Anti-overturning carrier

Abstract

The application discloses an anti-overturning carrier, and relates to the technical field of mobile transport tools. The anti-overturning carrier comprises a carrier main body, a control module arranged on the carrier main body, and a support capable of rotating in a first rotating direction; a compensation device arranged on the carrier main body, the compensation device is used for collecting the angle of a current slope and sending the angle to the control module, and the support is driven to rotate in the first rotating direction based on the instruction fed back by the control module; and a guide rail structure, which is provided with a carrying claw and is connected with the support and can rotate around the support in a second rotating direction based on gravity, wherein the rotating shaft rotating in the second rotating direction is perpendicular to the rotating shaft rotating in the first rotating direction. The application can solve the safety hidden danger that the carrier and the carried goods are overturned in a slope environment.

Description

Technical Field

[0001] This application relates to the field of mobile transportation technology, specifically to an anti-tipping transport vehicle. Background Technology

[0002] In workshops, pallet trucks are typically used to move oil drums or tires. During transport, the position of the oil drums and / or tires is relatively fixed, making it impossible to fine-tune their position within the pallet truck's range. In situations with inclines, if the goods being moved are at a higher elevation, their center of gravity will shift as the slope changes.

[0003] Furthermore, as the transport vehicle travels on a slope, the center of gravity of the goods it is transporting also changes dynamically as the transport vehicle travels in different directions along the slope. This dynamic change in the center of gravity may lead to safety accidents such as the transport vehicle and the goods tipping over or falling over during the journey on the slope. Summary of the Invention

[0004] This application provides an anti-tipping transport vehicle, which can solve the safety hazard of tipping over when the transport vehicle and the transported goods are on a slope.

[0005] In a first aspect, embodiments of this application provide a transport vehicle body, which is equipped with a control module and a bracket that can rotate along a first rotation direction;

[0006] A compensation device is installed on the main body of the transport vehicle. The compensation device is used to collect the current slope angle and send it to the control module, and drive the support to rotate along the first rotation direction based on the command fed back by the control module.

[0007] A guide rail structure is provided with a transport claw. The guide rail structure is connected to the bracket and can rotate around the bracket in a second rotation direction based on gravity. The axis of rotation around the second rotation direction is perpendicular to the axis of rotation around the first rotation direction.

[0008] In conjunction with the first aspect, in one embodiment, the main body of the transport vehicle further includes a base plate, and the bracket is rotatably connected to the base plate via a first hinge.

[0009] In conjunction with the first aspect, in one embodiment, the compensation device includes:

[0010] An angle sensor, mounted on the bracket, is used to acquire the current angle of the slope and send it to the control module;

[0011] An angle-adjusting hydraulic cylinder has one end connected to the base plate via a second hinge and the other end connected to the bracket via a third hinge.

[0012] In conjunction with the first aspect, in one embodiment, the guide rail structure includes:

[0013] A lifting block is slidably mounted on the bracket, and a rotating guide plate is provided on the lifting block;

[0014] The guide rail has a gravity plate at one end that is fixedly connected to the rotating guide disk.

[0015] In conjunction with the first aspect, in one embodiment, the transport vehicle body is further provided with:

[0016] The height-adjusting hydraulic cylinder has one end fixed to the base plate and the other end connected to the lifting block.

[0017] In conjunction with the first aspect, in one embodiment, the transport claw includes:

[0018] The self-propelled device is mounted on the guide rail and has self-propelled wheels that can slide along the guide rail.

[0019] A lifting device is connected to the self-propelled device. The lifting device is equipped with a lead screw, and one end of the lead screw is equipped with a hydraulic claw.

[0020] A rotating device, which is disposed in the self-propelled device, is used to drive the lifting device to rotate so that the hydraulic claw flips outward.

[0021] In conjunction with the first aspect, in one embodiment, the hydraulic gripper includes:

[0022] The clamping body includes at least three clamping slots arranged circumferentially, and a first joint piston is provided in each clamping slot;

[0023] Multiple first joints, the number of which corresponds to the clamping slot, each first joint is connected to a first joint piston, and a second joint piston is also provided in the first joint;

[0024] Multiple second joints, the number of which corresponds to the number of the first joints, are rotatably connected to the first joints, each second joint is connected to a second joint piston, and a third joint piston is also provided inside the second joint;

[0025] Multiple clamping jaws, the number of which corresponds to the second joint, are rotatably connected to the second joint, and each clamping jaw is connected to a piston of the third joint.

[0026] In conjunction with the first aspect, in one embodiment, the clamping jaws include:

[0027] The transition bracket includes two free ends, each of which is provided with a mounting groove;

[0028] Two primary jaws are provided, each of which is installed in a corresponding mounting slot, and each primary jaw is provided with two first arc-shaped grooves. A rotatable primary self-aligning block is provided in the first arc-shaped groove, and each primary self-aligning block is provided with a U-shaped opening.

[0029] Four secondary jaws are provided, with two secondary jaws installed on two U-shaped openings corresponding to one primary jaw. Each secondary jaw is provided with two second arc-shaped grooves, and a rotatable secondary self-aligning block is provided in the second arc-shaped grooves. Each secondary jaw is provided with an inflatable airbag at both ends.

[0030] In conjunction with the first aspect, in one implementation, it further includes:

[0031] A flipping clamping device is used to clamp the object to be transported and can lift the object to a certain height and then flip it over.

[0032] In conjunction with the first aspect, in one embodiment, the support is further provided with an arc-shaped backing plate to stabilize the object to be transported.

[0033] The beneficial effects of the technical solutions provided in this application include at least the following:

[0034] The anti-tipping transport vehicle of this application includes a bracket 12 that can rotate in a first rotation direction, and a guide rail structure 3 that can rotate around the bracket 12 in a second rotation direction based on gravity, wherein the axis of rotation around the second rotation direction is perpendicular to the axis of rotation around the first rotation direction.

[0035] Therefore, it can be understood that the anti-tipping transport vehicle of this application, after transporting goods, can compensate by rotating the support 12 in the first rotation direction when traveling along a slope (X direction); when traveling perpendicular to the slope (Y direction), it can compensate by rotating the guide rail structure 3 in the second rotation direction; and when traveling diagonally along the XY direction, it can compensate by simultaneously using the support 12 and the guide rail structure 3. In this way, regardless of the scenario, the loaded goods can be kept in a horizontal state, ensuring the safety of goods transport. Attached Figure Description

[0036] Figure 1 This is a perspective view of an embodiment of the anti-tipping transport vehicle of this application;

[0037] Figure 2 This is a rear view of an embodiment of the anti-tipping transport vehicle of this application;

[0038] Figure 3 This is a partial explosion diagram of an embodiment of the anti-tipping transport vehicle of this application;

[0039] Figure 4This is a schematic diagram of an embodiment of the guide rail structure in the anti-tipping transport vehicle of this application;

[0040] Figure 5 This is a schematic diagram of an embodiment of the transport claw in the anti-tipping transport vehicle of this application;

[0041] Figure 6 This is a schematic diagram of an embodiment of the anti-tipping transport vehicle of this application, which is equipped with clamps;

[0042] Figure 7 This is a schematic diagram illustrating the X-direction angle compensation of the anti-tipping transport vehicle used in this application;

[0043] Figure 8 This is a schematic diagram illustrating the Y-direction angle compensation for the anti-tipping transport vehicle of this application;

[0044] Figure 9 This is a schematic diagram illustrating the XY-direction angle compensation for the anti-tipping transport vehicle of this application.

[0045] In the diagram: 1. Main body of the transport vehicle; 11. Control module; 12. Support frame; 121. Arc-shaped backrest; 122. Push handle; 13. Base plate; 14. First hinge; 15. Height adjustment hydraulic cylinder; 151. Hydraulic cylinder fixing block; 16. Hydraulic station; 2. Compensation device; 21. Angle sensor; 22. Angle adjustment hydraulic cylinder; 23. Second hinge; 24. Third hinge; 3. Guide rail structure; 31. Lifting block; 311. Rotary guide plate; 32. Guide rail; 321. Gravity plate; 322. Reinforcing rib; 33. Fixing bolt; 34. Locking nut; 4. Handling claw; 41. Self-propelled device; 411. Self-propelled wheel; 42. Lifting device; 421. Lead screw; 43. Hydraulic claw; 431. Clamping body; 432. First joint piston; 433. First joint; 434. Second joint piston; 435. Second joint; 436. Third joint piston; 437. Clamping claw; 4371. Transition bracket; 4372. Primary jaws; 4373. Primary self-aligning block; 4374. Secondary jaws; 4375. Secondary self-aligning block; 4376. Inflatable airbag; 44. Rotating device; 5. Tilting clamping device. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0047] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0048] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0049] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0050] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0052] In one aspect, embodiments of this application provide an anti-tipping transport vehicle.

[0053] In one embodiment, reference is made to Figure 1 and Figure 2 , Figure 1 and Figure 2 This is a structural schematic diagram of the first embodiment of the anti-tipping transport vehicle of this application. Figure 1 and Figure 2 As shown, the anti-tipping transport vehicle includes: the transport vehicle body 1, the compensation device 2, and the guide rail structure 3.

[0054] The main body 1 of the transport vehicle is equipped with a control module 11 and a bracket 12 that can rotate in the first rotation direction.

[0055] The compensation device 2 is installed on the main body 1 of the transport vehicle. The compensation device 2 is used to collect the current slope angle and send it to the control module 11, and drive the support 12 to rotate along the first rotation direction based on the instructions fed back by the control module 11.

[0056] The guide rail structure 3 is provided with a transport claw 4. The guide rail structure 3 is connected to the bracket 12 and can rotate around the bracket 12 in a second rotation direction based on gravity. The axis of rotation around the second rotation direction is perpendicular to the axis of rotation around the first rotation direction.

[0057] Understandably, due to the inclusion of a bracket 12 that can rotate in a first rotation direction, and a guide rail structure 3 that can rotate around the bracket 12 in a second rotation direction based on gravity, the anti-tipping transport vehicle of this application, whether like... Figure 7 Driving along the slope (X direction), or like... Figure 8 Driving perpendicular to the slope (Y direction), or like... Figure 9 When the vehicle is tilted (in the XY direction), the support 12 and guide rail structure 3 can be used to compensate for the tilt, thereby ensuring that the loaded goods are in a horizontal state and ensuring the safety of the goods handling.

[0058] In order to enable the bracket 12 to rotate in the first rotation direction, the main body of the transport vehicle also includes a base plate 13, and the bracket 12 is rotatably connected to the base plate 13 through a first hinge 14.

[0059] Meanwhile, in order to determine the rotation angle of the bracket 12, the compensation device 2 also includes an angle sensor 21 and an angle adjustment hydraulic cylinder 22.

[0060] An angle sensor 21 is mounted on the bracket 12 to collect the current slope angle and send it to the control module 11; one end of the angle adjustment hydraulic cylinder 22 is connected to the base plate 13 via the second hinge 23, and the other end is connected to the bracket 12 via the third hinge 24.

[0061] Therefore, when the anti-tipping transport vehicle in this application travels on the slope, the angle sensor 21 first collects the current angle of the slope and sends it to the control module 11. Then, the control module 11 issues a command to drive the angle adjustment hydraulic cylinder 22 to move, so that the support 12 rotates at a specified angle to compensate.

[0062] Preferably, the support 12 is further provided with an arc-shaped backing plate 121 to stabilize the object to be transported. When transporting oil drums or tires, the arc-shaped backing plate 121 can be adapted to the outer contour of the oil drums or tires, which are also arc-shaped, so that the arc-shaped backing plate 121 can wrap around the oil drums or tires, making the transport process more stable. The arc-shaped backing plate 121 can also be flipped over and can be easily folded when not in use. Furthermore, in order to facilitate pushing the transport vehicle, two push handles 122 are also provided on the support 12 to support and push the transport vehicle.

[0063] See Figure 3 and Figure 4 As shown, in order to enable the guide rail structure 3 to rotate around the bracket 12 in the second rotation direction based on gravity, the guide rail structure 3 includes a lifting block 31 and a guide rail 32.

[0064] The lifting block 31 is slidably mounted on the bracket 12, and the lifting block 31 is provided with a rotating guide plate 311; one end of the guide rail 32 is provided with a gravity plate 321 fixedly connected to the rotating guide plate 311. Specifically, the rotating guide plate 311 and the gravity plate 321 are fixed together by fixing bolts 33 and locking nuts 34.

[0065] Therefore, when the anti-tipping transport vehicle in this application travels on a slope, it can achieve adaptive compensation by relying on gravity itself, so that the guide rail structure 3 and the transport claw 4 on it remain vertically downward.

[0066] The following explains the direction and angle compensation for the slope in this application:

[0067] X-direction angle compensation:

[0068] See Figure 7 As shown, when the anti-tipping transport vehicle is going uphill (X direction), the angle sensor 21 measures the angle in the X direction and sends the signal to the control module 11. The control module 11 starts the hydraulic station 16 so that the angle adjustment hydraulic cylinder 22 drives the bracket 12 to adjust the angle around the first hinge 14. The angle sensor 21 measures in real time whether the angle of the bracket 12 is adjusted to the preset horizontal angle range.

[0069] When the angle of the bracket 12 reaches the horizontal angle range, the angle sensor 21 sends a signal to the control module 11. The control module 11 stops the operation of the hydraulic station 16 and the angle adjustment hydraulic cylinder 22 according to the preset horizontal angle parameters. At this point, the X-direction angle compensation is completed.

[0070] Understandably, although the anti-tipping transport vehicle is tilted in the X direction at this time, the goods it is carrying are in a horizontal position, ensuring the safety of the goods handling.

[0071] Y-direction angle compensation:

[0072] See Figure 8 As shown, the guide rail 32 on the guide rail structure 3 is welded to the gravity plate 321 by reinforcing ribs 322 to form a rigid whole. When the anti-tipping transport vehicle moves uphill (Y direction), this rigid body, relying on gravity, synchronously drives the guide rail structure 3 and the transport claw 4 to rotate around the rotating guide disk 311, ensuring that the clamped goods are perpendicular to the ground. Thus, the Y direction angle compensation is completed.

[0073] Understandably, although the anti-tipping transport vehicle is tilted in the Y direction at this time, the goods it is carrying are in a horizontal position, which also ensures the safety of the goods handling.

[0074] XY direction angle compensation:

[0075] See Figure 9 As shown, the anti-tipping transport vehicle travels at an angle, requiring simultaneous angle compensation in both the X and Y directions. The compensation methods for the two directions are the same as those for the X and Y direction angle compensation:

[0076] Understandably, although the anti-tipping transport vehicle is tilted in both the X and Y directions, the goods it is carrying are in a horizontal position, which ensures the safety of the goods handling.

[0077] In addition, the main body 1 of the transport vehicle is also equipped with a height adjustment hydraulic cylinder 15. One end of the height adjustment hydraulic cylinder 15 is fixed to the base plate 13, and the other end is connected to the lifting block 31. Specifically, in this embodiment, the hydraulic cylinder fixing block 151 is connected to the lifting block 31. The height adjustment hydraulic cylinder 15 can adjust the height of the guide rail structure 3, thereby adjusting the height of the transport claw 4 and facilitating the control of the transport claw 4 to grasp goods.

[0078] In this application, a hydraulic station 16 is also provided on the base plate 13. The hydraulic station 16 is controlled by the control module 11 and is mainly used to provide hydraulic medium for the angle adjustment hydraulic cylinder 22 and the height adjustment hydraulic cylinder 15.

[0079] See Figure 3 and Figure 4 As shown, to facilitate flexible clamping of goods by the handling claw 4, the handling claw 4 includes a self-propelled device 41, a lifting device 42, a hydraulic claw 43, and a rotating device 44.

[0080] The self-propelled device 41 is mounted on the guide rail 32. The self-propelled device 41 is equipped with a self-propelled wheel 411 that can slide along the guide rail 32. The self-propelled device 41 drives the self-propelled wheel 411 to slide along the guide rail 32, thereby driving the hydraulic claw 43 to move together.

[0081] The lifting device 42 is connected to the self-propelled device 41. The lifting device 42 is equipped with a lead screw 421, and one end of the lead screw 421 is equipped with a hydraulic claw 43. It is worth noting that the height adjustment hydraulic cylinder 15 is mainly used to quickly adjust the height of the hydraulic claw 43. When fine control is required, the lead screw 421 is used for adjustment.

[0082] A rotating device 44 is disposed on the self-propelled device 41 and is used to drive the lifting device 42 to rotate, so that the hydraulic claw 43 flips outward. It can be understood that when installing a tire, it is usually necessary to keep the tire upright. The tire gripped by the hydraulic claw 43 is usually in a flat position, so it is necessary to flip the hydraulic claw 43 outward by 90° to adjust the tire from a flat position to an upright position. The rotating device 44 in this application is set up to achieve this function.

[0083] See Figure 5 As shown, in order to better grip goods, the hydraulic claw 43 includes a clamping body 431, a plurality of first joints 433, a plurality of second joints 435 and a plurality of clamping claws 437.

[0084] The clamping body 431 includes at least three clamping slots arranged circumferentially, and a first joint piston 432 is provided in each clamping slot. It is understood that the number of clamping slots can be reasonably set according to actual needs, and this application does not limit it.

[0085] The number of first joints 433 corresponds to the clamping slots. Each first joint 433 is connected to a first joint piston 432, and a second joint piston 434 is also provided in the first joint 433.

[0086] The number of second joints 435 corresponds to the number of first joints 433, and they are rotatably connected to the first joints 433. Each second joint 435 is connected to a second joint piston 434, and a third joint piston 436 is also provided inside the second joint 435.

[0087] The number of clamping jaws 437 corresponds to the number of the second joint 435 and is rotatably connected to the second joint 435. Each clamping jaw 437 is connected to a third joint piston 436.

[0088] Thus, the first joint piston 432 on the clamping body 431 can drive the first joint 433, the second joint piston 434 can drive the second joint 435, and the third joint piston 436 can drive the clamping jaw 437, adjusting the clamping jaw 437 to match the diameter of the oil drum or tire.

[0089] Further, see Figure 6 As shown, the clamping jaw 437 further includes:

[0090] The transition bracket 4371 includes two free ends, each of which has a mounting groove.

[0091] Two primary jaws 4372 are installed in a corresponding mounting slot, and each primary jaw 4372 is provided with two first arc-shaped grooves. A rotatable primary self-aligning block 4373 is provided in the first arc-shaped groove, and each primary self-aligning block 4373 is provided with a U-shaped opening.

[0092] Four secondary jaws 4374 are provided, with each pair of secondary jaws 4374 installed on two U-shaped openings corresponding to one primary jaw 4372. Each secondary jaw 4374 is provided with two second arc-shaped grooves, and a rotatable secondary self-aligning block 4375 is provided in the second arc-shaped grooves. Each secondary jaw 4374 is provided with an inflatable airbag 4376 at both ends.

[0093] Adjust the primary self-aligning block 4373 on the primary jaw 4372 of the clamping jaw 437 to match the curvature of the oil drum or tire; utilize the secondary self-aligning block 4375 on the secondary jaw 4374 to contact the surface of the oil drum or tire, while simultaneously inflating the air bladder 4376 to clamp the oil drum or tire together with the secondary self-aligning block 4375. The function of the air bladder 4376 is to distribute the clamping force, preventing damage to the paint on the surface of the oil drum and providing a flexible clamping effect.

[0094] In addition, the anti-tipping transport vehicle also includes a flipping clamping device 5, which is used to clamp the object to be transported and can lift the object to be transported to a certain height and then flip it over.

[0095] Considering that the hydraulic claw 43 needs to be flipped after grabbing the goods and lifting them to a designated height, the stroke of the lead screw 421 cannot be too long, otherwise it will be easily interfered with during the flipping process, and the size of the entire anti-tipping transport vehicle will be too large. Therefore, a flipping clamping device 5 is also provided below the hydraulic claw 43. When clamping goods, the flipping clamping device 5 is used to clamp the goods first, and then the goods are moved upward to a designated position, and then the hydraulic claw 43 grabs them, which can relatively reduce the stroke of the hydraulic claw 43. Furthermore, considering that tire installation usually requires the rim to face outwards (when the tire is laid flat on the ground, the rim is far from the ground), and if the rim faces inwards (when the tire is laid flat on the ground, the rim is close to the ground), it needs to be flipped. Since the tire can be laid flat on the ground with either the rim facing outwards or inwards, in order to ensure that the rim faces outwards during installation, the hydraulic claw 43 should grip the tire laid flat on the ground with the rim facing outwards. Therefore, for the case where the rim faces inwards, the flipping clamping device 5 is needed for flipping and adjustment. This is mainly because the hydraulic claw 43 itself is not convenient for flipping operations. Therefore, this application provides a flipping clamping device 5 to assist the hydraulic claw 43 in handling.

[0096] When the flipping clamping device 5 clamps an oil drum or a tire, the structure of its clamping part can refer to the structure of the clamping claw 437, which will not be described in detail here.

[0097] In summary, the anti-tipping transport vehicle of this application includes a support 12 that can rotate in a first rotation direction, and a guide rail structure 3 that can rotate around the support 12 in a second rotation direction based on gravity, wherein the axis of rotation around the second rotation direction is perpendicular to the axis of rotation around the first rotation direction.

[0098] Therefore, it can be understood that the anti-tipping transport vehicle of this application, after transporting goods, can compensate by rotating the support 12 in the first rotation direction when traveling along a slope (X direction); when traveling perpendicular to the slope (Y direction), it can compensate by rotating the guide rail structure 3 in the second rotation direction; and when traveling diagonally along the XY direction, it can compensate by simultaneously using the support 12 and the guide rail structure 3. In this way, regardless of the scenario, the loaded goods can be kept in a horizontal state, ensuring the safety of goods transport.

[0099] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A stability control vehicle comprising: The anti-tipping transport vehicle includes: The main body of the transport vehicle (1) is equipped with a control module (11) and a bracket (12) that can rotate in the first rotation direction. The compensation device (2) is installed on the main body (1) of the transport vehicle. The compensation device (2) is used to collect the current slope angle and send it to the control module (11), and drive the support (12) to rotate in the first rotation direction based on the instructions fed back by the control module (11). The guide rail structure (3) is provided with a transport claw (4). The guide rail structure (3) is connected to the bracket (12) and can rotate around the bracket (12) in a second rotation direction based on gravity. The axis of rotation around the second rotation direction is perpendicular to the axis of rotation around the first rotation direction. The transport claw (4) includes a hydraulic claw (43), which includes a plurality of clamping claws (437). The clamping jaw (437) includes: The transition bracket (4371) includes two free ends, each of which is provided with a mounting groove; Two primary jaws (4372) are installed in a corresponding mounting slot, and each primary jaw (4372) is provided with two first arc-shaped grooves. A rotatable primary self-aligning block (4373) is provided in the first arc-shaped groove, and each primary self-aligning block (4373) is provided with a U-shaped opening. Four secondary jaws (4374) are provided, with two secondary jaws (4374) installed on two U-shaped openings corresponding to one primary jaw (4372). Each secondary jaw (4374) is provided with two second arc-shaped grooves, and a rotatable secondary self-aligning block (4375) is provided in the second arc-shaped grooves. Each secondary jaw (4374) is provided with an inflatable airbag (4376) at both ends.

2. The anti-tipping transport vehicle as described in claim 1, characterized in that: The main body of the transport vehicle also includes a base plate (13), and the bracket (12) is rotatably connected to the base plate (13) via a first hinge (14).

3. The anti-tipping transport vehicle as described in claim 2, characterized in that, The compensation device (2) includes: An angle sensor (21), which is mounted on the bracket (12), is used to collect the current slope angle and send it to the control module (11). An angle-adjusting hydraulic cylinder (22) has one end connected to the base plate (13) via a second hinge (23), and the other end connected to the bracket (12) via a third hinge (24).

4. The stability control vehicle of claim 2 wherein, The guide rail structure (3) includes: A lifting block (31) is slidably mounted on the bracket (12), and a rotating guide disk (311) is provided on the lifting block (31). The guide rail (32) has a gravity plate (321) at one end that is fixedly connected to the rotating guide disk (311).

5. The stability control vehicle of claim 4 wherein, The main body (1) of the transport vehicle is also equipped with: The height adjustment hydraulic cylinder (15) has one end fixed on the base plate (13) and the other end connected to the lifting block (31).

6. The anti-tipping transport vehicle as described in claim 4, characterized in that, The transport claw (4) includes: A self-propelled device (41) is mounted on the guide rail (32), and the self-propelled device (41) is provided with a self-propelled wheel (411) that can slide along the guide rail (32). A lifting device (42) is connected to the self-propelled device (41). The lifting device (42) is provided with a lead screw (421), and one end of the lead screw (421) is provided with a hydraulic claw (43). A rotating device (44), which is disposed on the self-propelled device (41), is used to drive the lifting device (42) to rotate so that the hydraulic claw (43) flips outward.

7. The anti-tipping transport vehicle as described in claim 6, characterized in that, The hydraulic gripper (43) includes: The clamping body (431) includes at least three clamping slots arranged circumferentially, and a first joint piston (432) is provided in the clamping slot. Multiple first joints (433) are provided, the number of which corresponds to the clamping slot. Each first joint (433) is connected to a first joint piston (432), and a second joint piston (434) is also provided in the first joint (433). Multiple second joints (435) are provided, the number of which corresponds to the number of the first joint (433) and are rotatably connected to the first joint (433). Each second joint (435) is connected to a second joint piston (434), and a third joint piston (436) is also provided inside the second joint (435). Multiple clamping jaws (437) are provided, the number of which corresponds to the second joint (435) and are rotatably connected to the second joint (435). Each clamping jaw (437) is connected to a third joint piston (436).

8. The anti-tipping transport vehicle as described in claim 1, characterized in that, Also includes: The flipping clamping device (5) is used to clamp the object to be transported and can lift the object to be transported to a certain height and then flip it.

9. The anti-tipping transport vehicle as described in claim 1, characterized in that: The bracket (12) is also provided with an arc-shaped backing plate (121) to stabilize the object to be transported.

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