AGV (Automatic Guided Vehicle) with anti-toppling function

Abstract

The invention belongs to the field of logistics transport vehicles, and provides an AGV with an anti-toppling function, which comprises a chassis frame, an anti-toppling device, a steering wheel system, a controller and a sensor, the chassis frame has a first direction and a second direction perpendicular to the first direction, and the first direction is consistent with the length direction of the bottom frame; the steering wheel system is located below the chassis frame and provides power for the chassis frame. The anti-toppling device can move in the horizontal direction in the direction perpendicular to the chassis frame. The anti-toppling device is provided with a first position and a second position; when the anti-toppling device is located at the first position, the anti-toppling device is located on the outer side of the chassis frame; when the anti-toppling device is located at the second position, the anti-toppling device is located in the chassis frame; according to the AGV with the anti-toppling function, the climbing gradient range of the AGV is enlarged, and particularly aiming at the condition of dragging goods, an anti-toppling device and a servo motor are combined, so that the phenomenon that the AGV topples over or a power wheel is suspended in the climbing process is avoided.

Description

Technical Field

[0001] The invention belongs to the field of logistics transport vehicles, and in particular relates to an AGV vehicle with an anti-dumping function. Background Art

[0002] With the development of automated logistics technology, AGV (Automated Guided Vehicle) has been widely used in factories, warehouses and other scenarios. In existing AGV applications, when hauling goods and climbing slopes, the AGV chassis may have the power wheels hanging in the air when entering the slope, and may tip over due to the traction of the goods and the center of gravity shift after climbing the slope. Especially when operating on a steep slope, the risk of these two phenomena increases significantly.

[0003] For example, the prior art application No. 202322199949.6 discloses an AGV chassis passing device suitable for going up and down large slopes, which uses an electric push rod to slow down or eliminate the large tilt of the AGV during the climbing process, ensuring the stability of the AGV uphill. The Chinese patent application No. 201610046185.9 discloses an AGV vehicle with a simple and compact structure, small size, and high flexibility. By adopting a high-stability lifting mechanism, on some sloping cargo roads, the device does not have a horizontal device, which easily causes the cargo transported above the device to tip over.

[0004] The existing technology has the following defects and shortcomings: the AGV chassis has an obviously insufficient ability to cross the slope. When the AGV enters the slope, the middle wheel will be suspended in the air, causing the AGV to lose balance. There is no leveling device and it is easy to tip over. Summary of the invention

[0005] The invention provides an AGV with an anti-dumping function, which solves the problem that the AGV is easy to dump.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] An AGV vehicle with an anti-dumping function comprises: a chassis frame, a steering wheel system and an anti-dumping device; the steering wheel system is located below the chassis frame and provides power for the chassis frame; the anti-dumping device can move in a horizontal direction along a direction perpendicular to the chassis frame; the anti-dumping device has a first position and a second position; when the anti-dumping device is in the first position, the anti-dumping device is located outside the chassis frame; when the anti-dumping device is in the second position, the anti-dumping device is located inside the chassis frame; a sensor is provided at the bottom of the chassis frame, and the steering wheel system, the anti-dumping device and the sensor are electrically connected to the controller respectively; the controller controls the movement of the anti-dumping device according to data provided by the sensor.

[0008] Furthermore, in the AGV vehicle as described above, a slide rail is arranged perpendicular to the chassis frame, and the anti-dump device is installed on the slide rail; when the sensor detects a first limit value, the controller controls the anti-dump device to move to a first position; when the sensor detects a second limit value, the controller controls the anti-dump device to move to a second position.

[0009] Furthermore, in the AGV vehicle as described above, the first limit value is when the slope is greater than the maximum set value, and the second limit value is when the slope is less than the minimum set value; preferably, the maximum set value is 5°, and the minimum set value is 3°.

[0010] Furthermore, in the AGV vehicle as described above, the anti-dump device is in the form of a frame structure, and a first steering wheel is arranged below the frame structure; the steering wheel system includes a second steering wheel and a third steering wheel below the chassis frame; the first steering wheel, the second steering wheel and the third steering wheel form a triangular structure.

[0011] Furthermore, in the AGV vehicle as described above, each of the first steering wheel, the second steering wheel and the third steering wheel is equipped with a traction servo motor and a steering servo motor, the traction servo motor is used to provide driving power for the steering wheel, and the steering servo motor is used to control the direction of each steering wheel; the controller is electrically connected to the traction servo motor, and the controller is electrically connected to the steering servo motor.

[0012] Furthermore, in the AGV vehicle as described above, a bracket is arranged above the chassis frame, and the bracket is electrically connected to the controller; the bracket has a third position and a fourth position; when the bracket is in the third position, the bracket is in an unfolded state; when the bracket is in the fourth position, the bracket is in a folded state; the third position of the bracket is a climbing position, and the fourth position of the bracket is a flat road working position.

[0013] Furthermore, in the AGV vehicle as described above, a platform is arranged above the bracket for carrying goods; rollers are arranged on the platform for moving the goods on the platform; one end of the platform serves as an entrance for loading goods, and the other end is connected to a conveyor belt for transporting goods, and the controller is electrically connected to the conveyor belt.

[0014] Furthermore, in the AGV vehicle as described above, each of the steering wheels is equipped with an independent shock absorbing device; the shock absorbing device can automatically adjust the ground pressure of the steering wheel according to the road conditions and slope changes; the shock absorbing device includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a shock absorbing spring, a guide column and a fixed plate; the fixed plate is located above the steering wheel and is used to install the steering wheel, the first rotating shaft is provided on one side of the steering wheel, the second rotating shaft and the third rotating shaft are provided on the other side of the steering wheel, and the third rotating shaft is located above the second rotating shaft; the first rotating shaft and the steering wheel are rotatably connected to adjust the relative position relationship between the steering wheel and the fixed plate; the second rotating shaft and the steering wheel are rotatably connected to adjust the relative position relationship between the steering wheel and the fixed plate; one end of the guide column is rotatably connected to the second rotating shaft, and the other end is rotatably connected to the third rotating shaft; the shock absorbing spring is sleeved on the outside of the guide column to reduce the vibration of the steering wheel system.

[0015] Furthermore, in the AGV vehicle as described above, the shock absorbing device also includes a fixed beam; one end of the fixed beam is rotatably connected to the first rotating shaft, and the other end is rotatably connected to the third rotating shaft; the fixed beam is arranged in an arc shape on the outside of the steering wheel, including a first arc and a second arc, the first arc and the second arc are fixedly connected, and the first arc and the second arc are stepped.

[0016] Furthermore, in the AGV vehicle as described above, the width of the second circular arc is greater than the width of the first circular arc; a through hole is provided in the middle of the fixing plate, and the top of the steering wheel can be exposed from the through hole.

[0017] The technical solution provided by the embodiment of the present application has the following beneficial effects:

[0018] Existing AGVs usually adopt a fixed steering wheel layout, which cannot take into account the needs of different working conditions. This patent designs a flexible steering wheel layout, allowing the AGV to adapt to different working environments, especially under heavy load and climbing conditions. The traction and stability are improved through wheel system optimization, greatly enhancing the adaptability of the AGV.

[0019] In existing AGV designs, tipping is a common risk when hauling cargo and climbing slopes. This patent increases the support area of ​​the AGV chassis through the innovative design of the anti-tip device, effectively preventing the risk of tipping caused by center of gravity shift or traction change, and improving the safety of AGV in complex working conditions.

[0020] This patent uses a servo motor on the steering wheel to control traction and steering, which can accurately adjust the power output and steering angle of the AGV. The servo motor has a fast response speed and high control accuracy, ensuring that the AGV can still flexibly turn and stably traction when climbing, solving the shortcomings of uneven power or inflexible steering of traditional drive systems during heavy-load climbing.

[0021] Existing AGVs often suffer from insufficient traction and slippage on ramps. This patent optimizes the chassis structure and traction distribution to ensure smooth traction output at a maximum slope of 8 degrees, avoiding slippage or loss of control, and greatly improving the climbing ability and stability of AGVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of an anti-dumping device of an AGV vehicle with an anti-dumping function provided in the present application;

[0023] Figure 2 A schematic diagram of the structure of the retracted anti-dumping device of an AGV vehicle with an anti-dumping function provided by the present application;

[0024] Figure 3 A schematic diagram of the structure of a slide rail of an AGV vehicle with an anti-dumping function provided in this application;

[0025] Figure 4 A schematic diagram of the structure of a steering wheel of an AGV vehicle with an anti-dumping function provided in the present application;

[0026] Figure 5 A front view of a steering wheel of an AGV vehicle with an anti-dumping function provided in the present application;

[0027] Explanation of the accompanying drawings: chassis frame 11, anti-dumping device 12, steering wheel system 13, bracket 14, sensor 15, platform 16, conveyor belt 17, traction travel servo motor 18, steering servo motor 19, shock absorbing device 20, first rotating shaft 21, second rotating shaft 22, third rotating shaft 23, guide column 24, fixed plate 25, fixed beam 26, first circular arc 261, second circular arc 262, brake 27, shock absorbing spring 28, slide rail 31. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Refer to the attached Figure 1-4 An AGV with anti-dumping function provided in an embodiment of the present application is described in detail. Figure 1 A schematic diagram of the structure of an anti-dumping device of an AGV vehicle with an anti-dumping function provided in the present application; Figure 2 A schematic diagram of the structure of the retracted anti-dumping device of an AGV vehicle with an anti-dumping function provided by the present application; Figure 3 A schematic diagram of the structure of a slide rail of an AGV vehicle with an anti-dumping function provided in this application; Figure 4 A schematic diagram of the structure of a steering wheel of an AGV vehicle with an anti-dumping function provided in the present application; Figure 5 A front view of a steering wheel of an AGV vehicle with an anti-dumping function provided in the present application.

[0032] In short, the basic technical solution of the present invention is briefly described as follows:

[0033] An AGV vehicle with an anti-dumping function comprises: a chassis frame 11, an anti-dumping device 12, a steering wheel system 13, a controller and a sensor 15;

[0034] The chassis frame 11 has a first direction and a second direction perpendicular to the first direction, and the first direction is consistent with the length direction of the bottom frame;

[0035] The steering wheel system 13 is located below the chassis frame 11, and the steering wheel layout is triangular, providing power for the chassis frame 11; the steering wheel system 13 is electrically connected to the controller, and the steering wheel system 13 includes a steering wheel;

[0036] The anti-dumping device 12 can move in the horizontal direction along a direction perpendicular to the chassis frame 11; the anti-dumping device 12 has a first position and a second position; when the anti-dumping device 12 is in the first position, the anti-dumping device 12 is located outside the chassis frame 11; when the anti-dumping device 12 is in the second position, the anti-dumping device 12 is located inside the chassis frame 11; that is, the anti-dumping device 12 is configured to move along the second direction of the bottom frame;

[0037] The chassis frame 11 is provided with a slide rail 31, and an anti-dumping device 12 is installed on the slide rail 31; a sensor 15 is provided at the bottom of the chassis frame 11, and the steering wheel system 13, the anti-dumping device 12, and the sensor 15 are electrically connected to the controller respectively; the sensor 15 is used to monitor the slope and the posture of the AGV vehicle and the weight of the cargo, and the controller controls the anti-dumping device 12 to be deployed or retracted according to the data provided by the sensor 15.

[0038] The purpose of this patent is to provide an AGV with an anti-dumping function, which increases the climbing slope range of the AGV, especially for the case of hauling goods. The AGV is designed with a layout, combined with an anti-dumping device 12 and a servo motor, to ensure that the AGV will not dump or the power wheel will be suspended when climbing.

[0039] The following is a detailed description of an AGV vehicle with an anti-dumping function provided by the present application.

[0040] like Figure 1-3 As shown, an AGV vehicle with an anti-dumping function provided by the present application includes the chassis frame 11, the anti-dumping device 12, the steering wheel system 13, the controller, and the sensor 15 mentioned in the above embodiment;

[0041] The steering wheel system 13 is located below the chassis frame 11 and provides power for the chassis frame 11; the steering wheel system 13 is electrically connected to the controller, and the steering wheel system 13 includes a steering wheel; a slide rail 31 is arranged at a position perpendicular to the chassis frame 11 and in the middle of the bottom frame, that is, the bottom frame is provided with a slide rail extending along the second direction, and an anti-dumping device 12 is installed on the slide rail 31, which is used to prevent the AGV vehicle from dumping when towing goods and climbing slopes. It is automatically deployed when operating on a slope and automatically retracted when operating on a flat road. The anti-dumping device can also provide power for the chassis frame.

[0042] The anti-dumping device has a sensor. The sensor 15 is located at the bottom of the chassis frame 11 or on the steering wheel, and is used to monitor the slope and the posture of the AGV vehicle and the weight of the cargo. The sensor 15 is electrically connected to the controller, and sends monitoring data to the controller, which is used to collect the signal that triggers the switching between the first position and the second position; the controller controls the anti-dumping device 12 to move, that is, to unfold or retract according to the data received from the sensor 15. When the sensor 15 detects the first limit value, the controller controls the anti-dumping device 12 to move to the first position. In the first position, the anti-dumping device 12 and the chassis frame 11 are in a T-shaped structure, which increases the support area and has strong stability. In other words, the anti-dumping device 12 and the chassis frame 11 are vertically arranged; when the sensor 15 detects the second limit value, the controller controls the anti-dumping device 12 to move to the second position. In the second position, the anti-dumping device 12 is located in the chassis frame 11. The sensor can be a slope sensor or a weight sensor. The slope sensor is used to detect the slope of the ramp on the road where the AGV vehicle travels; the weight sensor is used to detect the load of the AGV vehicle.

[0043] In a specific embodiment, the first limit value is when the slope is greater than the maximum limit value, and the second limit value is when the slope is less than the minimum limit value; preferably, the maximum limit value is 5° and the minimum setting value is 3°. In a specific embodiment, the first limit value is when the cargo reaches 200kg, and the second limit value is when the cargo is less than 200kg.

[0044] That is to say, when the sensor 15 detects that the slope is greater than the maximum setting value, the controller controls the anti-dumping device 12 to move and expand along the slide rail 31 in the direction away from the chassis frame 11; when the sensor 15 detects that the slope is less than the minimum setting value, the controller controls the anti-dumping device 12 to move and retract along the slide rail 31 in the direction close to the chassis frame 11 according to the data received from the sensor 15. Preferably, the maximum setting value is 5° and the minimum setting value is 3°. Alternatively, when the AGV vehicle carries 200kg of cargo, the controller controls the anti-dumping device 12 to automatically expand along the slide rail 31 according to the data received from the sensor 15, to form a support, increase the support area of ​​the chassis, and prevent dumping due to changes in the center of gravity; when the AGV vehicle carries less than 200kg of cargo, the controller controls the anti-dumping device 12 to automatically retract along the slide rail 31 according to the data received from the sensor 15.

[0045] The anti-dumping device 12 is in a frame structure, and a first steering wheel is arranged under the frame structure, and the first steering wheel can provide power for the chassis frame; when the AGV vehicle is running on flat ground, the anti-dumping device 12 is located in the chassis frame 11, and when the AGV vehicle is running on a slope, the anti-dumping device 12 is deployed along the slide rail 31 through one of its steering wheels, and the anti-dumping device 12 and the chassis frame 11 are in a T shape; when the AGV vehicle is running on flat ground, the anti-dumping device 12 is retracted along the slide rail 31 through one of its steering wheels.

[0046] like Figure 4-5 As shown, the steering wheel system 13 includes a steering wheel. Specifically, the steering wheel system includes a second steering wheel and a third steering wheel arranged below the chassis frame along the first direction. The first steering wheel, the second steering wheel and the third steering wheel form a triangular structure to ensure the stable driving of the AGV vehicle. The controller is electrically connected to each steering wheel to control the operation of each steering wheel; each steering wheel (including each steering wheel in the first steering wheel, the second steering wheel and the third steering wheel) is equipped with a traction walking servo motor 18 and a steering servo motor 19, the traction walking servo motor 18 is used to provide driving power for the steering wheel, and the steering servo motor 19 is used to control the direction of each steering wheel. The controller is electrically connected to the traction walking servo motor 18 to control the operation of the traction walking servo motor 18, and the controller is electrically connected to the steering servo motor 19 to control the operation of the steering servo motor 19. The AGV vehicle adopts a layout, and the traction walking servo motor 18 and the steering servo motor 19 of the steering wheel respectively control walking and steering, ensuring the driving stability and steering flexibility of the AGV vehicle when pulling goods. This layout enables flexible 360-degree all-round steering while providing good flexibility and stability under complex working conditions.

[0047] A bracket 14 is arranged above the chassis frame 11, and the bracket 14 is electrically connected to the controller; the bracket 14 is retractable, that is, the height of the bracket 14 is adjustable; the bracket 14 has a third position and a fourth position, when the bracket 14 is in the third position, the bracket 14 is in an upwardly unfolded state; when the bracket 14 is in the fourth position, the bracket 14 is in a downwardly folded state. In a specific embodiment, the third position of the bracket 14 is a climbing position; the fourth position of the bracket 14 is a flat road operation position; the frame is made of lightweight materials, and a platform 16 is arranged above the bracket 14 for carrying goods, and rollers are arranged on the platform 16 for moving the goods on the platform 16. The controller controls the extension and retraction of the bracket 14 and the operation of the rollers. One end of the platform 16 serves as an entrance for loading goods, and the other end is connected to a conveyor belt 17 for transporting goods. The controller is electrically connected to the conveyor belt 17 to control the operation of the conveyor belt 17; the goods enter from one end of the platform 16, enter the conveyor belt 17 through the rolling rollers, and the goods are delivered to the designated location through the conveyor belt 17. In order to distribute goods on a slope, the bracket 14 is automatically raised and deployed when climbing a slope, and lowered and retracted when working on a flat road to ensure flexibility. That is, when the bracket is in the third position, the anti-dumping device is in the first position; when the bracket is in the fourth position, the anti-dumping device is in the second position.

[0048] Each steering wheel is provided with a brake 27 (also called a holding brake) for decelerating and stopping the steering wheel. The brake 27 is electrically connected to the controller via a brake control line 271; specifically, the controller can control the deceleration and braking of the steering wheel through the brake 27. The controller can control the deceleration and braking of each steering wheel separately, or control the three steering wheels to decelerate and brake at the same time.

[0049] In a specific embodiment, an anti-collision strip is provided on the outer side of the chassis frame 11 to protect the chassis frame 11. In a specific embodiment, a collision sensor 15 is provided on the anti-collision strip, and the collision sensor 15 is electrically connected to the controller to control the deceleration brake of the steering wheel according to the data of the collision sensor 15 to prevent collision.

[0050] like Figure 4 As shown, a shock absorbing device 20 is installed on the steering wheel system 13 to reduce the vibration of the steering wheel system 13; specifically, each steering wheel (including each of the first steering wheel, the second steering wheel and the third steering wheel) is equipped with an independent shock absorbing device 20, which can adjust the height and ground pressure of the steering wheel according to the terrain, prevent the steering wheel from being suspended on the ramp, ensure the close contact between the tire and the ground, and ensure the stable output of traction. The shock absorbing device 20 can independently complete the shock absorbing adjustment, or it can be electrically connected to the controller and controlled by the controller to complete the shock absorbing adjustment. The shock absorbing device 20 includes a first rotating shaft 21, a second rotating shaft 22, a third rotating shaft 23, a shock absorbing spring 28, a guide column 24, a fixing plate 25 and a fixing beam 26; the fixing plate 25 is located above the steering wheel and is used to install the steering wheel. A through hole is set in the middle of the fixing plate 25, and the top of the steering wheel can be exposed through the through hole. The through hole is used to save materials, reduce weight, and facilitate the installation of the steering wheel. The steering wheel can move up and down in a direction perpendicular to the fixing plate 25; the first rotating shaft 21 is rotatably connected to the steering wheel and is used to adjust the relative position relationship between the steering wheel and the fixing plate 25; the second rotating shaft 22 is rotatably connected to the steering wheel and is used to adjust the relative position relationship between the steering wheel and the fixing plate 25 ; A first rotating shaft 21 is provided on one side of the steering wheel, and a second rotating shaft 22 and a third rotating shaft 23 are provided on the other side of the steering wheel. On the other side of the steering wheel, the third rotating shaft 23 is located above the second rotating shaft 22; it should be noted that one side of the steering wheel is the front, and the other side of the steering wheel is the rear, that is, the first rotating shaft 21 is installed on the front side of the steering wheel, and the second rotating shaft 22 and the third rotating shaft 23 are installed on the rear side of the steering wheel, and the steering wheel always moves in the direction close to the first rotating shaft 21, that is, when moving forward, the steering wheel moves in the direction close to the first rotating shaft 21, and when moving backward, the steering wheel rotates 180 degrees, and the steering wheel still moves in the direction close to the first rotating shaft 21 to achieve backward movement.

[0051] One end of the guide column 24 is rotatably connected to the second rotating shaft 22, and the other end is rotatably connected to the third rotating shaft 23. That is, the second rotating shaft 22 and the third rotating shaft 23 are connected through the guide column 24, and the guide column 24 is used to support the second rotating shaft 22 and the third rotating shaft 23; the shock absorbing spring 28 is sleeved on the outside of the guide column 24 to reduce the vibration of the steering wheel system 13, and there is a gap between the shock absorbing spring 28 and the guide column 24 to alleviate the vibration; one end of the fixed beam 26 is rotatably connected to the first rotating shaft 21, and the other end is rotatably connected to the third rotating shaft 23. The fixed beam 26 is used to support the first rotating shaft 21 and the third rotating shaft 2 3; The fixed beam 26 is arranged in an arc shape on the outside of the steering wheel, including a first arc 261 and a second arc 262, and the first arc 261 and the second arc 262 are fixedly connected. Specifically, the first arc 261 and the second arc 262 are welded and fixed or the first arc 261 and the second arc 262 are integrally formed; in order to reasonably arrange the space and avoid mutual interference between the positions of the components, the first arc 261 and the second arc 262 are stepped; the width of the second arc 262 is greater than the width of the first arc 261, which increases the adjustment range of the shock-absorbing spring 28, thereby increasing the application range of the AGV vehicle. The arrangement of the fixed plate 25, the guide column 24, the fixed beam 26, the first rotating shaft 21, the second rotating shaft 22, and the third rotating shaft 23 effectively buffers the vertical force of the ground on the steering wheel. At the same time, there is a gap between the guide column 24 and the shock-absorbing spring 28. Combined with the rotation connection between the first rotating shaft 21 and the steering wheel, the rotation connection between the second rotating shaft 22 and the steering wheel effectively prevents the wheels of the AGV vehicle from being suspended and losing balance.

[0052] When the steering wheel moves, the first rotating shaft 21 is in front, and the second rotating shaft 22 and the third rotating shaft 23 are in the back. The relative position of the first rotating shaft 21 remains unchanged, and the second rotating shaft 22 and the third rotating shaft 23 drive the steering wheel to rotate around the first rotating shaft 21. When the load becomes heavier, the pressure of the third rotating shaft 23 to the second rotating shaft 22 increases through the guide column 24, the shock-absorbing spring 28 is compressed, and the steering wheel rotates clockwise. When the sensor 15 detects the first limit value, the controller controls the anti-dumping device 12 to move to the first position; when the load becomes lighter, the pressure of the third rotating shaft 23 to the second rotating shaft 22 decreases through the guide column 24, the shock-absorbing spring 28 is extended, and the steering wheel rotates counterclockwise. When the sensor 15 detects the second limit value, the controller controls the anti-dumping device 12 to move to the second position.

[0053] When one of the steering wheels is suspended from the ground, the pressure between the steering wheel and the ground decreases, the pressure between the third rotating shaft 23, the second rotating shaft 22 and the guide column 24 decreases, the shock-absorbing spring 28 extends, and the steering wheel moves toward the ground. The distance moved toward the ground does not exceed 10 mm, for example 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 mm, to achieve contact between the steering wheel and the ground, thereby stabilizing the AGV vehicle.

[0054] The anti-dumping device 12 is automatically deployed when operating on a slope, and the shock absorbing device 20 can automatically adjust the ground pressure of the steering wheel according to the road conditions (i.e., road flatness) and slope changes to ensure that the steering wheel touches the ground and prevent the steering wheel from being suspended in the air, resulting in insufficient traction.

[0055] The controller monitors the slope and the posture of the AGV in real time through the sensor 15, and controls the traction travel servo motor and the steering servo motor to control the steering wheel travel power and direction to ensure that the AGV travels smoothly on the slope. The anti-dumping device 12 can automatically expand or retract according to the load of the AGV and the slope conditions when climbing, and effectively reduce the risk of dumping by increasing the support surface of the chassis.

[0056] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] For those skilled in the art, the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Obviously, the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, it is only an example, not the only one, and the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes in the meaning and scope of the equivalent elements of the claims in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. An AGV with anti-dumping function, characterized in that: include: chassis frame, steering wheel system and anti-tipping device; The steering wheel system is located below the chassis frame and provides power for the chassis frame; The anti-dumping device can move in the horizontal direction along a direction perpendicular to the chassis frame; the anti-dumping device has a first position and a second position; when the anti-dumping device is in the first position, the anti-dumping device is located outside the chassis frame; When the anti-tipping device is in the second position, the anti-tipping device is located within the chassis frame; A sensor is arranged at the bottom of the chassis frame; the steering wheel system, the anti-dumping device and the sensor are electrically connected to the controller respectively; and the controller controls the movement of the anti-dumping device according to data provided by the sensor.

2. The AGV vehicle according to claim 1, characterized in that: A slide rail is arranged perpendicular to the chassis frame, and the anti-dumping device is installed on the slide rail; when the sensor detects a first limit value, the controller controls the anti-dumping device to move to a first position; when the sensor detects a second limit value, the controller controls the anti-dumping device to move to a second position.

3. The AGV vehicle according to claim 2, characterized in that: The first limit value is when the slope is greater than the maximum set value, and the second limit value is when the slope is less than the minimum set value; Preferably, the maximum setting value is 5° and the minimum setting value is 3°.

4. The AGV vehicle according to claim 1, characterized in that: The anti-dumping device is in the form of a frame structure, and a first steering wheel is arranged below the frame structure; The steering wheel system includes a second steering wheel and a third steering wheel below the chassis frame. The first steering wheel, the second steering wheel and the third steering wheel form a triangular structure.

5. The AGV vehicle according to claim 4, characterized in that: Each of the first steering wheel, the second steering wheel and the third steering wheel is equipped with a traction servo motor and a steering servo motor. The traction servo motor is used to provide driving power for the steering wheel, and the steering servo motor is used to control the direction of each steering wheel; the controller is electrically connected to the traction servo motor, and the controller is electrically connected to the steering servo motor.

6. The AGV vehicle according to claim 1, characterized in that: A bracket is arranged above the chassis frame, and the bracket is electrically connected to the controller; the bracket has a third position and a fourth position; when the bracket is in the third position, the bracket is in an unfolded state; when the bracket is in the fourth position, the bracket is in a folded state; The third position of the bracket is a climbing position, and the fourth position of the bracket is a flat road working position.

7. The AGV vehicle according to claim 6, characterized in that: A platform is arranged above the bracket for carrying goods; a roller is arranged on the platform for moving the goods on the platform; One end of the platform serves as an entrance for loading goods, and the other end is connected to a conveyor belt for transporting goods. The controller is electrically connected to the conveyor belt.

8. The AGV vehicle according to claim 4, characterized in that: Each steering wheel is equipped with an independent shock absorbing device; the shock absorbing device can automatically adjust the ground pressure of the steering wheel according to the road conditions and slope changes; The shock absorbing device comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a shock absorbing spring, a guide column and a fixing plate; The fixing plate is located above the steering wheel and is used to install the steering wheel. The first rotating shaft is arranged on one side of the steering wheel, and the second rotating shaft and the third rotating shaft are arranged on the other side of the steering wheel. The third rotating shaft is located above the second rotating shaft. The first rotating shaft is rotatably connected to the steering wheel, and is used to adjust the relative position relationship between the steering wheel and the fixing plate; The second rotating shaft is rotatably connected to the steering wheel and is used to adjust the relative position relationship between the steering wheel and the fixing plate; One end of the guide post is rotatably connected to the second rotating shaft, and the other end is rotatably connected to the third rotating shaft; The shock absorbing spring is sleeved on the outside of the guide column to reduce the vibration of the steering wheel system.

9. The AGV vehicle according to claim 8, characterized in that: The shock absorbing device also includes a fixed beam; One end of the fixed beam is rotatably connected to the first rotating shaft, and the other end is rotatably connected to the third rotating shaft; The fixed beam is arranged in an arc shape on the outer side of the steering wheel, and includes a first arc and a second arc. The first arc and the second arc are fixedly connected, and the first arc and the second arc are stepped.

10. The AGV vehicle according to claim 9, characterized in that: The width of the second circular arc is greater than the width of the first circular arc; A through hole is arranged in the middle of the fixing plate, and the top of the steering wheel can be exposed from the through hole.

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