Overloaded Transfer Vehicle and Control Method

Abstract

The present invention discloses a heavy-duty transporter and a control method. The key points of the technical solution are as follows: it includes a vehicle body; driving wheels, multiple driving wheels are provided, and the driving wheels are used to drive the vehicle body to move and turn; a wheel frame, on which the driving wheels are arranged; a buffer spring, which is arranged between the wheel frame and the vehicle body to apply a downward elastic force to the wheel frame; and a buffer hydraulic cylinder, which is arranged between the wheel frame and the vehicle body to apply a downward force to the wheel frame when the vehicle body carries heavy loads; when the vehicle body is unloaded, only the buffer spring works, and when carrying loads, the hydraulic cylinder assists the buffer spring to work, which can not only meet the requirements of heavy loads for buffer force, but also prevent the vehicle body from being too high when unloaded.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer vehicles, and more specifically, it relates to a heavy-duty transfer vehicle and a control method. Background Art

[0002] Automated Guided Vehicle, abbreviated as AGV, is usually also called an AGV cart. It is a common transfer vehicle. The AGV cart is equipped with an automatic navigation device such as electromagnetic or optical, and can travel along a specified navigation path. It is a transport vehicle with safety protection and various transfer functions. During the use of the AGV cart, it does not require a driver to drive, and uses a rechargeable battery as the power source.

[0003] On the AGV cart, in order to enable the AGV cart to maintain the adhesion between the drive wheels and the ground on uneven ground, a spring structure is often provided on the drive wheels. By pressing the drive wheels with the spring, there is sufficient adhesion between the drive wheels and the ground. However, for a heavy-duty AGV, in order to enable the spring to play a role, it is necessary to increase the elastic force of the spring. However, when the AGV cart is unloaded, the AGV cart will be lifted by the spring, increasing the height of the AGV cart. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a heavy-duty transfer vehicle, which only acts through the buffer spring when the vehicle body is unloaded, and works with the buffer spring assisted by the hydraulic cylinder when carrying goods. It can not only meet the requirements of heavy loads for buffer force, but also prevent the vehicle body from being too high when unloaded.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A heavy-duty transfer vehicle, including a vehicle body;

[0006] Power wheels, a plurality of the power wheels are provided, and the power wheels are used to drive the vehicle body to move and turn;

[0007] Wheel frames, the power wheels are arranged on the wheel frames;

[0008] Buffer springs, the buffer springs are arranged between the wheel frames and the vehicle body to apply a downward elastic force to the wheel frames;

[0009] And buffer hydraulic cylinders, the buffer hydraulic cylinders are arranged between the wheel frames and the vehicle body to apply a downward force to the wheel frames when the vehicle body carries heavy objects.

[0010] The present invention is further arranged as: Two power wheels are arranged on each of the wheel frames, and the two power wheels are respectively powered by separate motors;

[0011] Above the wheel carrier, a rotating plate is provided. The buffer spring and the buffer hydraulic cylinder are arranged on the rotating plate and the wheel carrier. The rotating plate is rotatably connected to the vehicle body so that the two driving wheels can turn through the speed difference.

[0012] The present invention is further arranged as follows: A receiving hole is provided at the top of the wheel carrier. The buffer hydraulic cylinder is arranged in the receiving hole. The bottom of the rotating plate is fixedly connected with a guide sleeve. One end of the bottom of the guide sleeve is inserted into the receiving hole and slides up and down in the receiving hole.

[0013] The present invention is further arranged as follows: The buffer spring is sleeved outside the guide sleeve. The receiving hole is set as a circular hole, and the guide sleeve is correspondingly set as a circular sleeve.

[0014] The present invention is further arranged as follows: A plurality of positioning grooves vertically penetrating the guide sleeve are provided on the outer side of the guide sleeve. A plurality of positioning blocks are fixedly connected to the hole wall of the receiving hole. The plurality of positioning blocks correspond to the plurality of positioning grooves one by one, and the corresponding positioning blocks are inserted into the corresponding positioning grooves.

[0015] The present invention is further arranged as follows: The cylinder body of the buffer hydraulic cylinder is fixedly connected. The end of the piston rod of the buffer hydraulic cylinder is fixedly connected with a limiting block arranged in a cross shape. A limiting groove cooperating with the limiting block is provided on the rotating plate.

[0016] The present invention is further arranged as follows: Two distance sensors corresponding to the two driving wheels respectively are provided on the rotating plate. The distance sensors are used to detect the distance between the distance sensors and the corresponding driving wheels.

[0017] The present invention is further arranged as follows: A pressure sensor for detecting the pressure between the limiting block and the rotating plate is provided in the limiting groove.

[0018] The present invention is further arranged as follows: Two auxiliary wheel sets are provided on both sides of the bottom of the vehicle body. The two auxiliary wheel sets can move up and down at the bottom of the vehicle body.

[0019] Another object of the present invention is to provide a control method for a heavy-load transporter. The distance sensors obtain the distance information between the distance sensors and the corresponding wheel carriers, and the pressure sensors obtain the pressure information. When the distance information obtained by a distance sensor is greater than the distance information obtained by the other distance sensors, and the pressure information obtained by the pressure sensor corresponding to this distance sensor is less than the pressure information obtained by the other pressure sensors, the buffer hydraulic cylinder corresponding to the distance sensor is pressurized;

[0020] When the distance information obtained by the distance sensors located on the same side of the vehicle body is less than the distance information obtained by the distance sensors on the other side, and the pressure information obtained by the pressure sensor corresponding to the distance sensors on this side is greater than the pressure information obtained by the pressure sensors on the other side, the buffer hydraulic cylinder on this side of the vehicle body is pressurized.

[0021] In summary, the present invention has the following beneficial effects compared with the prior art: When the vehicle body is unloaded, the present invention only acts through the buffer spring. When carrying goods, the hydraulic cylinder assists the buffer spring to work, which can not only meet the requirements of heavy loads for buffering force, but also prevent the vehicle body from being too high when unloaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the embodiment;

[0023] Figure 2 It is a schematic diagram showing the buffer spring in the embodiment;

[0024] Figure 3 It is a schematic diagram showing the positioning block and the positioning groove in the embodiment;

[0025] Figure 4 For Figure 3 The enlarged schematic diagram of part A of

[0026] Figure 5 It is a schematic diagram of the rotating plate in the embodiment;

[0027] Figure 6 It is a cross-sectional view of the overall structure of the embodiment;

[0028] Figure 7 It is a schematic diagram showing the double-rod hydraulic cylinder in the embodiment.

[0029] In the figure: 1. Vehicle body; 11. Chute; 12. Anti-disengagement groove; 2. Driving wheel; 3. Auxiliary wheel set; 4. Wheel frame; 41. Accommodating hole; 411. Positioning block; 5. Rotating plate; 51. Guide sleeve; 511. Positioning groove; 52. Limiting groove; 6. Buffer spring; 7. Buffer hydraulic cylinder; 71. Limiting block; 8. Double-rod hydraulic cylinder; 9. Slide block; 91. Anti-disengagement block; 92. Connecting rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by those of ordinary skill in the art without creative efforts shall all fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "upper", "lower", "left", "right", etc., are only references to the directions in the drawings. Therefore, the directional terms used are for illustration rather than to limit the present invention.

[0031] The present invention will be further described below in conjunction with the drawings and preferred embodiments.

[0032] Embodiment 1: A heavy-duty transporter, see attachedFigure 1 -Attached Figure 7 , comprising a vehicle body 1 for carrying objects, a wheel frame 4 arranged at the bottom of the vehicle body 1, a power wheel 2 arranged on the wheel frame 4 for driving the vehicle body 1 to move and turn, a buffer spring 6 arranged between the wheel frame 4 and the vehicle body 1, and a buffer hydraulic cylinder 7 arranged between the wheel frame 4 and the vehicle body 1. When the vehicle body 1 is unloaded, the buffer hydraulic cylinder 7 does not work, and only works through the buffer spring 6. When the wheel contacts the concave ground, the buffer spring 6 applies a downward elastic force to the wheel frame 4 to ensure the adhesion of the power wheel 2 to the ground; when the vehicle body 1 is loaded, especially heavily loaded, due to the large weight of the vehicle body 1 plus the goods, the buffer spring 6 is compressed to the limit and cannot function normally. At this time, the piston rod of the buffer hydraulic cylinder 7 extends, and the buffer hydraulic cylinder 7 and the buffer spring 6 play a buffering effect together, and when it is unloaded again, the piston rod of the buffer hydraulic cylinder 7 retracts, and only works through the buffer spring 6 again, so that the height of the vehicle body 1 will not be increased due to the excessive elastic force of the buffer spring 6 when the vehicle body 1 is unloaded.

[0033] Specifically, two power wheels 2 are arranged on each wheel frame 4, and the two power wheels 2 are provided with power by separate motors. At this time, by controlling the rotation speed of the two power wheels 2, when the rotation speeds of the two power wheels 2 are the same, the wheel frame 4 pushes the vehicle body 1 to move in one direction, and when there is a rotation speed difference between the two power wheels 2, the two power wheels 2 push the wheel frame 4 to rotate, so that the direction in which the wheel frame 4 pushes the vehicle body 1 to move changes, thereby realizing the steering of the vehicle body 1.

[0034] Specifically, the two power wheels 2 on the wheel frame 4 are respectively located on both sides of the wheel frame 4 and are arranged to be coaxial; the motors that drive the two power wheels 2 to rotate are fixedly connected to the wheel frame 4, and gearboxes corresponding to the two power wheels 2 are arranged in the wheel frame 4, and the motors are connected to the corresponding power wheels 2 through the gearboxes.

[0035] Specifically, a rotating plate 5 is arranged above the wheel frame 4, the rotating plate 5 is rotatably connected to the vehicle body 1, and the buffer spring 6 and the buffer hydraulic cylinder 7 are arranged between the rotating plate 5 and the wheel frame 4, so that when the two wheels control the rotation of the wheel frame 4 through the speed difference, the wheel frame 4 can smoothly rotate on the vehicle frame. Specifically, the rotation axis of the rotating plate 5 is arranged to be vertical.

[0036] When buffering the vehicle body 1 through the buffer spring 6 and the buffer hydraulic cylinder 7, the rotating plate 5 moves up and down relative to the wheel carrier 4. In order to guide the direction of the up and down movement of the rotating plate 5, a receiving hole 41 is provided at the top of the wheel carrier 4, and a guide sleeve 51 is fixedly connected to the bottom of the rotating plate 5. One end of the bottom of the guide sleeve 51 is inserted into the receiving hole 41 and slides up and down in the receiving hole 41. Through the mutual cooperation of the guide sleeve 51 and the receiving hole 41, the direction of the up and down movement of the rotating plate 5 can be guided.

[0037] The buffer hydraulic cylinder 7 is arranged in the receiving hole 41. When the vehicle body 1 is unloaded, the buffer hydraulic cylinder 7 retracts the piston rod, so that the piston rod is separated from the rotating plate 5, so that the buffer spring 6 can act alone; when the vehicle body 1 is fully loaded, the piston rod of the buffer hydraulic cylinder 7 extends and abuts against the bottom of the rotating plate 5, and the buffer hydraulic cylinder 7 and the buffer spring 6 perform buffer actions together.

[0038] Specifically, the buffer spring 6 is sleeved outside the guide sleeve 51, the receiving hole 41 is set as a circular hole, and correspondingly, the guide sleeve 51 is also set as a circular sleeve; setting the buffer spring 6 outside the guide sleeve 51 can limit the spring through the guide sleeve 51, so that the spring is not easily bent when deforming, so that the acting direction of the spring force does not shift.

[0039] In order to prevent relative rotation between the rotating plate 5 and the wheel carrier 4, a plurality of positioning grooves 511 penetrating the guide sleeve 51 in the vertical direction are provided on the outer side of the guide sleeve 51, and a plurality of positioning blocks 411 are fixedly connected to the inner wall of the receiving hole 41. The plurality of positioning blocks 411 correspond to the plurality of positioning grooves 511 one by one, and the positioning blocks 411 are inserted into the corresponding positioning grooves 511. Through the cooperation between the positioning blocks 411 and the positioning grooves 511, relative rotation between the rotating plate 5 and the wheel carrier 4 is prevented.

[0040] A cross-shaped limiting block 71 is fixedly connected to the end of the piston rod of the buffer hydraulic cylinder 7, and a limiting groove 52 cooperating with the limiting block 71 is provided on the rotating plate 5; through the arrangement of the limiting block 71 and the limiting groove 52, relative rotation between the rotating plate 5 and the wheel carrier 4 is even less likely to occur.

[0041] When the road surface is deeply sunken, the power wheel 2 on one of the wheel frames 4 travels to the sunken area, which will make the distance between the wheel frame 4 and the rotating plate 5 too large, resulting in a reduction in the force applied by the buffer spring 6 and the buffer hydraulic cylinder 7 on the wheel frame 4, which is likely to cause a reduction in the pressure between the power wheel 2 and the ground, making it impossible for the power wheel 2 to provide sufficient driving force. In this embodiment, two distance sensors corresponding to the two power wheels 2 are provided on the rotating plate 5, and the distance sensors are used to detect the distance between the distance sensor and the corresponding wheel frame 4, and a pressure sensor for detecting the pressure between the limit block 71 and the rotating plate 5 is provided in the limit groove 52. When the two power wheels 2 of one of the wheel frames 4 sink into a deeper depression, the distance between the rotating plate 5 and the corresponding wheel frame 4 will be greater than the distance between the remaining rotating plates 5 and the corresponding wheel frames 4, and the pressure applied to the rotating plate 5 by the buffer hydraulic cylinder 7 corresponding to the rotating plate 5 will be less than the pressure applied to the rotating plate 5 by the remaining buffer hydraulic cylinders 7. Therefore, when the distance information obtained by the distance sensor is greater than the distance information obtained by the remaining distance sensors, and the pressure information obtained by the pressure sensor corresponding to the distance sensor is less than the pressure information obtained by the remaining pressure sensors, the buffer hydraulic cylinder 7 corresponding to the distance sensor is pressurized, thereby increasing the pressure between the power wheel 2 and the ground, so that the power wheel 2 can maintain sufficient driving force.

[0042] In this embodiment, the vehicle body 1 is configured to be rectangular, and two wheels are disposed on both sides of the bottom of the vehicle body 1 , respectively. Two wheel frames 4 located on the same side of the vehicle body 1 are located near both ends of the vehicle body 1 .

[0043] Since the transfer vehicle is a heavy-load transfer vehicle, the weight of the items carried on the vehicle body 1 is large. When turning, due to the action of centrifugal force, the buffer springs 6 and buffer hydraulic cylinders 7 on the two-wheel frames 4 close to the outer side of the vehicle body 1 near the turn will be subjected to greater pressure, so that the height of the side of the vehicle body 1 near the outer side of the turn is reduced, so that the items are easily dropped outward from the vehicle body 1. In order to prevent the items on the vehicle body 1 from falling off easily when turning, when the distance information obtained by the distance sensor on the same side of the vehicle body 1 is less than the distance information obtained by the distance sensor on the other side, and the pressure information obtained by the pressure sensor corresponding to the distance sensor on this side is greater than the pressure information obtained by the pressure sensor on the other side, the buffer hydraulic cylinder 7 on this side of the vehicle body 1 is pressurized. By pressurizing the buffer hydraulic cylinder 7, the height of the side of the vehicle body 1 near the outer side of the turn is increased, so that the items are not easily dropped from the vehicle body 1 due to the tilt of the vehicle body 1 under the action of centrifugal force.

[0044] Specifically, in order to further provide support for the side of the vehicle body 1 close to the outer side of the turn when the vehicle body 1 turns, two auxiliary wheel sets 3 are arranged on both sides of the bottom of the vehicle body 1, and the two auxiliary wheel sets 3 can move up and down; when the vehicle body 1 turns and the height of the side of the vehicle body 1 close to the outer side of the turn decreases, the auxiliary wheel on this side moves downward, and the vehicle body 1 on this side is pushed upward by the auxiliary wheel.

[0045] Specifically, the auxiliary wheel set 3 includes a fixing plate and universal wheels arranged at the bottom of the fixing plate, and two universal wheels are fixedly connected to the bottom of each fixing plate.

[0046] Above the fixing plate, there is a chute 11 opened on the vehicle body 1. Two sliders 9 are arranged in the chute 11. The two sliders 9 are connected to the fixing plate through connecting rods 92. The two ends of the connecting rod 92 are respectively hinged to the slider 9 and the fixing plate. By sliding the two sliders 9 away from each other, the fixing plate can be driven to move upward through the two connecting rods 92. By sliding the two sliders 9 closer to each other, the fixing plate can be driven to move downward through the two connecting rods 92. Specifically, a double-rod hydraulic cylinder 8 fixedly connected in the chute 11 is arranged between the two sliders 9. The cylinder body of the double-rod hydraulic cylinder 8 is fixed on the groove wall of the chute 11, and the two piston rods of the double-rod hydraulic cylinder 8 are respectively fixedly connected to the two sliders 9. The two sliders 9 are driven to slide closer to and away from each other by the double-rod hydraulic cylinder 8.

[0047] Specifically, an anti-detachment groove 12 is arranged at the top of the chute 11. An anti-detachment block 91 fixedly connected to the top of the slider 9 is embedded in the anti-detachment groove 12, and the anti-detachment block 91 slides in the anti-detachment groove 12; the cross-sections of the anti-detachment block 91 and the anti-detachment groove 12 are arranged in a convex shape with the narrow side facing downward. Through the arrangement of the anti-detachment block 91 and the anti-detachment groove 12, the slider 9 can be prevented from detaching downward from the chute 11.

[0048] Embodiment 2: A control method for a heavy-duty transporter. The distance sensor obtains the distance information between the distance sensor and the corresponding wheel frame 4, and the pressure sensor obtains the pressure information. When the distance information obtained by the distance sensor is greater than the distance information obtained by the other distance sensors, and the pressure information obtained by the pressure sensor corresponding to this distance sensor is less than the pressure information obtained by the other pressure sensors, the buffer hydraulic cylinder 7 corresponding to the distance sensor is pressurized;

[0049] When the distance information obtained by the distance sensors on the same side of the vehicle body 1 is less than the distance information obtained by the distance sensors on the other side, and the pressure information obtained by the pressure sensor corresponding to the distance sensors on this side is greater than the pressure information obtained by the pressure sensors on the other side, the buffer hydraulic cylinder 7 on this side of the vehicle body 1 is pressurized.

[0050] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. An overloaded transfer vehicle, characterized in that: Comprising a vehicle body (1); Drive wheels (2), a plurality of the drive wheels (2) are provided, and the drive wheels (2) are used to drive the vehicle body (1) to move and turn; Wheel carriers (4), the drive wheels (2) are arranged on the wheel carriers (4); Buffer springs (6), the buffer springs (6) are arranged between the wheel carriers (4) and the vehicle body (1) to apply a downward elastic force to the wheel carriers (4); And buffer hydraulic cylinders (7), the buffer hydraulic cylinders (7) are arranged between the wheel carriers (4) and the vehicle body (1); Two drive wheels (2) are arranged on each wheel carrier (4), and the two drive wheels (2) are respectively powered by separate motors; A rotating plate (5) is arranged above the wheel carrier (4), the buffer springs (6) and the buffer hydraulic cylinders (7) are arranged on the rotating plate (5) and the wheel carrier (4), the rotating plate (5) is rotatably connected to the vehicle body (1) so that the two drive wheels (2) can turn through a speed difference, a distance sensor is arranged on the rotating plate (5), the distance sensor is used to detect the distance between the distance sensor and the corresponding wheel carrier (4), the end of the piston rod of the buffer hydraulic cylinder (7) is fixedly connected with a limiting block (71) arranged in a cross shape, a limiting groove (52) matching with the limiting block (71) is arranged on the rotating plate (5), and a pressure sensor for detecting the pressure between the limiting block (71) and the rotating plate (5) is arranged in the limiting groove (52); Wherein, when the vehicle body (1) is unloaded, the piston rod of the buffer hydraulic cylinder (7) retracts, so that the piston rod is separated from the rotating plate (5); when the vehicle body (1) is heavily loaded, the piston rod of the buffer hydraulic cylinder (7) extends and abuts against the bottom of the rotating plate (5).

2. The heavy-duty transfer vehicle according to claim 1, characterized in that: A receiving hole (41) is arranged at the top of the wheel carrier (4), the buffer hydraulic cylinder (7) is arranged in the receiving hole (41), a guide sleeve (51) is fixedly connected to the bottom of the rotating plate (5), and the bottom end of the guide sleeve (51) is inserted into the receiving hole (41) and slides up and down in the receiving hole (41).

3. The heavy-duty transfer vehicle according to claim 2, characterized in that: The buffer spring (6) is sleeved outside the guide sleeve (51), the receiving hole (41) is set as a circular hole, and the guide sleeve (51) is correspondingly set as a circular sleeve.

4. The heavy-duty transfer vehicle according to claim 3, wherein: A plurality of positioning grooves (511) vertically penetrating through the guide sleeve (51) are arranged on the outer side of the guide sleeve (51), a plurality of positioning blocks (411) are fixedly connected to the hole wall of the receiving hole (41), the plurality of positioning blocks (411) correspond to the plurality of positioning grooves (511) one by one, and the corresponding positioning blocks (411) are inserted into the corresponding positioning grooves (511).

5. The heavy-duty transfer vehicle according to claim 1, characterized in that: Two auxiliary wheel sets (3) are arranged on both sides of the bottom of the vehicle body (1), and the two auxiliary wheel sets (3) can move up and down at the bottom of the vehicle body (1).

6. A control method for a heavy-duty transporter, which is used for the heavy-duty transporter according to any one of claims 1 to 5, wherein: The distance sensor obtains the distance information between the distance sensor and the corresponding wheel carrier (4), the pressure sensor obtains the pressure information. When the distance information obtained by the distance sensor is greater than the distance information obtained by the other distance sensors, and the pressure information obtained by the pressure sensor corresponding to this distance sensor is less than the pressure information obtained by the other pressure sensors, the buffer hydraulic cylinder (7) corresponding to the distance sensor is pressurized; When the distance information obtained by the distance sensors on the same side of the vehicle body (1) is less than the distance information obtained by the distance sensors on the other side, and the pressure information obtained by the pressure sensors corresponding to the distance sensors on this side is greater than the pressure information obtained by the pressure sensors on the other side, pressurize the buffer hydraulic cylinder (7) on this side of the vehicle body (1).

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