Self-balancing AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a self-balancing AGV which comprises an AGV body, a hydraulic self-balancing assembly capable of controlling a floating platform to keep horizontal is installed on the AGV body, a gradienter sensor used for detecting the gradient of the platform is installed on the floating platform, and the hydraulic self-balancing assembly and the gradienter sensor are both connected to a controller of the AGV body. A steering wheel driving assembly is arranged at the bottom of the AGV body, and the steering wheel driving assembly comprises a counterweight unit which always applies downward pressure to steering wheels. The gradienter sensor is arranged on the floating platform to detect the gradient of the platform, and then the hydraulic self-balancing assembly is arranged between the AGV and the floating platform, so that in the driving process of the AGV, the sensor detects the road condition in real time, and according to the gradient of the road condition, the hydraulic self-balancing assembly is intelligently controlled, and the floating platform is automatically leveled; the stability of workpiece transportation during movement of the AGV is ensured; and the steering wheel has spring damping and gravity pressurizing functions so as to be suitable for being used on the uneven ground.

Description

Technical Field

[0001] The present invention relates to the technical field of transport vehicle production, and in particular to a self-balancing AGV, a use method and an application thereof. Background Art

[0002] AGV (Automated Guided Vehicle, AGV for short) refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a specified guidance path, with safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications, and uses a rechargeable battery as its power source. This application applies AGV to the production technology of oval boxes (hereinafter referred to as workpieces) in sanitation sprinkler trucks, or square boxes in garbage trucks, and other irregular boxes. However, at present, AGVs are generally targeted at a single type of box and cannot be adapted to the production of multiple types of boxes. In addition, there are multiple factory buildings in industrial parks, and the factory floor is generally higher than the outside ground. When the traditional AGV drives the box from indoors to outdoors, it reaches a downhill position, which will cause the transported box to tilt. If the box contains liquid or other items, its stability is insufficient, and a large inclination angle will occur and it will slide.

[0003] The existing patent technology with patent number CN208393514U and patent name AGV transport vehicle for carrying heavy tubular materials discloses "including a vehicle chassis, a running drive system at the lower part of the vehicle chassis, the running drive system includes a driving wheel set, and the driving wheel set is fixedly connected to the vehicle body main beam on the vehicle chassis through an independent shock absorbing system; a lifting device is provided on the upper part of the vehicle chassis, and the upper part of the lifting device supports a load device base cross plate, and the upper part of the load device base cross plate is provided with a rotating load device assembly that directly supports the tubular material and can drive the material to rotate". The AGV disclosed in this technology can only be used for tubular materials, and cannot be adapted to other types of workpieces, and cannot ensure that the workpiece can always remain in a horizontal state. If it encounters a downhill position, it will cause the workpiece to tilt.

[0004] The existing patent technology with the patent publication number CN116142352A and the patent name of an AGV trolley with an independent lifting wheel system and a method for adjusting its body posture discloses "including an AGV chassis, a support frame installed on the AGV chassis for supporting the loaded goods, four sets of lifting and steering wheels installed on the AGV chassis, and visual or laser sensors arranged around the goods. The visual or laser sensors scan the characteristics of the docked goods to identify the posture of the goods and feed back to the AGV system. The AGV control system adjusts the lifting and position relationship of each lifting and steering wheel according to the feedback value." The AGV disclosed in this technology can only be used for tubular materials and cannot be adapted to other types of workpieces. It cannot guarantee that the workpiece can always remain in a horizontal state. If it encounters a downhill position, it will cause the workpiece to tilt. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem that when the AGV transports the workpiece, the workpiece cannot be adjusted in time due to a slope.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A self-balancing AGV, comprising an AGV body and a floating platform located on the top thereof, wherein a hydraulic self-balancing assembly capable of controlling the floating platform to maintain levelness is installed on the AGV body, a level sensor for detecting the inclination of the platform is installed on the floating platform, and the hydraulic self-balancing assembly and the level sensor are both connected to a controller of the AGV body; A steering wheel drive assembly is arranged at the bottom of the AGV body, wherein the steering wheel drive assembly includes a counterweight unit that always applies downward pressure to the steering wheel.

[0007] The present application sets a level sensor on the floating platform to detect the inclination of the platform, and then sets a hydraulic self-balancing component between the AGV and the floating platform. Therefore, during the driving of the AGV, the sensor detects the road condition in real time, and intelligently controls the hydraulic self-balancing component according to the slope of the road condition to automatically level the floating platform, thereby ensuring the stability of the AGV in transporting workpieces during movement. At the same time, the steering wheel of the present application has a spring shock absorber and a gravity booster device, so that it is suitable for use on uneven ground.

[0008] As a further solution of the present invention: the steering wheel driving assembly includes a mounting plate, the steering wheel is mounted below the mounting plate, and the mounting plate includes a rotating end and a floating end; The rotating end is rotatably connected to the AGV body via a rotating shaft; The floating end is connected to the AGV body through a shock absorbing unit, and the counterweight unit is fixed to the floating end.

[0009] As a further solution of the present invention: the floating end of the mounting plate is arranged as an "L"-shaped frame, the shock absorbing unit comprises a threaded guide rod, the bottom end of the threaded guide rod passes through the horizontal plate of the "L"-shaped frame and is connected to the AGV body, a shock absorbing spring is sleeved on the outside of the threaded guide rod and located above the horizontal plate of the "L"-shaped frame; the counterweight unit is fixed on the horizontal plate of the "L"-shaped frame; here, an "L"-shaped frame is arranged at the floating end, and the shock absorbing spring and the counterweight unit are arranged on the horizontal panel. The sunken design makes the structural layout more compact, can save the space occupied by the shock absorbing spring and the counterweight unit, and makes rational use of the space.

[0010] As a further solution of the present invention: at least two groups of hydraulic self-balancing components are provided, and the two groups of hydraulic self-balancing components are respectively installed at the front end and the rear end of the AGV body; the bottom of the hydraulic self-balancing component is movably connected to the AGV body, and the top is movably connected to the floating platform; in addition, arranging the hydraulic self-balancing components at the front end and the rear end of the AGV body can ensure that the floating platform is level regardless of whether the front end or the rear end of the AGV tilts first.

[0011] As a further solution of the present invention: laser sensors for AGV body navigation and obstacle avoidance are arranged on two diagonally opposite corners of the AGV body.

[0012] As a further solution of the present invention: at least two groups of clamp arm assemblies are arranged on the floating platform, and the clamp arm assemblies include a rotating end and a lifting end, the rotating end is close to the center position of the floating platform, and the lifting end is close to the outer edge of the floating platform; A screw assembly is arranged inside the floating platform and below the clamp arm assembly, and the lifting end of the clamp arm assembly can be driven to rotate relative to the rotating end through the screw assembly.

[0013] As a further solution of the present invention: the clamp arm assembly is flush with the floating platform in an initial state, and is perpendicular to the floating platform when the clamp arm assembly is lifted to a maximum angle.

[0014] As a further solution of the present invention: the screw assembly includes a trapezoidal screw, on which a slider is installed, the top of the slider is rotatably connected to the bottom wall of the clamping arm assembly through a connecting shaft, and the two ends of the trapezoidal screw are respectively connected to a driving motor and a hand crank.

[0015] The invention also discloses an application of a self-balancing AGV in the transportation of a box body of a sanitation vehicle.

[0016] The present invention also discloses a method for using a self-balancing AGV, comprising: When the AGV body moves and tilts, the level sensor automatically detects the platform inclination; Then the tilt signal is sent to the controller, which controls the hydraulic self-balancing component to automatically adjust the floating platform to level itself; The steering wheel adjustment steps include: When the AGV encounters an uneven ground during its movement, the counterweight unit always applies pressure to the steering wheel to ensure that the steering wheel contacts the ground for normal movement.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This application sets a level sensor on the floating platform to detect the inclination of the platform, and then sets a hydraulic self-balancing component between the AGV and the floating platform. Therefore, during the driving process of the AGV, the sensor detects the road conditions in real time, and intelligently controls the hydraulic self-balancing component according to the slope of the road conditions, automatically levels the floating platform, and ensures the stability of the AGV in transporting workpieces during movement; 2. The present application arranges steering wheel drive components on both sides of the bottom of the AGV body, and arranges universal wheels on both sides of the steering wheel drive components. The universal wheels mainly play a bearing role, and the steering wheel mainly plays a driving role. The steering wheel has a spring shock-absorbing and gravity booster device. According to the compression amount of the spring, the steering wheel can adapt to uneven roads or slopes. At the same time, in order to strengthen the ground pressure of the steering wheel and avoid slipping on the spot, a counterweight block is added to the shock-absorbing device, and the lever principle is used to make the steering wheel generate double ground pressure; 3. If the present application encounters a slope or an uneven road surface, the steering wheel will be reacted first, and the counterweight will act on the steering wheel in time, which will provide a short buffer time for the hydraulic self-balancing component, and then the hydraulic self-balancing component will be used to achieve self-balancing adjustment. Through the cooperation of the steering wheel drive component, the level sensor and the hydraulic self-balancing component, the problem of timely adjustment of the workpiece when encountering a slope or an uneven road surface can be solved; 4. This application uses laser sensors at two diagonally opposite corners of the AGV body, which has the dual functions of navigation and obstacle avoidance. Each laser sensor can identify obstacles at 270°, and the two diagonally opposite corners can form 360° obstacle avoidance protection for the AGV. It is also equipped with a clearance light and an over-limit boundary warning light, both of which are straight lights irradiated on the ground. The clearance light is used to warn pedestrians on the AGV's running route and remind them to avoid obstacles; the over-limit boundary warning light is used to warn when transporting oversized goods; 5. The AGV of this application is mainly used in the field of sanitation vehicle production. In the production of sanitation vehicles, there are cylindrical water tanks of sprinkler trucks, square shells of garbage trucks, and other irregular parts. The AGV is equipped with an adjustable clamping arm, which can stably transport both cylindrical and cubic workpieces, and has automatic and manual control modes, a wide range of adaptability, and strong flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an axonometric view of the self-balancing AGV of Example 1 of the present invention when clamping an elliptical cylindrical workpiece; Figure 2 for Figure 1 A front view of Figure 3 This is a schematic diagram of the structure of the AGV body of Example 1 of the present invention; Figure 4 for Figure 3 A top view of Figure 5 It is a partial cross-sectional view of the AGV body of Example 1 of the present invention; Figure 6 for Figure 5 A partial enlarged view of the Figure 7 This is a schematic structural diagram of a steering wheel drive assembly according to Embodiment 1 of the present invention; Figure 8 It is a front view of the floating platform of Example 1 of the present invention; Fig. 9 It is a side view of the floating platform of Example 1 of the present invention; Fig.10 This is an axonometric view of the floating platform of Example 1 of the present invention; Fig.11 for Figure 1 Side view of Fig.12 It is a projection diagram of various warning lights in the self-balancing AGV of Example 1 of the present invention; Fig.13 This is a schematic diagram of the self-balancing AGV in Example 1 of the present invention when it arrives at the factory door; Fig.14 This is a schematic diagram of a self-balancing AGV passing through a factory door in Example 1 of the present invention; Fig.15 This is a schematic diagram of the connection between the self-balancing AGV and the crane suspension device in Example 1 of the present invention; Fig.16 This is a schematic diagram of the path of the self-balancing AGV and each station in Example 1 of the present invention; Fig.17 This is an axonometric view of the self-balancing AGV of Example 2 of the present invention when clamping a square workpiece; Description of reference numerals: 1. AGV body; 11. Over-limit warning light; 12. Speaker; 13. Touch screen; 14. Lifting point; 15. Atmosphere light; 16. Warning light; 17. Emergency stop button; 18. Clearance light; 19. Steering wheel drive assembly; 191. Steering wheel; 192. Counterweight; 193. Shock-absorbing spring; 194. Mounting plate; 195. Swing shaft; 110. Safety touch edge; 111. Laser sensor; 112. Power battery; 113. Electric control box; 114. Universal wheel; 115. Hydraulic pump; 116. Hydraulic support frame; 2. Floating platform; 21. Platform frame; 22. Connecting seat; 23. Clamp arm; 24. Polyurethane plate; 25. Coupling shaft; 26. Trapezoidal screw; 27. Hand crank; 28. Linear guide rail; 29. ​​Limit stopper; 210. Driving motor; 211. Sliding block; 212. Platform panel; 213. Level sensor; 3. Workpiece; 4. Crane hanging parts. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of 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.

[0020] Example 1 Reference Figure 1 and Figure 2 A self-balancing AGV includes an AGV body 1, a floating platform 2 and a workpiece 3, wherein the AGV body 1 is located at the bottom, the floating platform 2 is installed on the top of the AGV body 1, and then the workpiece 3 is clamped on the top of the floating platform 2. In this embodiment 1, the workpiece 3 is an elliptical cylindrical structure.

[0021] Reference Figure 3 and Figure 4 The overall frame of the AGV body 1 is rectangular, including an over-limit warning light 11, a speaker 12, a touch screen 13, a hanging point 14, an atmosphere light 15, a warning light 16, an emergency stop button 17, a clearance light 18, a steering wheel drive assembly 19, a safety touch edge 110, a laser sensor 111, a power battery 112, an electric control box 113, a universal wheel 114, a hydraulic pump 115 and a hydraulic support frame 116; Reference Figure 3 , Figure 4 and Fig.12 , the four sides of the outer frame of the AGV body 1 are provided with over-limit warning lights 11 and clearance lights 18. When the over-limit warning lights 11 and clearance lights 18 are turned on, Fig.11 The projected horizontal lines are shown on the ground to remind workers not to load the goods beyond the laser boundary when loading.

[0022] Laser sensors 111 are also provided at the two diagonal corners of the outer frame of the AGV body 1, which use SLAM laser navigation and have the dual functions of navigation and obstacle avoidance. Each laser sensor can identify 270° obstacles, and the two diagonal corners can form 360° obstacle avoidance protection for the AGV.

[0023] At the four corners of the outer frame of the AGV body 1, there are ambient lights 15 and warning lights 16. When the AGV is driving, the clearance warning lights are turned on to remind pedestrians to avoid it.

[0024] Emergency stop buttons 17 are provided at the four corners of the outer frame of the AGV body 1 for starting and stopping the AGV body 1 in an emergency. The emergency stop button 17 can control the opening and closing of the steering wheel 191 in the steering wheel drive assembly 19, thereby controlling the movement and pause of the AGV body 1.

[0025] Specifically, the AGV's clearance lights 18 and over-limit warning lights 11 are both straight lights irradiated onto the ground. The clearance lights are used to warn pedestrians on the AGV's route and remind them to avoid them; the over-limit warning lights 11 and clearance lights 18 are intended to serve as a warning when transporting oversized goods. Since there are workpieces that are larger than the AGV, the workpieces will exceed the platform on the AGV. The laser sensor 111 can provide a safe avoidance distance from obstacles to the AGV. However, the AGV system cannot predict if the workpiece is too wide or too long. If it exceeds a certain range, or the goods are loaded crookedly, the workpiece may hit the door frame or column when turning. The over-limit warning lights 11 and clearance lights 18 guide workers not to exceed the boundaries when loading, so that the AGV can drive safely. In addition, the AGV is set with a safe avoidance range according to the distance of the laser clearance to prevent accidents caused by the AGV hitting columns or door frames when carrying over-limit goods.

[0026] Reference Figure 3 , Figure 4 and Fig.15 There are lifting points 14 on the four sides of the outer frame of the AGV body 1, which are used for the subsequent driving lifting parts 4 to lift the entire AGV body 1, and there is more than one lifting point 14 on each side to ensure the stability of the lifting.

[0027] Reference Figure 3 and Figure 4 A steering wheel drive assembly 19 is provided at the middle position on both sides of the bottom of the AGV body 1, and universal wheels 114 are installed at the bottom of the AGV body 1 and on both sides of the steering wheel drive assembly 19. The four universal wheels 114 are on the same horizontal plane, wherein the universal wheels 114 mainly play a bearing role, and the steering wheel drive assembly 19 mainly plays a driving role of the AGV body 1.

[0028] Further, see Figure 5 , Figure 6 and Figure 7The steering wheel drive assembly 19 includes a steering wheel 191, a counterweight 192, a shock absorbing spring 193, a mounting plate 194 and a swing shaft 195, wherein a mounting plate 194 is arranged on the top of the steering wheel 191, one side of the mounting plate 194 is movably mounted on the AGV body 1 through the swing shaft 195, and an "L"-shaped frame is arranged on the other side of the mounting plate 194, wherein a threaded guide rod is penetrated through the horizontal plate of the "L"-shaped frame, and the bottom end of the threaded guide rod is connected to the AGV body 1 after penetrating the horizontal plate of the "L"-shaped frame. A shock absorbing spring 193 is sleeved on the outer side of the threaded guide rod and located above the horizontal plate of the "L"-shaped frame; the counterweight 192 is also fixed on the horizontal plate of the "L"-shaped frame, and the counterweight 192 is located on one side of the shock absorbing spring 193, and a motor for driving the steering wheel 191 to rotate is arranged on one side; if the ground is uneven, the steering wheel 191 may be in a suspended state and cannot provide driving force. The steering wheel 191 adopts a spring shock absorbing device, and according to the compression amount of the spring, the steering wheel 191 can adapt to the uneven road surface. At the same time, in order to strengthen the pressure of the steering wheel on the ground and avoid the occurrence of slipping, a counterweight 192 is added to the shock absorbing device, and the lever principle is used to make the steering wheel 191 generate double pressure on the ground. Therefore, the steering wheel can maintain sufficient pressure on the ground even when encountering a slippery ground during driving, generate sufficient driving force, and avoid the steering wheel 191 from slipping.

[0029] Reference Figure 4 Safety touch edges 110 are provided on the front and rear side walls of the outer frame of the AGV body 1. The safety touch edges 110 can also be called anti-collision strips to achieve safety protection for the AGV body 1 during driving.

[0030] Reference Figure 4 A power battery 112 is provided at the middle position inside the AGV body 1 , and an electric control box 113 is also provided on one side inside the AGV body 1 to provide power for the entire AGV body 1 .

[0031] Reference Figure 4 Two groups of hydraulic support frames 116 are symmetrically arranged on one side of the top of the AGV body 1, and a hydraulic pump 115 is also arranged inside the AGV body 1, wherein the bottom of the hydraulic support frame 116 is connected to the AGV body 1, and the top is movably connected to a connection seat 22 arranged on one side of the bottom of the floating platform 2, and connection seats 22 are arranged on both sides of the bottom of the floating platform 2, and a total of four groups are arranged, wherein the other side of the top of the AGV body 1 can be movably connected to the connection seat 22 arranged on the other side of the bottom of the floating platform 2, and when the hydraulic support frame 116 rises, the floating platform 2 rotates with the connection seat 22 arranged on the other side as the axis; Therefore, refer to Fig.13When the AGV moves to the station at the factory door, there is a slope outside the factory door. Since the factory floor is higher than the outdoor floor, the AGV will tilt. In order to ensure that the workpiece 3 above the floating platform 2 remains horizontal and prevent the risk of water spilling inside the tilt, the two sets of hydraulic support frames 116 can be controlled to push the connecting seat 22 up until the floating platform 2 remains horizontal and then it can stop. Fig.13 As shown, whether the floating platform 2 remains horizontal is detected by the level sensor 213 arranged thereon. During this process, the level sensor 213 detects in real time whether the floating platform 2 is horizontal, and then controls the lifting and lowering of the hydraulic support frame 116 in real time to ensure that in the process of leaving the factory, the floating platform 2 and the workpiece 3 are moved out in a horizontal state. The present application can adjust the hydraulic floating platform 1 in real time according to the ground conditions to avoid the shaking of the workpiece filled with water.

[0032] Reference Figure 3 Speakers 12 and touch screens 13 are also provided on both side surfaces of the outer frame of the AGV body 1, wherein the touch screen 13 is connected to the AGV controller, and the AGV controller is connected to various components inside the AGV, such as various warning lights, steering wheel motors, laser sensors 111, power batteries 12, electric control boxes 13, hydraulic pumps 115, hydraulic support frames 116, and level sensors 213, etc., which can be used to control the operation of various components in the AGV body 1. A manipulator can also be set externally, and the manipulator connected to the AGV controller can remotely control the operation of the AGV.

[0033] Reference Figure 8 , Fig. 9 , Fig.10 The floating platform 2 includes a platform frame 21, a connecting seat 22, a clamping arm 23, a polyurethane plate 24, a connecting shaft 25, a trapezoidal screw 26, a hand crank 27, a linear guide rail 28, a limit stopper 29, a driving motor 210, a slider 211, a platform panel 212 and a level sensor 213; Both sides of the top of the platform frame 21 are movably connected with clamping arms 23, and a polyurethane plate 24 is arranged on the top of the clamping arm 23. A trapezoidal lead screw 26 is arranged inside the floating platform 2 and at the bottom of the clamping arm 23. A slider 211 is installed on the trapezoidal lead screw 26, and the top of the slider 211 is movably connected to the clamping arm assembly through a connecting shaft 25. The two ends of the trapezoidal lead screw 26 are respectively connected to a driving motor 210 and a hand crank 27, so that the trapezoidal lead screw 26 can be controlled to rotate by the driving motor 210 and the hand crank 27. The rotation of the trapezoidal lead screw 26 can drive the connecting shaft 25 to move, thereby driving the clamping arm 23 to rotate, presenting a Fig. 9 In the state shown, the four clamping arms 24 on the floating platform 2 are all raised, and can support cylindrical, elliptical or irregular workpieces 3, wherein each clamping arm 24 is independently controlled and can be adjusted accordingly according to different needs of the workpieces.

[0034] It should be noted that the clamp arm 23 is initially flush with the platform panel 212 on the top of the floating platform 2. When the clamp arm 23 is driven by the trapezoidal lead screw 26 to rotate to the maximum angle, it is perpendicular to the platform panel 212. Therefore, the rotation angle range of the clamp arm 23 is 0°-90°. The specific angle is selected according to the actual requirements of the workpiece.

[0035] Furthermore, a linear slide rail 28 parallel to the trapezoidal lead screw 26 is provided at the bottom thereof, and the linear slide block 28 is fixed to the internal frame of the floating platform 2 through a limit stopper 29, wherein the bottom of the slide block 211 can be slidably connected to the linear slide rail 28, and the linear slide rail 28 can ensure that the slide block 211 can stably move forward and backward along the lead screw, and play a certain role in limiting the movement of the slide block 211. Fig.10 A platform panel 212 is set on the top of the platform frame 21, wherein four clamping arm grooves are opened on the platform panel 212 to correspond to the four clamping arms 23. It should be noted here that the number of clamping arms 23 is not limited in this application, and only one of the optimal implementation methods is given. The specific number can be adjusted according to actual conditions.

[0036] Example 2 Reference Fig.17 The present embodiment is the same as the embodiment 1 except that the elliptical cylindrical workpiece is replaced with a square workpiece 3. When the square workpiece 3 is assembled, the clamping arm 23 on the floating platform 2 does not need to be extended, and the platform panel 212 only needs to be a horizontal plane.

[0037] The specific operating principles of this application are as follows: When in use, the factory worker presses the button of the pager to call the AGV to the workstation. Fig.15 Each station is equipped with a pager, through which the AGV is called, and at the same time, a button of the shape type of the workpiece is pressed, and the shape types include cubic and cylindrical types, etc. After the worker presses the button, the AGV clamping arm automatically adjusts the clamping arm 23 according to the type of the workpiece so that the clamping arm 23 falls; Then the workers use the crane to lift the welded workpiece onto the AGV. If the cube box is transported, the clamp arm will not be lifted (such as Fig.17 If the workpiece is cylindrical, the clamp arm 23 is automatically lifted (eg Figure 1 ), when the clamp arm touches the workpiece during lifting, the motor torque driving the clamp arm 23 changes and the system detects the current change, and the system considers that the workpiece is restrained, otherwise the clamp arm 23 is lifted up until it reaches the highest angle; If the workpiece is complex, the worker can use the hand crank 27 to manually raise or lower the clamp arm 23; The worker then presses the completion button on the pager, and the AGV goes to the next workstation along a fixed route; When the AGV is running in the factory, since the ground inside the factory is relatively flat, the floating platform 2 is closed at this time to save battery power, the AGV runs stably, and the transported workpiece does not shake significantly; When the AGV travels from the factory floor to the outdoor floor, the factory floor is higher than the outdoor floor, so the AGV will tilt. When the AGV is about to travel outside, the AGV hydraulic floating platform 2 is activated. When the AGV body tilts, the floating platform 2 is automatically adjusted by the hydraulic support frame 116 (such as Fig.13 and Fig.14 ), so that the floating platform panel always remains horizontal, ensuring the stability of transporting workpieces; When the AGV enters the outdoor road while carrying goods, the hydraulic floating platform is always kept open to ensure the stability of the goods. If the AGV is unloaded, the hydraulic floating platform 2 is closed; When the hydraulic floating platform is turned on, there is a horizontal sensor 213 on the floating platform 2, which automatically monitors the inclination of the platform and always maintains the stability of the floating platform panel by adjusting the extension and contraction of the hydraulic support frame 116; During the walking process of the AGV, since the AGV is composed of two steering wheels 191 and four universal wheels 114, the steering wheel 191 mainly drives the AGV to travel, and the universal wheel 114 mainly bears the load. The four universal wheels 114 form a surface. If the ground is uneven, the steering wheel may be in a suspended state and cannot provide driving force. The steering wheel adopts a shock-absorbing spring 193. According to the compression amount of the spring, the steering wheel can adapt to the uneven road surface. At the same time, in order to strengthen the ground pressure of the steering wheel 191 and avoid the occurrence of slipping, a counterweight block 192 is added to the shock-absorbing spring 193, and the lever principle is used to make the steering wheel 191 produce double ground pressure; at the same time, a laser light is installed on the four sides of the AGV for outline warning and over-limit warning. When the AGV is driving, the outline warning light is turned on to remind pedestrians to avoid it. When arriving at the site, the over-limit warning light is turned on to remind workers not to load the goods to the side and exceed the laser boundary when loading. The AGV is set with a safe avoidance range according to the distance of the laser outline to prevent accidents caused by the AGV hitting columns or door frames when carrying oversized goods.

[0038] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-balancing AGV, characterized in that: The AGV comprises an AGV body (1) and a floating platform (2) located on top thereof, wherein the AGV body (1) is provided with a hydraulic self-balancing component capable of controlling the floating platform (2) to maintain horizontality, and the floating platform (2) is provided with a level sensor (213) for detecting the inclination of the platform, and the hydraulic self-balancing component and the level sensor (213) are both connected to a controller of the AGV body; A steering wheel drive assembly (19) is arranged at the bottom of the AGV body (1), and the steering wheel drive assembly (19) comprises a counterweight unit that always applies downward pressure to the steering wheel (191).

2. A self-balancing AGV according to claim 1, characterized in that: The steering wheel driving assembly (19) comprises a mounting plate (194), the steering wheel (191) is mounted below the mounting plate (194), and the mounting plate (194) comprises a rotating end and a floating end; The rotating end is rotatably connected to the AGV body (1) via a rotating shaft (195); The floating end is connected to the AGV body (1) via a shock absorbing unit, and the counterweight unit is fixed to the floating end.

3. A self-balancing AGV according to claim 2, characterized in that: The floating end of the mounting plate (194) is arranged as an "L"-shaped frame, the shock absorbing unit comprises a threaded guide rod, the bottom end of the threaded guide rod passes through the horizontal plate of the "L"-shaped frame and is connected to the AGV body (1), a shock absorbing spring (193) is sleeved on the outside of the threaded guide rod and located above the horizontal plate of the "L"-shaped frame; the counterweight unit is fixed to the horizontal plate of the "L"-shaped frame.

4. A self-balancing AGV according to claim 1, characterized in that: At least two groups of hydraulic self-balancing components are provided, and the two groups of hydraulic self-balancing components are respectively installed at the front end and the rear end of the AGV body (1); the bottom of the hydraulic self-balancing component is movably connected to the AGV body (1), and the top is movably connected to the floating platform (2).

5. The self-balancing AGV according to claim 1, characterized in that: Over-limit warning lights (11) and clearance lights (18) are provided on four side surfaces of the outer frame of the AGV body (1), and when the over-limit warning lights (11) and the clearance lights (18) are turned on, they can project a horizontal line toward the ground.

6. A self-balancing AGV according to claim 1, characterized in that: At least two groups of clamp arm assemblies are arranged on the floating platform (2), and the clamp arm assemblies include a rotating end and a lifting end, the rotating end is close to the center position of the floating platform (2), and the lifting end is close to the outer edge of the floating platform (2); A screw assembly is arranged inside the floating platform (2) and below the clamp arm assembly, and the screw assembly can drive the lifting end of the clamp arm assembly to rotate relative to the rotating end.

7. A self-balancing AGV according to claim 6, characterized in that: In an initial state, the clamp arm assembly is flush with the floating platform (2); when the clamp arm assembly is raised to a maximum angle, it is perpendicular to the floating platform (2).

8. A self-balancing AGV according to claim 7, characterized in that: The screw assembly comprises a trapezoidal screw (26), on which a slider (211) is mounted, the top of the slider (211) being rotatably connected to the bottom wall of the clamping arm assembly via a connecting shaft (25), and the two ends of the trapezoidal screw (26) being respectively connected to a drive motor (210) and a hand crank (27).

9. Application of the self-balancing AGV as described in any one of claims 1 to 8 in the transportation of boxes of sanitation vehicles.

10. A method for using the self-balancing AGV according to any one of claims 1 to 8, characterized in that: The self-balancing steps include: When the AGV body (1) moves and tilts, the level sensor (213) automatically detects the inclination of the platform; Then, the tilt signal is sent to the controller, and the controller controls the hydraulic self-balancing component to automatically adjust the floating platform (2) to automatically level it; The steering wheel adjustment steps include: When the AGV body (1) encounters an uneven ground during movement, the counterweight unit constantly applies pressure to the steering wheel (191) to ensure that the steering wheel contacts the ground to achieve normal movement.

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