An unmanned transport vehicle

Abstract

The present invention relates to an unmanned guided vehicle, comprising a body and a fork leg, wherein the fork leg is connected to the body, the body is provided with a balancing wheel system, the balancing wheel system comprises a balancing wheel assembly, two sets of balancing wheel assemblies are arranged on both sides of the body, the balancing wheel assembly comprises an oil pipe, an oil cylinder and a universal wheel, the oil cylinder comprises a floating cylinder barrel, a floating cylinder rod and a spring, one end of the floating cylinder rod is inserted in the floating cylinder barrel, and the other end is connected to the universal wheel, the spring is located between the floating cylinder rod and the floating cylinder barrel, and both ends of the oil pipe are respectively connected to the two floating cylinder barrels. An unmanned guided vehicle of the present invention can reduce the tilt and vibration of the vehicle during travel through the balancing wheel system to avoid the dumping of goods; in addition, the lifting of goods can be realized through a lifting mechanism, the shaking of goods during the lifting process can be avoided, and the stability of the lifting process is better.

Description

Technical Field

[0001] The present invention relates to the technical field of transport vehicles, and in particular to an unmanned transport vehicle. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guide path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be established using an electromagnetic path-following system. However, existing AGVs are prone to tilting and vibrating when traveling on uneven roads, causing the cargo on the fork legs to fall over. Summary of the invention

[0003] In order to solve the problems of the prior art, the present invention provides an unmanned transport vehicle which can reduce tilt and vibration during driving and prevent cargo from tipping over.

[0004] The specific technical scheme is as follows: an unmanned transport vehicle, comprising a body and a fork leg, the fork leg being connected to the body, the body being provided with a balancing wheel system, the balancing wheel system comprising a balancing wheel assembly, two sets of balancing wheel assemblies being arranged on both sides of the body, the balancing wheel assembly comprising an oil pipe, a first oil cylinder and a universal wheel, the first oil cylinder comprising a floating cylinder barrel, a floating cylinder rod and a first spring, one end of the floating cylinder rod being inserted into the floating cylinder barrel, and the other end being connected to the universal wheel, the first spring being located between the floating cylinder rod and the floating cylinder barrel, and both ends of the oil pipe being respectively connected to the two floating cylinder barrels.

[0005] The following are the subsidiary technical solutions of the present invention.

[0006] As a preferred solution, the universal wheel includes a balancing wheel, a support, a first deep groove ball bearing and a balancing wheel sleeve, the balancing wheel is arranged in the support, the first deep groove ball bearing is arranged on the mounting parts on both sides of the support, and the balancing wheel sleeve passes through the first deep groove ball bearing and the balancing wheel and is locked by a hexagonal head bolt.

[0007] As a preferred solution, the universal wheel includes a thrust ball bearing, a balancing wheel bearing seat, a second deep groove ball bearing and a straight-through oil cup. The thrust ball bearing is arranged on a positioning seat on the top of the support. The balancing wheel bearing seat is connected to the support and accommodates the thrust ball bearing. The straight-through oil cup is connected to the balancing wheel bearing seat, and the second deep groove ball bearing is connected to the support.

[0008] As a preferred embodiment, a lifting mechanism is provided in the fork leg, and the lifting mechanism includes a second oil cylinder, a lifting rod, a swing arm assembly and a guide plate. The lifting shaft of the lifting rod is arranged in the groove body of the guide plate, and the swing arm assembly is connected to the lifting shaft. The piston of the second oil cylinder drives the lifting rod to make the swing arm assembly swing.

[0009] As a preferred embodiment, the swing arm assembly includes a first swing arm, a second swing arm, a main shaft and a swing arm shaft. The first swing arm and the second swing arm are connected through the swing arm shaft. The main shaft is fixed on the fork leg. One end of the first swing arm is connected to the main shaft, and one end of the second swing arm is connected to the lifting shaft.

[0010] As a preferred solution, the lifting mechanism includes an upper top plate, and the upper top plate is connected to the second swing arm.

[0011] As a preferred solution, the lifting mechanism includes an upper limit proximity switch and a lower limit proximity switch, the first swing arm has a notch, the notch is arranged corresponding to the upper limit proximity switch, and the lower limit proximity switch is arranged corresponding to the upper top plate.

[0012] As a preferred solution, the lifting mechanism includes a second spring, one end of the second spring is connected to the lifting mechanism, and the other end of the second spring is connected to the fork leg.

[0013] As a preferred embodiment, a driving mechanism is provided in the fork leg, and the driving mechanism includes a servo motor, a reducer, a chain, a driving wheel, a first sprocket and a second sprocket. The servo motor is connected to the reducer, the first sprocket is connected to the reducer, the second sprocket is connected to the driving wheel, and the chain is arranged between the first sprocket and the second sprocket.

[0014] As a preferred solution, an anti-collision sensor is provided at the end of each fork leg.

[0015] Technical effect of the present invention: An unmanned transport vehicle of the present invention can reduce the tilt and vibration of the vehicle during travel through a balancing wheel system to avoid cargo tipping over; in addition, cargo lifting can be achieved through a lifting mechanism to avoid shaking of the cargo during the lifting process, thereby making the lifting process more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of an unmanned guided vehicle according to an embodiment of the present invention.

[0017] Figure 2 It is a top view of an unmanned guided vehicle according to an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of a balance wheel system according to an embodiment of the present invention.

[0019] Figure 4 The present invention Figure 3 Schematic diagram of the AA section.

[0020] Figure 5 1 is an exploded view of a universal wheel according to an embodiment of the present invention.

[0021] Figure 6 Schematic diagram of a fork leg according to an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of a lifting mechanism according to an embodiment of the present invention.

[0023] Figure 8 2 is another schematic diagram of the lifting mechanism according to an embodiment of the present invention.

[0024] Fig. 9 Schematic diagram of a driving mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The essential features and advantages of the present invention are further described below in conjunction with examples, but the present invention is not limited to the listed embodiments.

[0026] like Figures 1 to 9 As shown, an unmanned guided vehicle of this embodiment includes a body 1 and a fork leg 2, and the fork leg 2 is connected to the body 1. The body is provided with a balancing wheel system, and the balancing wheel system includes a balancing wheel assembly 3, and two groups of balancing wheel assemblies 3 are arranged on both sides of the body 1. The balancing wheel assembly 3 includes an oil pipe 31, a first oil cylinder 32 and a universal wheel 33, and the first oil cylinder 32 includes a floating cylinder 321, a floating cylinder rod 322 and a first spring 323, one end of the floating cylinder rod 322 is inserted in the floating cylinder 321, and the other end is connected to the universal wheel 33, the first spring 323 is located between the floating cylinder rod 322 and the floating cylinder 321, and the two ends of the oil pipe 31 are respectively connected to the two floating cylinders 321. In the above technical solution, when the two balance wheels are in the same plane, the hydraulic oil planes in the two floating cylinders 321 are equal; if the left and right balance wheels are uneven due to uneven ground during the movement of the unmanned guided vehicle, the unevenness of the left and right balance wheels causes the left and right floating cylinder rods to be uneven, and the hydraulic oil enters the oil cylinder on the side of the low balance wheel from the first oil cylinder 32 on the side of the high balance wheel through the oil pipe 31, and the first spring 323 plays a buffering role in this process. Through the above technical solution, the unmanned guided vehicle can keep the balance of both sides of the body when moving on uneven roads, buffer the vibration generated, and make it walk more smoothly.

[0027] In this embodiment, the universal wheel 33 includes a balancing wheel 331, a support 332, a first deep groove ball bearing 333 and a balancing wheel sleeve 334. The balancing wheel 331 is arranged in the support 332, the first deep groove ball bearing 333 is arranged on the mounting parts 4 on both sides of the support 332, and the balancing wheel sleeve 334 passes through the first deep groove ball bearing 333 and the balancing wheel 331 and is locked by the hexagonal bolt 5. Through the above technical solution, the balancing wheel can be easily assembled and rolled more flexibly.

[0028] In this embodiment, the universal wheel 33 includes a thrust ball bearing 335, a balancing wheel bearing seat 336, a second deep groove ball bearing 337 and a straight oil cup 338. The thrust ball bearing 335 is arranged on the positioning seat 6 at the top of the support 332. The balancing wheel bearing seat 336 is connected to the support and accommodates the thrust ball bearing 335. The straight oil cup 338 is connected to the balancing wheel bearing seat 336. The second deep groove ball bearing 337 is connected to the support. Through the above technical solution, the balancing wheel can rotate around the vertical axis to achieve rotation in different directions.

[0029] In this embodiment, the fork leg 2 is provided with a lifting mechanism 7, which includes a second oil cylinder 71, a lifting rod 72, a swing arm assembly 73 and a guide plate 74. The lifting shaft 721 of the lifting rod 72 is arranged in the groove 741 of the guide plate 74, the swing arm assembly 73 is connected to the lifting shaft 721, and the piston of the second oil cylinder 71 drives the lifting rod to swing the swing arm assembly 73. In the above technical solution, the lifting rod can be driven by the piston of the oil cylinder, so that the lifting shaft can move in the groove 741, and the lifting shaft drives the swing arm assembly to swing, so that the lifting mechanism can be lifted and lowered.

[0030] In this embodiment, the swing arm assembly 73 includes a first swing arm 731, a second swing arm 732, a main shaft 733 and a swing arm shaft 734. The first swing arm 731 and the second swing arm 732 are connected through the swing arm shaft 734. The main shaft 733 is fixed on the fork leg 2. One end of the first swing arm 731 is connected to the main shaft 733, and one end of the second swing arm 732 is connected to the lifting shaft 721. In the above technical solution, the first swing arm and the second swing arm generate relative rotation through the swing arm shaft.

[0031] In this embodiment, the lifting mechanism 7 includes an upper top plate 75, which is connected to the second swing arm 732, so that the upper top plate can be lifted and lowered. In this embodiment, the upper top plate is connected to the lifting plate 10 of the fork leg, so as to realize the lifting and lowering of the goods on the fork leg.

[0032] Specifically, the lifting principle of the lifting mechanism of this embodiment is as follows: the pump station provided in the machine body provides hydraulic oil to enter the second oil cylinder 71, the oil cylinder piston moves, the piston drives the lifting rod 72 to move through the top plate 79, the lifting rod drives the lifting shaft 721 to move back and forth in the slot 741, and drives the second swing arm 732 to move at the same time; while the main shaft 733 is fixed, the first swing arm 731 and the second swing arm 732 are connected and rotated through the swing arm shaft 734, then the second swing arm 732 will drive the upper top plate 75 to move upward, so as to achieve the purpose of lifting the platform from low to high; on the contrary, the oil inlet of the oil cylinder is connected to the oil cylinder, due to the gravity of the goods and the platform itself, the hydraulic oil in the oil cylinder flows out from the lower end of the oil cylinder plunger back to the oil tank in the machine body, the second swing arm moves along the reverse trajectory of the lifting action, and finally the platform drops to the limit position. The pump station in the machine body in this embodiment can refer to the patent application number 201810844219.8 applied by the applicant.

[0033] In this embodiment, the lifting mechanism 7 includes an upper limit proximity switch 76 and a lower limit proximity switch 77, the first swing arm 731 has a notch 735, the notch 735 is set corresponding to the upper limit proximity switch 76, and the lower limit proximity switch 77 is set corresponding to the upper top plate 75. Through the above technical solution, the limit control of the lifting mechanism can be realized, and the specific principle is as follows: when the upper top plate 75 of the lifting mechanism does not rise, because the first swing arm 731 has a notch 735, the upper limit proximity switch 76 has no induction within the effective range, and no signal output; during the rising process, as the first swing arm 731 rotates around the main shaft 733 of the lifting mechanism, the notch is gradually filled, and when the edge of the notch reaches half of the upper limit proximity switch, an induction output signal is generated, and the upper top plate 75 rises to the highest point; when the mechanism does not rise, the upper top plate 75 can be sensed by the lower limit proximity switch, and a signal is output. When the mechanism rises, the upper top plate 75 exceeds the sensing range of the lower limit proximity switch, and no induction signal is output.

[0034] In this embodiment, the lifting mechanism 7 includes a second spring 78, one end of the second spring 78 is connected to the lifting mechanism, and the other end is connected to the fork leg 2. By providing the second spring, when the lifting mechanism rises, the second spring is stretched to accumulate elastic force; when the lifting mechanism descends, the elastic force of the second spring can assist the lifting mechanism to reset.

[0035] In this embodiment, the fork leg 2 is provided with a driving mechanism 8, which includes a servo motor 81, a reducer 82, a chain 83, a driving wheel 84, a first sprocket 85 and a second sprocket 86. The servo motor 81 is connected to the reducer 82, the first sprocket 85 is connected to the reducer 82, the second sprocket 86 is connected to the driving wheel 84, and the chain 83 is arranged between the first sprocket 85 and the second sprocket 86. In the above technical solution, the servo motor 81 rotates, the torque is increased through the reducer 82 and the first sprocket 85 is driven to rotate, the first sprocket 85 drives the chain 83 to rotate, the chain 83 drives the second sprocket 86 to rotate, and finally the second sprocket 86 drives the driving wheel to rotate. The advantage of the above technical solution is that the driving wheel can be rotated and the assembly process can be simplified.

[0036] In this embodiment, an anti-collision sensor 9 is provided at the end of each fork leg 2. By providing the anti-collision sensor, the AGV can be prevented from colliding with obstacles when moving forward.

[0037] An unmanned guided vehicle of the present embodiment can reduce the tilt and vibration of the vehicle during travel through a balancing wheel system to prevent cargo from tipping over; in addition, cargo lifting can be achieved through a lifting mechanism to prevent cargo from shaking during the lifting process, thereby improving the stability of the lifting process.

[0038] It should be pointed out that the above preferred embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned guided vehicle, comprising: A machine body, wherein the machine body is provided with a balancing wheel system, and the balancing wheel system comprises two sets of balancing wheel assemblies arranged on both sides of the machine body; Fork legs, the fork legs are connected to the machine body, a lifting mechanism is provided in the fork legs, and an anti-collision sensor is provided at the end of each fork leg; Features: The balancing wheel assembly includes an oil pipe, a first oil cylinder, and a universal wheel. The first oil cylinder includes a floating cylinder, a floating cylinder rod, and a first spring. One end of the floating cylinder rod is inserted in the floating cylinder, and the other end is connected to the universal wheel. The first spring is located between the floating cylinder rod and the floating cylinder. Both ends of the oil pipe are connected to the two floating cylinders respectively. The lifting mechanism comprises a lifting rod, a guide plate, a swing arm assembly, a second oil cylinder, an upper top plate, an upper limit proximity switch, a lower limit proximity switch and a second spring; the lifting shaft of the lifting rod is arranged in the groove body of the guide plate; the swing arm assembly is connected with the lifting shaft, and the swing arm assembly comprises a first swing arm, a second swing arm, a main shaft and a swing arm shaft, the first swing arm and the second swing arm are connected through the swing arm shaft, one end of the first swing arm is connected with the main shaft, and one end of the second swing arm is connected with the lifting shaft, the first swing arm has a notch, and the notch is arranged corresponding to the upper limit proximity switch, and the main shaft is fixed on the fork leg; the piston of the second oil cylinder drives the lifting rod to make the swing arm assembly swing; the upper top plate is connected with the second swing arm, and the lower limit proximity switch is arranged corresponding to the upper top plate; one end of the second spring is connected with the lifting mechanism and the other end is connected with the fork leg; When the upper top plate of the lifting mechanism does not rise, the upper limit proximity switch has no induction within the effective range and no signal output due to the gap in the first swing arm; during the rising process, as the first swing arm rotates around the main axis of the lifting mechanism, the gap is gradually filled, and when the edge of the gap reaches the half of the upper limit proximity switch, an induction output signal is generated, and the upper top plate rises to the highest point.

2. The unmanned guided vehicle according to claim 1, characterized in that: The universal wheel includes a balancing wheel, a support, a first deep groove ball bearing and a balancing wheel sleeve, the balancing wheel is arranged in the support, the first deep groove ball bearing is arranged on the mounting parts on both sides of the support, and the balancing wheel sleeve passes through the first deep groove ball bearing and the balancing wheel and is locked by a hexagonal bolt.

3. The unmanned guided vehicle according to claim 2, characterized in that: The universal wheel also includes a thrust ball bearing, a balancing wheel bearing seat, a second deep groove ball bearing and a straight-through oil cup. The thrust ball bearing is arranged on a positioning seat on the top of the support. The balancing wheel bearing seat is connected to the support and accommodates the thrust ball bearing. The straight-through oil cup is connected to the balancing wheel bearing seat, and the second deep groove ball bearing is connected to the support.

4. The unmanned guided vehicle according to claim 1, characterized in that: A driving mechanism is also provided in the fork leg, and the driving mechanism includes a servo motor, a reducer, a chain, a driving wheel, a first sprocket and a second sprocket. The servo motor is connected to the reducer, the first sprocket is connected to the reducer, the second sprocket is connected to the driving wheel, and the chain is arranged between the first sprocket and the second sprocket.

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