CN114987636A

CN114987636A - AGV dolly

Info

Publication number: CN114987636A
Application number: CN202210938313.6A
Authority: CN
Inventors: 刘银燕; 黄泉林; 周若飞; 陈龙山
Original assignee: Det Industrial Design Co
Current assignee: Det Industrial Design Co
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-09-02

Abstract

The invention relates to the field of automatic logistics transportation, in particular to an AGV (automatic guided vehicle) which comprises a chassis and a loading part, wherein the loading part is fixedly arranged on the upper surface of the chassis; the loading part comprises a rectangular base and two support columns fixedly arranged on the base, a transmission mechanism is arranged on each support column, a loading frame is arranged on the loading cross beam, and the loading frame can rotate along the central axis of the loading cross beam; be provided with the telescopic extension on the bearing part, the loading frame embeds there is horizontal sensor, can make through horizontal sensor the bearing part of loading frame remains throughout and is on a parallel with the horizontal plane, install CCD camera and distance sensor in the chassis, be provided with transportation track and folding rotatory transport wheel on the lower surface of chassis, it has solved current AGV dolly and can have because the road surface is uneven in the transportation, and the article of transportation pile up too high again, lead to the technical problem that focus unstability article dropped.

Description

AGV dolly

Technical Field

The invention relates to the field of automatic logistics transportation, in particular to an AGV.

Background

(Automated Guided Vehicle, AGV), also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a central computer, or the traveling path can be established by an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates according to the information brought by the electromagnetic rail.

The AGV has the advantages of high automation degree, charging automation, enterprise image improvement, occupied area reduction and labor cost saving, is widely applied to the storage industry, the manufacturing industry, post offices, libraries, ports and docks, airports, dangerous places or special industries, and is mainly used for transporting articles.

The invention patent with Chinese patent application number 201811509965.8 discloses an AGV car, and aims to provide an AGV car capable of effectively reducing overturning caused by bumping, and the key points of the technical scheme are that the AGV car comprises a car body, wherein a stabilizing device is further arranged on the car body, and the stabilizing device comprises a support frame positioned on the car body, supports positioned on two sides of the support frame, a rotating motor positioned on one side of the supports, a bending frame positioned on an outlet of the rotating motor, a cross frame positioned at the top end of the bending frame in a hinged mode, rolling wheels positioned on the cross frame, and vertical and downward stop plates positioned on two sides of the cross frame. The technical scheme provided by the invention mainly provides a certain support when the AGV trolley bumps, but when the goods are stacked too high and the moving speed of the trolley is high, the goods collapse is easily caused by unstable gravity center.

Disclosure of Invention

Therefore, aiming at the problems, the invention provides an AGV, which solves the technical problem that in the transportation process of the conventional AGV, due to the fact that a road surface is uneven, transported articles are stacked too high, and the articles with unstable gravity center drop.

In order to achieve the purpose, the invention adopts the following technical scheme: an AGV comprises a chassis and a loading part, wherein the loading part is fixedly arranged on the upper surface of the chassis;

the loading part comprises a rectangular base, two supporting columns fixedly arranged on the base and used for defining two supporting columns as a first supporting column and a second supporting column respectively, the two supporting columns are arranged at the central positions of two opposite sides of the base respectively, the supporting column is vertical to the horizontal plane, the supporting column is provided with a transmission mechanism, the transmission mechanism comprises a main transmission chain arranged on the first supporting column, an auxiliary transmission chain arranged on the second supporting column and a driving motor used for driving the main transmission chain, a loading beam is erected between the main transmission chain and the auxiliary transmission chain, the main transmission chain is driven by the driving motor so as to enable the loading cross beam to move up and down along the vertical direction, the loading cross beam is provided with a loading frame, and the loading frame can rotate along the central axis of the loading cross beam under the drive of another drive motor; the loading frame is of an L-shaped structure and comprises a bearing part and a stabilizing part which are perpendicular to each other, the bearing part and the stabilizing part are integrally formed, a telescopic extending part is arranged on the bearing part, a horizontal sensor is arranged in the loading frame, and the bearing part of the loading frame can be always kept parallel to a horizontal plane through the horizontal sensor;

the device comprises a chassis, wherein a CCD camera and a distance sensor are installed in the chassis, a conveying crawler belt and a foldable rotary conveying wheel are arranged on the lower surface of the chassis, and the rotary conveying wheel is in a folded state, namely, the conveying crawler belt is adopted for moving and conveying; under the rotatory transport wheel expanded state, the transportation track liftoff this moment, rotatory transport wheel and ground contact adopt rotatory transport wheel to remove the transportation.

Furthermore, the number of the conveying crawler belts is two, the two conveying crawler belts are parallel to each other, the number of the rotating conveying wheels is four, and the rotating conveying wheels are arranged at four corners of the lower surface of the chassis.

Further, the transportation track includes fixed frame, set up in a plurality of accepting parts on the fixed frame, encircle and surround the flexible track of accepting part, adjacent two the interval is the same between the accepting part, the accepting part including fixed set up in last sleeve of fixed frame with set up in telescopic shaft in the sleeve, the telescopic shaft can freely stretch out and draw back in the sleeve, the sleeve top is provided with first drive gyro wheel, telescopic shaft free end is provided with second drive gyro wheel, first drive gyro wheel with second drive gyro wheel all with the internal surface of flexible track laminates each other, first drive gyro wheel with second drive gyro wheel is rotatory by motor drive, through first drive gyro wheel with second drive gyro wheel rotary drive the flexible track rotates and further realizes the transportation operation.

Furthermore, arc surfaces are symmetrically arranged at the left end and the right end of the fixed frame, at least one accommodating groove is formed in each arc surface, a roller is embedded in each accommodating groove and can roll in the accommodating groove along the axis direction of the roller, and the roller is attached to the inner surface of the flexible track.

Furthermore, the bearing part is provided with two balancing structures, the two balancing structures are symmetrical to each other, each balancing structure comprises a first balancing rod and a second balancing rod, the first balancing rod is rotatably connected with the outer circumferential surface of the sleeve, the second balancing rod is rotatably connected with the second transmission roller, and the first balancing rod and the second balancing rod are hinged to each other.

Furthermore, a plurality of rectangular first obstacle avoidance grooves are arranged on the outer circumferential surface of the flexible crawler in an encircling manner, and the distance between every two adjacent first obstacle avoidance grooves is the same.

Further, rotatory transport wheel includes footstock, rotating disc, rotor plate, swiveling wheel, the footstock with chassis lower surface fixed connection, rotating disc with footstock rotatable coupling, rotating disc can be 360 rotatory on the horizontal plane, the last integrated into one piece ground of rotating disc is provided with the connecting plate, the rotor plate rotatable set up in on the connecting plate, the swiveling wheel set up in on the connecting plate.

Furthermore, be provided with annular ring channel of circle on the lower surface of footstock, be provided with four at least third drive rollers on the rotating disc upper surface, the third drive roller passes through motor drive and rotates, works as the rotating disc with the footstock is connected the back, third drive roller inlays to be located in the ring channel.

Further, a rubber layer is arranged on the annular groove.

Furthermore, a plurality of S-shaped second obstacle avoidance grooves are arranged on the outer circumferential surface of the rotating wheel in a surrounding mode, and the distance between every two adjacent second obstacle avoidance grooves is the same.

By adopting the technical scheme, the invention has the beneficial effects that:

1. the scheme provided by the invention comprises a chassis and a loading part, wherein the loading part is used for loading goods, and support columns are respectively arranged at the central positions of two opposite sides of the base, so that the gravity center of the loaded goods can be ensured to fall in the middle part of the base, and the stability is improved; a loading cross beam capable of moving up and down along the vertical direction is erected between the two supporting columns, and a loading frame is arranged on the loading cross beam, so that the loading cross beam can drive the loading frame to move up and down; the loading frame is of an L-shaped structure and comprises a bearing part and a stabilizing part, wherein the bearing part is used for bearing articles, all the gravity of the articles is exerted on the bearing part during transportation, the stabilizing part is vertical to the bearing part, the stabilizing part is used for supporting the side surface of the articles when the articles are stacked too high, and the articles on the upper layer are easy to collapse due to inertia when the transportation speed is too high; the extension part is arranged on the bearing part, and on one hand, the extension part can adapt to more cargoes with different volumes, so that flexible transportation is realized; on the other hand, the inertia force possibly generated in the transportation process is considered, and the extension part is arranged, so that the surface area of the bearing part is increased, and a certain displacement area is provided for the goods in transportation; the loading frame is internally provided with the horizontal sensor, the horizontal sensor is used for enabling the bearing part on the loading frame to be always parallel to the horizontal plane, namely under the condition that the road surface is uneven, when the AGV moves to an upslope or a downslope from the plane, the horizontal sensor automatically detects the gradient and adjusts in real time, the loading frame is rotated to ensure that the bearing part is parallel to the horizontal plane, and further, even if the goods are stacked high, the gravity center of the goods is always vertical to the horizontal plane, namely, the goods can be kept stable and cannot incline along with the steep slope; the chassis is provided with a CCD camera and a distance sensor which are arranged to be capable of mutually cooperating to scan road surface data and detect obstacles in front of the advancing route so as to ensure the safety of the advancing route; the lower surface of the chassis is provided with the transportation crawler belt and the foldable rotating transportation wheel, two transportation modes of transportation on a flat road surface can be flexibly replaced and used, wherein the transportation crawler belt only provides two moving modes of forward movement and backward movement, and the rotating transportation wheel can rotate and advance on a horizontal plane for 360 degrees, is very flexible and is not limited by other factors, but the contact area of the rotating transportation wheel and the ground is smaller than that of the transportation crawler belt, so that the rotating transportation wheel can cause larger load to the rotating transportation wheel after being adopted for a long time, and meanwhile, in the process of passing through a speed reducing zone or a doorsill, the rotating transportation wheel can hardly ensure that a vehicle body can stably pass under the condition of not shaking, the application scenes of the invention are mostly warehouse, when the vehicle body needs to enter the freight elevator, grooves are formed among the ground, the elevator shaft and the freight elevator, if the rotating transportation wheel is adopted, shaking can be inevitably generated, and the risk of dumping can be caused by highly stacked goods, so the two is mostly the cooperation to use, and the transportation track benefit lies in and ground area of contact is big, and its load upper limit is bigger under the stable prerequisite, and when having narrower gap and recess or arch in the face of getting into goods lift or subaerial, it is not influenced completely.

2. The transportation track quantity is two and be parallel to each other, and the stability when the purpose has been guaranteed to remove, and rotatory transport wheel quantity is four and sets up in four corners of chassis lower surface, and its purpose is the stability of guaranteeing the dolly in-process of marcing equally.

3. The transportation crawler comprises a fixed frame, the fixed frame is used as a central frame of the transportation crawler and provides stable working performance for the transportation crawler when in work, meanwhile, a first transmission roller is arranged at the top of a sleeve, a second transmission roller is arranged at the tail end of the free end of a telescopic shaft, the flexible crawler is driven to move by the joint of the first transmission roller and the second transmission roller with the flexible crawler, and the second transmission roller is arranged at one side close to the ground, so that when a small obstacle is arranged on the road surface, namely the height of the obstacle is within the telescopic range of the telescopic shaft, the obstacle can directly advance after being scanned by a CCD camera, when the transportation crawler directly presses the obstacle to advance, because the second transmission roller is arranged on the telescopic shaft, when the obstacle is fed back to the second transmission roller through the flexible crawler, the second transmission roller is controlled by information received by a central computer in advance, it can upwards contract under the telescopic shaft effect, and because whole transportation track is big with ground area of contact, the transportation track directly disappears the influence of barrier to the dolly through self local deformation when pressing the barrier to move ahead, and transportation track wholly can not produce and rock, and then can not lead to the fact the rock to the goods of loading portion and top.

4. The left end and the right end of the fixed frame are provided with arc surfaces, the arc surfaces are provided with accommodating grooves, and rolling rollers are arranged in the accommodating grooves, so that the flexible crawler belt can move smoothly.

5. Through be provided with balanced structure on the accepting part, balanced structure quantity is two, set up for controlling mutual symmetry, its purpose is because the barrier surface is unevenness's irregularity, not only there is the ascending power of vertical side when barrier jack-up second transmission gyro wheel, there is the ascending power of slope still can exist, just probably lead to the telescopic shaft holding power not enough and take place to warp, through being provided with first balancing pole and second balancing pole, the two sets up mutual symmetry about, the in-process that reciprocates at second transmission gyro wheel can support for it, the process that makes it reciprocate can promote its life more steadily not rock simultaneously.

6. Through being provided with the first obstacle groove of keeping away on the outer peripheral surface at flexible track, the first obstacle groove of keeping away is the same with the purpose that the accepting portion that sets up in the fixed frame will realize, prevent promptly that ground barrier from causing the influence to the transportation, the two can mutual synergism during operation, accomplish the dolly and need not to avoid the barrier and directly move ahead, this work efficiency in the transportation has been promoted, the dolly need not frequently the diversion in order to avoid the barrier promptly, frequent switching-over in-process has also been avoided a bit simultaneously, because rotate and to make the goods produce centrifugal force, also have the risk that the increase goods collapsed.

7. The rotary transport wheel is used when being used for reversing, the third transmission roller is driven to drive the rotating disc to realize 360-degree rotation of the rotary transport wheel, the rubber layer is arranged on the annular groove, the purpose is to provide buffering between the annular groove and the third transmission roller in the working process of the rotary transport wheel, on one hand, noise can be reduced, on the other hand, the whole bearing capacity of the rotary transport wheel can be enhanced, the damage to the rotary transport wheel is avoided, and the service life of the rotary transport wheel is prolonged from another angle.

8. The rotating wheel is characterized in that a plurality of S-shaped second obstacle avoiding grooves are arranged on the outer circumferential surface of the rotating wheel in a surrounding mode, the distance between every two adjacent second obstacle avoiding grooves is the same, the purpose of each S-shaped second obstacle avoiding groove is the same as that of each first obstacle avoiding groove, and all the S-shaped second obstacle avoiding grooves are used for avoiding obstacles with small size.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic side view of the present invention.

Fig. 3 is a schematic view of the structure of the working process of the invention (steep slope).

Fig. 4 is a schematic front view of the present invention.

Fig. 5 is a schematic view of the inventive conveyor track configuration.

Fig. 6 is an enlarged view at a in fig. 5.

Fig. 7 is a first perspective view of the transporting rotation wheel of the present invention.

Fig. 8 is a second perspective view of the transporting rotation wheel of the present invention.

Fig. 9 is a schematic view showing a folded and unfolded state of the transport rotation wheel in the present invention.

Fig. 10 is a schematic view of the structure of the transporting rotary wheel (top seat in a cross-sectional view) in the present invention.

Fig. 11 is an enlarged view of fig. 10 at B.

Detailed Description

The invention will now be further described with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 11, the present embodiment provides an AGV cart, which includes a chassis 1 and a loading portion, wherein the loading portion is fixedly disposed on an upper surface of the chassis 1 by welding and screw reinforcement.

The loading part comprises a rectangular base 2, two support columns 3 fixedly arranged on the base 2, a first support column 31 and a second support column 32 are defined as the two support columns 3, the two support columns 3 are respectively arranged at the central positions of two opposite sides of the base 2, the support columns 3 are perpendicular to the horizontal plane, a transmission mechanism is arranged on the support columns 3, the transmission mechanism comprises a main transmission chain 311 arranged on the first support column 31, an auxiliary transmission chain 321 arranged on the second support column 32, and a driving motor (not shown in the prior art, but integrally arranged inside the base 2) for driving the main transmission chain 311, a loading beam 7 is erected between the main transmission chain 311 and the auxiliary transmission chain 321, the loading beam 7 is clamped on the main transmission chain 311 and the auxiliary transmission chain 321, and the main transmission chain 311 is driven by the driving motor so that the loading beam 7 can move up and down along the vertical direction The loading frame 4 is arranged on the loading cross beam 7, and the loading frame 4 can rotate along the central axis of the loading cross beam 7 through the driving of a motor; the loading frame 4 is in an L-shaped structure, the loading frame 4 comprises a bearing part 42 and a stabilizing part 41 which are perpendicular to each other, the bearing part 42 and the stabilizing part 41 are integrally formed, the bearing part 42 is provided with a telescopic extension part 421, the extension 421 has the same operation principle as the drawer, is built in the carrying part 42 and extends out when needing to be extended, so as to extend the surface area of the carrying part 42, the loading frame 4 is internally provided with a level sensor, the load-bearing part 42 of the loading frame 4 can always be kept parallel to the horizontal plane by means of a level sensor, wherein the level sensor is a known component, which can detect the degree of the included angle between the bearing part 42 and the horizontal plane in real time, by keeping the preset angle of the level sensor at 0 degree all the time, the loading frame 4 can be controlled by the central computer to rotate so that the preset angle of the horizontal sensor is not changed.

The device comprises a chassis 1, wherein a CCD camera and a distance sensor are installed in the chassis 1, a conveying crawler 5 and a foldable rotary conveying wheel 6 are arranged on the lower surface of the chassis 1, and the ground clearance of the rotary conveying wheel 6 is larger than that of the conveying crawler 5 in a folded state, namely the conveying crawler 5 is adopted for moving and conveying; when the rotary transport wheels 6 are in an unfolded state, the transport crawler 5 is lifted off, the rotary transport wheels 6 are in contact with the ground, and the rotary transport wheels 6 are adopted for moving transport, wherein the CCD camera is an abbreviation of a Charge Coupled Device and is a semiconductor imaging Device, so that the Device has the advantages of high sensitivity, strong light resistance, small distortion, small size, long service life, vibration resistance and the like, can monitor the shape and size of an obstacle and feed back the shape and size of the obstacle to a central computer, and the distance sensor is used for monitoring the distance between the AGV trolley and the obstacle in front and has the mutual synergistic effect.

The number of the conveying crawler belts 5 is two, the two conveying crawler belts 5 are parallel to each other, and the number of the rotating conveying wheels 6 is four, and the rotating conveying wheels are arranged at four corners of the lower surface of the chassis 1.

The transportation crawler 5 comprises a fixed frame 59, a plurality of receiving parts arranged on the fixed frame 59, and a flexible crawler 51 surrounding and surrounding the receiving parts, wherein the distance between every two adjacent receiving parts is the same, the socket part includes a sleeve 57 fixedly provided on the fixed frame 59 and a telescopic shaft 58 provided in the sleeve 57, the telescopic shaft 58 can freely extend and retract in the sleeve 57, the top of the sleeve 57 is provided with a first transmission roller 52, the tail end of the free end of the telescopic shaft 58 is provided with a second transmission roller 53, the first transmission roller 52 and the second transmission roller 53 are mutually attached to the inner surface of the flexible crawler belt, the first transmission roller 52 and the second transmission roller 53 are driven by a motor to rotate, the first transmission roller 52 and the second transmission roller 53 drive the flexible track 51 to rotate, so as to realize the transportation operation.

The left end and the right end of the fixed frame 59 are symmetrically provided with arc surfaces 56, each arc surface 56 is provided with six accommodating grooves 54, the two ends of each accommodating groove 54 are respectively provided with three arc surfaces, a roller 55 is embedded in each accommodating groove 54, each roller 55 can roll in the accommodating groove 54 along the axis direction, and each roller 55 is attached to the inner surface of the flexible crawler 51.

The bearing part is provided with two balancing structures 8, the two balancing structures 8 are symmetrical with each other, the balancing structure 8 includes a first balancing bar 81 hinge-connected to the outer circumferential surface of the sleeve, a second balancing bar 82 rotatably connected to the second driving roller 53, the first balance bar 81 and the second balance bar 82 are hinged to each other, a plurality of rectangular first obstacle avoidance grooves 511 are circumferentially arranged on the outer circumferential surface of the flexible track 51, the intervals between two adjacent first obstacle avoidance grooves 511 are the same, when the telescopic shaft 58 needs to be extended upwards to drive the second transmission roller 53 to move upwards when encountering an obstacle, the balance structure 8 provides support for the balance structure in the left-right direction, ensures that the balance structure can move upwards along the vertical direction, and can not take place the skew and lead to damaging, through being provided with first obstacle groove 511 of keeping away, first obstacle groove 511's advantage lies in: the obstacle with small volume (the obstacle with small volume is the obstacle with the height smaller than the depth of the first obstacle avoidance groove 511 and the width smaller than the width of the first obstacle avoidance groove 511) can be directly filtered by the first obstacle avoidance groove 511, so that the working strength of the bearing parts is reduced, that is, each adjacent bearing part does not need to work, but works at intervals.

Rotatory transport wheel 6 includes footstock 61, rotating disc 62, rotor plate 64, swiveling wheel 65, footstock 61 with 1 lower fixed surface on chassis is connected, rotating disc 62 with footstock 61 rotatable coupling, rotating disc 62 can be 360 rotatory on the horizontal plane, be provided with connecting plate 63 on the rotating disc 62 integrated into one piece, the rotatable setting of rotor plate 64 in on the connecting plate 63, swiveling wheel 65 set up in on the connecting plate 63.

The lower surface of the top seat 61 is provided with an annular groove 611, the upper surface of the rotating disc 62 is provided with four third transmission rollers 621, a circumferential included angle between the four third transmission rollers 621 is 90 °, the third transmission rollers 621 are driven to rotate by a motor, when the rotating disc 62 is connected with the top seat 1, the third transmission rollers 621 are embedded in the annular groove 611, a rubber layer 612 is arranged in the annular groove 611, and the rubber layer is used for promoting friction between the third transmission rollers 621 and the annular groove 611 and promoting mutual bearing capacity between the third transmission rollers 621 and the annular groove 611, so that the third transmission rollers 621 and the annular groove 611 can be protected at the same time.

A plurality of S-shaped second obstacle avoidance grooves 651 are circumferentially arranged on the outer circumferential surface of the rotating wheel 65, and the distance between two adjacent second obstacle avoidance grooves 651 is the same, so that the S-shaped design can ensure that the rolling wheel does not bump by controlling the groove width compared with a strip-shaped groove.

Through being provided with inclined plane 21 in the one end of base 2, the purpose is the goods that reply bulky quality is light, can directly transport on the upper surface of base 2 with the goods shovel through inclined plane 21 and need not to use loading frame 4, and the upper surface of base 2 itself also can be used to place the goods simultaneously, and the setting up of inclined plane 21 makes things convenient for the workman to push away the goods to base 2 on.

The rotating plate 64 is provided with an abutting surface 641, when the trolley is transported by rotating the transporting wheels 6, the rotating plate 64 can be rotated and unfolded, and the abutting surface 641 abuts against the lower surface of the chassis 1 (refer to fig. 9 and 10), so that the gravity transmitted from the upper side can be dispersed and supported, and the rotating part of the rotating plate 64 is prevented from being stressed too much.

In the above embodiments, the description of the central computer, the motor, the driving motor and other characters are all the character expressions of the known components, and are integrated in the chassis 1 and the base 2 of the present invention, or integrated on other components according to the actual requirements, where the motor and the driving motor are both drivers capable of driving each component to rotate or translate, the central computer is used for data processing and instruction transmission, and the driving component, the horizontal sensor, the CCD camera and the distance sensor are all connected with the central computer.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a AGV dolly, includes chassis and loading portion, its characterized in that: the loading part is fixedly arranged on the upper surface of the chassis;

the loading part comprises a rectangular base, two supporting columns fixedly arranged on the base and used for defining two supporting columns as a first supporting column and a second supporting column respectively, the two supporting columns are arranged at the central positions of two opposite sides of the base respectively, the supporting column is vertical to the horizontal plane, the supporting column is provided with a transmission mechanism, the transmission mechanism comprises a main transmission chain arranged on the first supporting column, an auxiliary transmission chain arranged on the second supporting column and a driving motor used for driving the main transmission chain, a loading beam is erected between the main transmission chain and the auxiliary transmission chain, the driving motor drives the main transmission chain to enable the loading cross beam to move up and down along the vertical direction, the loading cross beam is provided with a loading frame, and the loading frame can rotate along the central axis of the loading cross beam under the drive of another drive motor; the loading frame is of an L-shaped structure and comprises a bearing part and a stabilizing part which are perpendicular to each other, the bearing part and the stabilizing part are integrally formed, the bearing part is provided with a telescopic extending part, a horizontal sensor is arranged in the loading frame, and the bearing part of the loading frame can be always kept parallel to a horizontal plane through the horizontal sensor;

the device comprises a chassis, wherein a CCD camera and a distance sensor are installed in the chassis, a conveying crawler and foldable rotary conveying wheels are arranged on the lower surface of the chassis, and the rotary conveying wheels are movably conveyed by adopting the conveying crawler in a folded state; under the rotatory transport wheel expanded state, the transportation track liftoff this moment, rotatory transport wheel and ground contact adopt rotatory transport wheel to remove the transportation.

2. The AGV cart of claim 1, further comprising: the number of the conveying crawler belts is two, the two conveying crawler belts are parallel to each other, the number of the rotating conveying wheels is four, and the rotating conveying wheels are arranged at four corners of the lower surface of the chassis.

3. An AGV cart according to claim 2, characterised in that: the transportation track includes fixed frame, set up in a plurality of accepts on the fixed frame, encircle and surround the flexible track of accepts, adjacent two the interval is the same between the accepts, the accepts including fixed set up in last sleeve of fixed frame with set up in telescopic shaft in the sleeve, the telescopic shaft can freely stretch out and draw back in the sleeve, the sleeve top is provided with first drive gyro wheel, telescopic shaft free end is provided with second drive gyro wheel, first drive gyro wheel with second drive gyro wheel all with the internal surface of flexible track is laminated each other, first drive gyro wheel with second drive gyro wheel is rotatory by motor drive, through first drive gyro wheel with second drive gyro wheel rotary drive the flexible track rotates and then realizes the transportation operation.

4. An AGV according to claim 3 wherein: the left end and the right end of the fixed frame are symmetrically provided with arc surfaces, each arc surface is provided with at least one accommodating groove, a roller is embedded in each accommodating groove and can roll in the accommodating grooves along the axis direction of the roller, and the roller is attached to the inner surface of the flexible track.

5. An AGV according to claim 3, wherein: the bearing part is provided with two balancing structures, the two balancing structures are symmetrical to each other, each balancing structure comprises a first balancing rod and a second balancing rod, the first balancing rod is rotatably connected with the outer circumferential surface of the sleeve, the second balancing rod is rotatably connected with the second transmission roller, and the first balancing rod and the second balancing rod are hinged to each other.

6. An AGV according to claim 3 wherein: a plurality of rectangular first obstacle avoidance grooves are arranged on the outer circumferential surface of the flexible crawler in a surrounding mode, and the distance between every two adjacent first obstacle avoidance grooves is the same.

7. An AGV trolley according to any one of claims 1 to 6, characterised in that: rotatory transport wheel includes footstock, rotating disc, rotor plate, swiveling wheel, the footstock with chassis lower surface fixed connection, rotating disc with footstock rotatable coupling, rotating disc can be 360 rotatory on the horizontal plane, be provided with the connecting plate on the rotating disc integrated into one piece, the rotor plate rotatable set up in on the connecting plate, the swiveling wheel set up in on the connecting plate.

8. An AGV cart according to claim 7, characterised in that: the lower surface of the top seat is provided with an annular groove, the upper surface of the rotating disc is provided with at least four third transmission rollers, the third transmission rollers are driven to rotate by a motor, and when the rotating disc is connected with the top seat, the third transmission rollers are embedded in the annular groove.

9. The AGV cart of claim 8, wherein: and a rubber layer is arranged on the annular groove.

10. The AGV cart of claim 9, wherein: a plurality of S-shaped second obstacle avoidance grooves are arranged on the outer circumferential surface of the rotating wheel in a surrounding mode, and the distance between every two adjacent second obstacle avoidance grooves is the same.