is provided with pneumatic lifting wheel, and pneumatic lifting wheel can stretch out downwards, and pneumatic lifting wheel is including directional wheel, and the axis of rotation of directional wheel is perpendicular with the length direction of first lead screw 321, and when adjusting the distance between first components of a whole that can function independently AGV mechanism 10 and second components of a whole that can function independently AGV mechanism 20, pneumatic lifting seat and pneumatic lifting wheel stretch out downwards to make first driving wheel mechanism and second driving wheel mechanism unsettled. Particularly, when the overall length of the AGV device needs to be reduced, the pneumatic lifting seat and the pneumatic lifting wheel extend downwards to contact the ground, and supports the first driving wheel mechanism 11 and the second driving wheel mechanism 21 to suspend them, at this time, the friction between the pneumatic lifting seat and the ground and the gravity of the first split AGV mechanism 10 can keep the first split AGV mechanism 10 still, then the driving part drives the first lead screw 321 to rotate, thereby driving the first synchronous wheel to rotate, the second synchronous wheel and the first synchronous wheel rotate synchronously through the synchronization of the synchronous belt, the second lead screw 331 and the first lead screw 321 rotate synchronously, so that the first nut and the second nut drive the second split AGV mechanism 20 to move to the integrated position, after the adjustment is completed, the pneumatic lifting seat and the pneumatic lifting wheel retract upwards, and the first driving wheel mechanism 11 and the second driving wheel mechanism 21 touch the ground again. Wherein, pneumatic lift seat and pneumatic lift wheel are not on the collinear of AGV device flexible direction to ensure the stability of adjustment process.
When the overall length of the AGV device needs to be increased, the pneumatic lifting seat and the pneumatic lifting wheel extend downwards to contact the ground, and support the first driving wheel mechanism 11 and the second driving wheel mechanism 21, so that the two are suspended, at this time, the friction force between the pneumatic lifting seat and the ground and the gravity of the first split AGV mechanism 10 can keep the first split AGV mechanism 10 still, then the driving part 31 drives the first lead screw 321 to rotate, further drives the first synchronous wheel to rotate reversely, and is synchronous through the synchronous belt, the second synchronous wheel and the first synchronous wheel rotate synchronously, so that the second lead screw and the first lead screw rotate synchronously, and the first nut and the second nut drive the second split AGV mechanism 20 to move towards the split position together. After the adjustment is completed, the pneumatic lifting seat and the pneumatic lifting wheel retract upwards, and the first driving wheel mechanism and the second driving wheel mechanism land again. In order to increase the friction between the pneumatic lifting seat and the ground, the bottom of the pneumatic lifting seat in this embodiment is provided with a rubber pad, when the overall length of the AGV device needs to be adjusted, the pneumatic lifting seat and the pneumatic lifting wheel extend downwards to contact the ground, and support the first driving wheel mechanism 11 and the second driving wheel mechanism 21, so that the two mechanisms are suspended in the air, at this time, the friction between the pneumatic lifting seat and the ground is increased through the rubber pad, so that the first split AGV mechanism 10 outputs thrust to the second split AGV mechanism 20 more stably. In a preferred embodiment, the bottom of the rubber pad is provided with a plurality of indentations to further increase the friction.
The split and combination of the first split AGV mechanism 10 and the second split AGV mechanism 20 can be realized through remote control, and whether the combination and split of the first split AGV mechanism 10 and the second split AGV mechanism 20 are in place or not is judged manually; also can confirm whether the fit targets in place through the mode that sets up press switch, set up press switch on the outer wall of first components of a whole that can function independently AGV mechanism 10, after first components of a whole that can function independently AGV mechanism 10 and second components of a whole that can function independently AGV mechanism 20 target in place, press switch can be pressed down to second components of a whole that can function independently AGV mechanism 20, press switch looks control its signals to judge that the fit targets in place. In a preferred embodiment, when the combined body and the split body of the press switch are detected to be in place, a rotary encoder can be adopted, whether the combined body and the split body are in place is judged by recording the number of turns of the rotation of the lead screw, and meanwhile, the rotary encoder is used for detecting, so that the accurate control of the elongation or the shortening can be realized.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the AGV device is provided with the first split AGV mechanism and the second split AGV mechanism, and the first split AGV mechanism and the second split AGV mechanism can approach and separate through the adjusting device to change the overall length of the AGV device, so that the AGV device is suitable for different external spaces, and the movement is smoother.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An AGV apparatus, comprising:
the split AGV comprises a first split AGV mechanism (10) and a second split AGV mechanism (20), wherein the second split AGV mechanism (20) is provided with a combined position attached to the first split AGV mechanism (10) and a split position separated from the first split AGV mechanism (10);
adjusting device, adjusting device sets up first components of a whole that can function independently AGV mechanism (10) reaches between second components of a whole that can function independently AGV mechanism (20), adjusting device is used for the drive second components of a whole that can function independently AGV mechanism (20) are in fit position reaches move between the components of a whole that can function independently position.
2. The AGV arrangement of claim 1, wherein the adjustment means comprises:
a drive section (31), the drive section (31) being mounted on the first split AGV mechanism (10);
first transmission part (32), install the first end of first transmission part (32) on first components of a whole that can function independently AGV mechanism (10), the second end of first transmission part (32) is installed on second components of a whole that can function independently AGV mechanism (20), the output of drive division (31) with the first end drive of first transmission part (32) is connected, first transmission part (32) motion can make second components of a whole that can function independently AGV mechanism (20) is close to or keeps away from first components of a whole that can function independently AGV mechanism (10).
3. AGV arrangement according to claim 2, characterised in that the adjusting device further comprises a second transmission (33) and a synchronizing mechanism, by means of which the second transmission (33) is connected with the drive, that a first end of the second transmission (33) is mounted to the second split AGV mechanism (20), and that a second end of the second transmission (33) is mounted to the first split AGV mechanism (10).
4. The AGV device according to claim 2, wherein said first transmission part (32) comprises a first lead screw (321), said second split AGV mechanism (20) is fixed with a first nut (322), said first lead screw (321) is inserted into said first nut (322) and is adapted to said first nut (322), and said driving part (31) is drivingly connected to said first lead screw (321).
5. The AGV device according to claim 3, wherein said second transmission part (33) comprises a second lead screw (331), a second nut (332) is fixed on the second split AGV mechanism (20), and said second lead screw (331) is inserted into said second nut (332) and is adapted to said second nut (332).
6. The AGV device according to claim 3, wherein said synchronizing mechanism comprises a first synchronizing wheel and a second synchronizing wheel, said first synchronizing wheel is installed at an end of said first transmission part far from said second split AGV mechanism (20), said second synchronizing wheel is installed at an end of said second transmission part far from said second split AGV mechanism (20), and said first synchronizing wheel and said second synchronizing wheel are drivingly connected by a synchronizing belt (41).
7. AGV device according to claim 4, characterized in that the first split AGV mechanism (10) comprises a first body and the second split AGV mechanism (20) comprises a second body, wherein each of the first and second bodies is provided with a steering wheel (12) and a universal wheel (8), and the steering wheel (12) on at least one of the first and second bodies can be lifted.
8. The AGV arrangement according to claim 7, characterised in that said first split AGV mechanism (10) further comprises a first driving wheel mechanism mounted on said first body, said second split AGV mechanism (20) further comprises a second driving wheel mechanism mounted on said second body, said first and second driving wheel mechanisms each comprising said steering wheel (12) and a lifting device, said steering wheel (12) being a driving wheel, said steering wheel (12) being mounted on said lifting device; the first driving wheel mechanism (11) and the second driving wheel mechanism (21) are partially overlapped or not overlapped in a plane projection perpendicular to the extending direction of the first lead screw (321).
9. The AGV device according to claim 1, further comprising a guiding column (34), wherein a first end of the guiding column (34) is fixedly installed on the first split AGV mechanism (10), a guiding hole is formed in the second split AGV mechanism (20), a second end of the guiding column (34) is movably arranged in the guiding hole in a penetrating manner, and the guiding hole is matched with the outer wall of the guiding column (34).
10. AGV arrangement according to claim 8, characterised in that the bottom of the first split AGV mechanism (10) is provided with a first roller (7); the bottom of second components of a whole that can function independently AGV mechanism (20) is provided with second gyro wheel (9), first gyro wheel with the axis of rotation of second gyro wheel all with the length direction of first lead screw (321) is perpendicular, is right when first components of a whole that can function independently AGV mechanism (10) with distance is adjusted between second components of a whole that can function independently AGV mechanism (20), through elevating gear raises two one of the steering wheel.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111470236A (en) * | 2020-04-24 | 2020-07-31 | 珠海格力智能装备有限公司 | Automatic guide transport vechicle |
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| CN1931652A (en) * | 2005-09-13 | 2007-03-21 | 北京航空航天大学 | Variable-structure leg wheel type machine insect |
| CN201825148U (en) * | 2010-10-21 | 2011-05-11 | 浙江吉利汽车研究院有限公司 | Double-automobile static separation and combination system |
| US20190225288A1 (en) * | 2015-11-04 | 2019-07-25 | Zoox, Inc. | Quadrant configuration of robotic vehicles cross-reference to related applications |
| CN205588895U (en) * | 2016-03-22 | 2016-09-21 | 重庆三峡学院 | Automatic flexible wheel base car of four -wheel |
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| CN207142147U (en) * | 2017-07-31 | 2018-03-27 | 广东嘉腾机器人自动化有限公司 | A kind of docking facilities for AGV and a kind of AGV docking systems |
| CN108617309A (en) * | 2018-05-11 | 2018-10-09 | 东北大学 | A kind of highway greenbelt pruning car |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111470236A (en) * | 2020-04-24 | 2020-07-31 | 珠海格力智能装备有限公司 | Automatic guide transport vechicle |
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Application publication date: 20200228 |