AGV (Automatic Guided Vehicle) with stable clamping and anti-falling functions
By installing cameras, sensors, and rotatable bracket clamping modules on the AGV transport vehicle, the problems of unstable cargo clamping and falling are solved, stable and multi-functional transportation capabilities are achieved, and the safety and reliability of the AGV transport vehicle are improved.
Patent Information
- Application Number
- CN202510969362.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-15
- Publication Date
- 2025-09-16
AI Technical Summary
AGV transport vehicles may have problems with unstable cargo clamping and accidental cargo falling when running at high speeds or in complex terrain scenarios, affecting their operational reliability and safety.
An AGV transport vehicle was designed, which was equipped with a real-time image acquisition camera and a distance sensor. A clamping module and a detachable box plate were installed on the bracket. The bracket was rotated by a driving mechanism to achieve multiple state switching. The camera and sensor were combined to detect the environment to ensure stable transportation.
It achieves stable clamping of goods and prevention of falling in different states, enhances the safety and versatility of the transport vehicle, and adapts to the transportation needs of complex environments.
Smart Images
Figure CN120646730A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of motor vehicles, and in particular to an AGV transport vehicle with a stable clamping and anti-falling function. Background Art
[0002] AGVs (Automated Guided Vehicles) are devices used for automated material handling. They can automatically move within a work environment and transport goods by following preset paths or using navigation technologies such as vision, lasers, or magnetic strips. With the rapid development of intelligent manufacturing and warehousing logistics, AGVs are widely used in warehouses, factories, and distribution centers. However, when operating at high speeds or in complex terrain, AGVs can still face operational risks such as unstable gripping and accidental dropping of goods, due to the influence of speed and terrain. These risks severely restrict the reliability and safety of AGVs. Summary of the Invention
[0003] The purpose of the present invention is to provide an AGV transport vehicle with a stable clamping and anti-falling function to solve the problems raised in the prior art.
[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an AGV transport vehicle with a stable clamping and anti-falling function, comprising a vehicle body, with cameras for real-time image acquisition and sensors for distance data acquisition provided at both the front and rear ends of the vehicle body, and a bracket, which is rotatably installed in a storage slot above the vehicle body, and a driving mechanism for driving the bracket to rotate is provided inside the vehicle body, two clamping modules are symmetrically installed on the bracket, and two fork plates are symmetrically installed on each clamping module, and a detachable box plate is installed between the two adjacent fork plates on the two clamping modules. The drive mechanism rotates the bracket 90° on the vehicle body. When the bracket is horizontal and no pallet is installed, the four fork plates work together to clamp and limit long objects. When horizontal and with pallets installed, the four pallets work together to form a box structure. Operators can place a bottom plate to carry items inside the box structure, using this structure to store and transport items, preventing them from falling during transportation. When the bracket is vertical and no pallet is installed, the transport vehicle can be used as a forklift. The upper and lower fork plates work together to clamp and prevent items from falling during transportation. When vertical and with a pallet installed (attached to the two lower fork plates), the pallet acts as a pallet for transporting items. When the transport vehicle is handling and transporting items, in addition to using a pre-set path, it also uses cameras and sensors to monitor the surrounding environment, ensuring safe and stable operation.
[0005] The fork plate is provided with a "T"-shaped slot, and both ends of the box plate are "L"-shaped structures, and one end of the "L"-shaped box plate is inserted into the slot. The slot is used to increase the structural strength of the fork plate and to connect the box plate.
[0006] The vehicle body is provided with an opening above, with a base plate mounted at the lower end of the opening. The base plate and the vehicle body cooperate to form a storage slot. A drive roller is provided at one end of the bracket, which is rotatably mounted on the vehicle body via a central shaft. The drive mechanism is a drive motor, which is mounted inside the vehicle body and connected to one end of the shaft via a reducer. The drive motor (not shown) drives the shaft to rotate via the reducer, and the drive roller rotates driven by the shaft. The drive roller rotates the bracket 90° around the centerline of the shaft, causing the bracket to change from a horizontal state to a vertical state, or vice versa. By changing the state of the bracket, the AGV transport vehicle can have multiple uses and transportation capabilities while maintaining its basic transportation function.
[0007] The base plate has a perforation at the end away from the drive roller. A carrier plate is mounted below the base plate via struts. Two guide rails are symmetrically mounted above the carrier plate, and a pallet slides on the two rails. A lead screw is mounted between the two rails on the carrier plate, with supports mounted at both ends. One end of the lead screw is connected to a shift motor. A winder is mounted on the carrier plate, which winds a steel cable that passes through the perforation and connects to a lifting ring at one end of the bracket, which is mounted on the end away from the drive roller. The pallet slides on the guide rails. Driven by the shift motor, the lead screw rotates, driving the pallet along the guide rails. The winder is used to wind and release the cable. When the bracket transitions from horizontal to vertical, the lead screw slowly releases the cable. Simultaneously, driven by the shift motor, the lead screw moves the pallet toward the front end of the AGV (i.e., away from the drive roller), thereby increasing the weight of the front end of the AGV and preventing it from tilting. When the bracket changes from a vertical state to a horizontal state, the winder slowly winds up the steel cable to provide a certain traction force for the bracket to change to a horizontal state, and assists the bracket to change from a vertical state to a horizontal state. When the bracket changes to a horizontal state, the offset motor drives the lead screw to reverse, so that the pallet drives the winder to reset and be in the center position of the AGV transport vehicle.
[0008] Two connecting shells are vertically mounted on one end of the vehicle body. The clamping module includes a housing mounted on the bracket and an inner slide rail slidably mounted on the inner side of the housing. Opposing end surfaces of the inner side of the housing are provided with protrusions, and the inner slide rail is provided with grooves that adapt to the protrusions. The connecting shell has the same structure as the housing. A connecting cylinder is provided at one end of the housing. One end of the cylinder rod of the connecting cylinder is connected to the inner slide rail, and the fork plate is provided on the inner slide rail. When the bracket rotates from a horizontal position to a vertical position, the connecting cylinder is activated, pushing the inner slide rail downward, pushing one end of the inner slide rail into the connecting shell. The connecting shell is used to limit and fix one end of the inner slide rail, making the clamping module and the bracket more stable in the vertical position.
[0009] The inner rail has a C-shaped cross-section, with a T-shaped track in the middle. A motor box is located at one end of the rail, connected to the cylinder rod. A screw is rotatably mounted in the T-shaped track, one end of which is connected to the motor in the motor box. Two sliders are symmetrically mounted on the screw, and the fork plate is mounted on the sliders. The screw rotates under the drive of a motor (not shown), and the screw and sliders cooperate to drive the fork plate.
[0010] One end of the slider is T-shaped, with two splitting blocks symmetrically mounted on one end of the slider. One end of the two splitting blocks is connected to a connecting plate. The splitting block is provided with an arcuate surface in the middle of the side near the screw. The center of the arcuate surface is on the centerline of the screw and the arcuate surface does not contact the screw surface. The splitting block is provided with a splitting groove in the middle. A middle plate is slidably mounted in the splitting groove. The width of the middle plate is smaller than the width of the splitting groove. An annular ball groove is provided at one end of the middle plate and in cooperation with the splitting block. The ball groove comprises two straight segments, which are respectively arranged at one end of the middle plate and at the arcuate surface. The straight segments form a notch in the arcuate surface. Several balls are slidably mounted in the ball groove. The balls are partially exposed at the notch and engage with the threaded groove on the screw. The width of the notch is smaller than the diameter of the balls. The slider, splitting block, and connecting plate cooperate with each other to be mounted in the T-shaped slideway. When the screw rotates, the balls drive the splitting block to move or cause the balls to circulate in the ball groove. A grating ruler is set in the "T"-shaped slide, and the grating reading head in the grating ruler is installed on the middle plate or the connecting plate. The position of the middle plate or the connecting plate is monitored by the grating ruler, which facilitates the control system to accurately adjust and control the position of the fork plate.
[0011] The splitting and combining block is provided with a driving groove above the splitting and combining groove, and a driving plate is provided in the middle of the middle plate. The driving plate is located in the driving groove, and a driving member for moving the driving plate is installed in the driving groove; When the driving member places the driving plate in the middle of the driving groove, one end of the middle plate extends out of the separation groove and contacts the wall of the "T"-shaped slideway. The straight ball groove on the middle plate is connected with the remaining ball groove on the separation block to form a complete annular ball groove. When the screw rotates, the balls circulate in the ball groove. When the driver plate is positioned at one end of the drive slot and close to the screw, one end of the middle plate retracts into a T-shaped slideway, separating the linear ball groove on the middle plate from the remaining ball grooves on the splitter block. The middle plate then seals the ball grooves on the splitter block. When the screw rotates, the balls drive the splitter block and the slider. The driver (not shown) is a telescopic mechanism that moves the drive plate through both extension and retraction; a linear cylinder is used as the driver.
[0012] The separating and combining block is symmetrically provided with avoidance grooves, which are connected to the semicircular section of the ball groove. When the straight section ball groove on the middle plate and the remaining ball groove on the separating and combining block form a complete annular ball groove, the center line of the avoidance groove is collinear with the center line of the straight section ball groove on the middle plate. A tensioning column is threadedly connected to one end of the avoidance groove, and a tensioning spring is installed in the avoidance groove. A guide block is slidably installed at the other end of the avoidance groove, and an arc surface is provided on the guide block. The guide block enables the ball to move smoothly in the ball groove. When the two fork plates need to move closer to or away from each other or one of the fork plates moves, the driving part drives the driving plate to move, so that the straight section ball groove on the middle plate is separated from the remaining ball grooves on the separation block. If there are balls located at the junction of the straight section ball groove on the middle plate and the ball groove on the separation block, during the separation process, the middle plate will exert a force on the balls at the junction. Under the transmission of the force and the limitation of the thread groove of the screw, the balls in the ball groove will squeeze the guide block, so that the guide block is retracted into the avoidance groove, and the ball part close to the avoidance groove enters the avoidance groove, and then the balls at the junction can slide out of or into the middle plate, so that the middle plate can move smoothly. After the straight ball groove on the middle plate is separated from the remaining ball groove on the separation block, the middle plate uses its own structure to close the ball groove channel on the separation block, so that the ball can no longer move. Therefore, when the screw rotates, under the restriction of the "T"-shaped slide and the slider, the ball bears the power transmitted by the screw and transmits it to the separation block and the slider, so that the screw drives the separation block and the slider to move, thereby realizing the two fork plates approaching or moving away from each other or the movement of one fork plate.
[0013] The driving member drives the middle plate to move through the driving plate, so that the straight ball groove on the middle plate is connected with the remaining ball groove on the separation and combination block to form a complete annular ball groove. Then, under the support of the tensioning spring and the push of the guide block, the ball is reset.
[0014] When one fork plate is required to remain stationary, in the separation and combination block corresponding to the stationary fork plate, the driving part causes one end of the middle plate to extend out of the separation and combination slot and rest against the inner wall of the "T"-shaped slide. The two middle plates cooperate with each other to fix the slider in the "T"-shaped slide. At the same time, the straight section ball groove on the middle plate is connected with the remaining ball groove on the separation and combination block to form a complete annular ball groove. When the screw rotates, it can only drive the balls to circulate continuously in the ball groove.
[0015] Compared with the prior art, the beneficial effects of the present invention are: when the bracket is rotated 90° on the vehicle body, and the bracket is in a horizontal state and no box board is installed, the four fork boards cooperate with each other to clamp and limit long objects; when the bracket is in a horizontal state and the box board is installed, the four box boards cooperate with each other to form a box structure, and the operator can place a box bottom plate for carrying items inside the box structure, and use the box structure to store and transport items, which can prevent items from falling during transportation; when the bracket is in a vertical state and no box board is installed, the transport vehicle can be used as a forklift, and the fork boards in the upper and lower positions cooperate with each other to clamp items to prevent items from falling during transportation; when the bracket is in a vertical state and a box board is installed (the box board is installed on the two fork boards below), the box board acts as an item pallet for supporting items.
[0016] The bracket rotates 90 degrees to change from horizontal to vertical, or vice versa. By changing the bracket's state, the AGV transport vehicle can have multiple uses and transport capabilities while maintaining its basic transport function. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 The present invention is a three-dimensional Figure 1 (The bracket is in a vertical position); Figure 2 The present invention is a three-dimensional Figure 2 (Box panels cooperate to form the box structure); Figure 3 The present invention is a three-dimensional Figure 3 (The bracket is in a horizontal state and the box board is removed); Figure 4 An exploded view of the connection between the carrier plate and the base plate of the present invention; Figure 5 An exploded view of the clamping module of the present invention; Figure 6 This is a three-dimensional diagram of the connection between the screw, the splitting and combining block, and the slider of the present invention; Figure 7 This is a top cross-sectional view of the connection between the splitting and combining block and the screw rod of the present invention; Figure 8 This is a right side cross-sectional view of the connection between the splitting and combining block and the screw rod of the present invention; Figure 9 It is a top sectional view of the separation and combination block of the present invention.
[0018] In the figure: 1. Car body; 2. Bracket; 3. Bottom plate; 4. Steel cable; 5. Connecting shell; 6. Sleeve shell; 7. Connecting cylinder; 8. Inner slide rail; 9. Fork plate; 10. Box plate; 11. Camera; 12. Card slot; 13. Carrying plate; 14. Screw; 15. Support plate; 16. Drive roller; 17. Screw; 18. Slider; 19. Splitting and combining block; 20. Middle plate; 21. Tensioning column; 22. Guide block; 23. Ball; 24. Drive plate; 25. Connecting plate. DETAILED DESCRIPTION
[0019] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.
[0020] Example: Figure 1 - Figure 9 As shown, the present invention provides a technical solution, an AGV transport vehicle with a stable clamping and anti-falling function, comprising a vehicle body 1 and a bracket 2. Cameras 11 for real-time image acquisition and sensors for collecting distance data are provided at both the front and rear ends of the vehicle body 1. An opening is provided above the vehicle body 1, and a bottom plate 3 is installed at the lower end of the opening. The bottom plate 3 cooperates with the vehicle body 1 to form a storage groove. A driving roller 16 is provided at one end of the bracket 2. The driving roller 16 is rotatably installed on the vehicle body 1 through a rotating shaft at the center. The bracket 2 is rotatably installed in the storage groove above the vehicle body 1. A driving mechanism for driving the bracket 2 to rotate is provided inside the vehicle body 1. The driving mechanism is a driving motor. The driving motor is installed inside the vehicle body 1 and connected to one end of the rotating shaft through a reducer.
[0021] The end of the base plate 3 away from the drive roller 16 is provided with a perforation. A carrier plate 13 is mounted below the base plate 3 via a support. Two guide rails are symmetrically mounted above the carrier plate 13, and a support plate 15 is slidably mounted on the two guide rails. A screw rod 14 is mounted on the carrier plate 13 between the two guide rails. Supports are mounted at both ends of the screw rod 14. One end of the screw rod 14 is connected to the offset motor. A winder is mounted on the support plate 15, which winds up the steel cable 4 and is used to wind up and release the steel cable 4. The steel cable 4 passes through the perforation and is connected to a lifting ring at one end of the bracket 2, which is mounted on the end away from the drive roller 16.
[0022] Two connecting shells 5 are vertically mounted on one end of the vehicle body 1 .
[0023] Two clamping modules are symmetrically mounted on the bracket 2. Two fork plates 9 are symmetrically mounted on each clamping module. A removable box plate 10 is mounted between two adjacent fork plates 9 on the two clamping modules. The fork plates 9 are provided with a "T"-shaped slot 12. Both ends of the box plate 10 are "L"-shaped structures, and one end of the "L"-shaped box plate 10 is inserted into the slot 12.
[0024] The clamping module includes a sleeve shell 6 installed on the bracket 2 and an inner slide rail 8 slidably installed on the inner side of the sleeve shell 6. The opposite end faces on the inner side of the sleeve shell 6 are provided with protrusions, and the inner slide rail 8 is provided with grooves that adapt to the protrusions. The structure of the connecting shell 5 is the same as that of the sleeve shell 6. A connecting cylinder 7 is provided at one end of the sleeve shell 6. One end of the cylinder rod of the connecting cylinder 7 is connected to the inner slide rail 8, and a fork plate 9 is provided on the inner slide rail 8.
[0025] The inner rail 8 has a C-shaped cross-section and a T-shaped track in the middle. A motor box is located at one end of the inner rail 8, which is connected to the cylinder rod. A screw 17 is rotatably mounted in the T-shaped track. One end of the screw 17 is connected to the motor in the motor box. Two sliders 18 are symmetrically mounted on the screw 17, and the fork plate 9 is mounted on the sliders 18. The screw 17 rotates under the drive of the motor, and the screw 17 and sliders 18 cooperate to drive the fork plate 9 to move.
[0026] One end of the slider 18 is in a "T" shape, and two separating and combining blocks 19 are symmetrically installed on the "T"-shaped end of the slider 18. One end of the two separating and combining blocks 19 is connected to a connecting plate 25. The slider 18, the separating and combining blocks 19 and the connecting plate 25 cooperate with each other to be installed in the "T"-shaped slide. A grating scale is provided in the "T"-shaped slide, and the grating reading head in the grating scale is installed on the middle plate 20 or the connecting plate 25. The position of the middle plate 20 or the connecting plate 25 is monitored by the grating scale, which facilitates the control system to accurately adjust and control the position of the fork plate 9.
[0027] An arcuate surface is provided in the middle of one side of the splitting and combining block 19 close to the screw 17, the center of the arcuate surface is on the center line of the screw 17, and the arcuate surface does not contact the surface of the screw 17. A splitting and combining groove is provided in the middle of the splitting and combining block 19, and a middle plate 20 is slidably installed in the splitting and combining groove. The width of the middle plate 20 is smaller than the width of the splitting and combining groove. One end of the middle plate 20 and the splitting and combining block 19 are cooperated with each other to provide an annular ball groove. The two straight segments contained in the ball groove are respectively provided at one end of the middle plate 20 and the arcuate surface. The straight segment forms a notch on the arcuate surface. A number of balls 23 are slidably installed in the ball groove. The balls 23 are partially exposed at the notch and cooperate with the threaded groove on the screw 17. The width of the notch is smaller than the diameter of the balls 23.
[0028] The splitting and combining block 19 is provided with a driving groove above the splitting and combining groove, and a driving plate 24 is provided in the middle of the middle plate 20. The driving plate 24 is located in the driving groove, and a driving member for moving the driving plate 24 is installed in the driving groove; the driving member is not shown in the figure, but is a telescopic mechanism, which drives the driving plate 24 to move through the two actions of extension and contraction; the driving member is selected as a linear cylinder.
[0029] When the driving member causes the driving plate 24 to be located in the middle of the driving groove, one end of the middle plate 20 extends out of the separation and combination groove and abuts against the wall of the "T"-shaped slideway. The straight ball groove on the middle plate 20 is connected with the remaining ball groove on the separation and combination block 19, forming a complete annular ball groove. When the screw 17 rotates, the balls 23 circulate in the ball groove. When the driving member causes the driving plate 24 to be located at one end of the driving groove and close to the screw 17, one end of the middle plate 20 is retracted into the "T"-shaped slideway, and the straight segment ball groove on the middle plate 20 is separated from the remaining ball groove on the separation block 19. The middle plate 20 blocks the ball groove on the separation block 19. When the screw 17 rotates, the separation block 19 and the slider 18 are driven to move by the ball 23.
[0030] Avoidance grooves are symmetrically arranged on the separation and combination block 19, and the avoidance grooves are connected to the semicircular section of the ball groove. When the straight section ball groove on the middle plate 20 and the remaining ball grooves on the separation and combination block 19 form a complete annular ball groove, the center line of the avoidance groove is collinear with the center line of the straight section ball groove on the middle plate 20. A tensioning column 21 is threadedly connected to one end of the avoidance groove, and a tensioning spring is installed in the avoidance groove. A guide block 22 is slidably installed at the other end of the avoidance groove, and an arc surface is provided on the guide block 22. The guide block 22 enables the ball 23 to move smoothly in the ball groove.
[0031] The working principle of the present invention is as follows: the driving motor drives the rotating shaft to rotate through the reducer, and the driving roller 16 rotates under the drive of the rotating shaft. The driving roller 16 drives the bracket 2 to rotate 90 degrees around the center line of the rotating shaft, so that the bracket 2 changes from a horizontal state to a vertical state, or from a vertical state to a horizontal state; When the bracket 2 is in a horizontal state and the box plate 10 is not installed, the four fork plates 9 cooperate with each other to clamp and limit long objects. When the box panels 10 are installed in a horizontal state, the four box panels 10 cooperate with each other to form a box structure. The operator can place the box bottom plate for carrying items inside the box structure and use the box structure to store and transport items, which can prevent items from falling during transportation. When the bracket 2 is in a vertical state and the box plate 10 is not installed, the transport vehicle can be used as a forklift. The fork plates 9 in the upper and lower positions cooperate with each other to clamp the items to prevent the items from falling during transportation. When in a vertical state and with one box board 10 installed, the box board 10 acts as an article pallet for shipping articles.
[0032] When the bracket 2 changes from a horizontal state to a vertical state, the winder slowly releases the steel cable 4. At the same time, driven by the offset motor, the screw rod 14 drives the support plate 15 to move toward the front end of the AGV transport vehicle to increase the weight of the front end of the AGV transport vehicle and prevent the front end of the AGV transport vehicle from tilting.
[0033] After the bracket 2 is rotated from a horizontal state to a vertical state, the connecting cylinder 7 works to push the inner slide rail 8 downward, and push one end of the inner slide rail 8 into the connecting shell 5. The connecting shell 5 is used to limit and fix one end of the inner slide rail 8, so that the structure of the clamping module and the bracket 2 is more stable when they are in a vertical state.
[0034] When the bracket 2 changes from a vertical state to a horizontal state, the winder slowly winds up the steel cable 4, providing a certain traction force for the bracket 2 to change to a horizontal state, and assisting the bracket 2 to change from a vertical state to a horizontal state. When the bracket 2 changes to a horizontal state, the offset motor drives the screw rod 14 to reverse, so that the support plate 15 drives the winder to reset and be in the center position of the AGV transport vehicle.
[0035] When the two fork plates 9 need to approach each other to clamp the item, or move away to release the item, or one of the fork plates 9 moves, the driving member drives the driving plate 24 to move, so that the straight section ball groove on the middle plate 20 is separated from the remaining ball groove on the separation block 19. If there is a ball 23 located at the junction of the straight section ball groove on the middle plate 20 and the ball groove on the separation block 19, during the separation process, the middle plate 20 will exert a force on the ball 23 at the junction. Under the transmission of the force and the restriction of the thread groove of the screw 17, the ball 23 in the ball groove will squeeze the guide block 22, so that the guide block 22 is retracted into the avoidance groove, so that the part of the ball 23 close to the avoidance groove enters the avoidance groove, and then the ball 23 at the junction can slide out of or into the middle plate 20, so that the middle plate 20 can move smoothly. After the straight segment ball groove on the middle plate 20 is separated from the remaining ball groove on the separation block 19, the middle plate 20 uses its own structure to close the ball groove channel on the separation block 19, so that the ball 23 can no longer move. Therefore, when the screw 17 rotates, under the restriction of the "T"-shaped slide and the slider 18, the ball 23 receives the power transmitted by the screw 17 and transmits it to the separation block 19 and the slider 18, so that the screw 17 drives the separation block 19 and the slider 18 to move, thereby realizing the two fork plates 9 approaching or moving away from each other or the movement of one fork plate 9.
[0036] The driving member drives the middle plate 20 to move through the driving plate 24, so that the straight segment ball groove on the middle plate 20 is connected with the remaining ball groove on the separation and combination block 19 to form a complete annular ball groove. Then, under the support of the tensioning spring and the push of the guide block 22, the ball 23 is reset.
[0037] When only one fork plate 9 is needed to lift an object, the other fork plate 9 at a higher position needs to remain stationary. At this time, in the splitting and combining block 19 corresponding to the higher fork plate 9, the driving member causes one end of the middle plate 20 to extend out of the splitting and combining groove and rest against the inner wall of the "T"-shaped slideway. The two middle plates 20 cooperate with each other to fix the slider 18 in the "T"-shaped slideway. At the same time, the straight segment ball groove on the middle plate 20 is connected to the remaining ball groove on the splitting and combining block 19, forming a complete annular ball groove. When the screw 17 rotates, it can only drive the balls 23 to circulate continuously in the ball groove. The screw 17 drives the other splitting and combining block 19 and the slider 18 to move by rotation, so that the fork plate 9 at the lower position lifts the object.
[0038] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.
Claims
1. An AGV transport vehicle with a stable clamping and anti-falling function, comprising a vehicle body (1), wherein both the front and rear ends of the vehicle body (1) are provided with cameras (11) for real-time image acquisition and sensors for acquiring distance data, and wherein: The vehicle body (1) further comprises a bracket (2), wherein the bracket (2) is rotatably mounted in a storage slot above the vehicle body (1), and a driving mechanism for driving the bracket (2) to rotate is provided inside the vehicle body (1), and two clamping modules are symmetrically mounted on the bracket (2), and two fork plates (9) are symmetrically mounted on each clamping module, and a detachable box plate (10) is mounted between the two adjacent fork plates (9) on the two clamping modules.
2. The AGV transport vehicle with stable clamping and anti-falling function according to claim 1, characterized in that: A "T"-shaped slot (12) is provided on the fork plate (9), and both ends of the box plate (10) are "L"-shaped structures, with one end of the "L" shape of the box plate (10) inserted into the slot (12).
3. The AGV transport vehicle with stable clamping and anti-falling function according to claim 1, characterized in that: An opening is provided above the vehicle body (1), and a bottom plate (3) is installed at the lower end of the opening. The bottom plate (3) cooperates with the vehicle body (1) to form a storage groove. A driving roller (16) is provided at one end of the bracket (2). The driving roller (16) is rotatably mounted on the vehicle body (1) via a rotating shaft at the center. The driving mechanism is a driving motor, which is installed inside the vehicle body (1) and connected to one end of the rotating shaft via a speed reducer.
4. The AGV transport vehicle with stable clamping and anti-falling function according to claim 3, characterized in that: A through hole is provided at one end of the bottom plate (3) away from the driving roller (16), a carrier plate (13) is installed below the bottom plate (3) through a support, two guide rails are symmetrically installed above the carrier plate (13), and a support plate (15) is slidably installed on the two guide rails, a screw rod (14) is installed between the two guide rails on the carrier plate (13), supports are installed at both ends of the screw rod (14), one end of the screw rod (14) is connected to the offset motor, a winder is installed on the support plate (15), a steel cable (4) is wound on the winder, the steel cable (4) passes through the through hole and is connected to a lifting ring at one end of the bracket (2), and the lifting ring is installed at the end away from the driving roller (16).
5. The AGV transport vehicle with stable clamping and anti-falling function according to claim 1, characterized in that: Two connecting shells (5) are vertically installed at one end of the vehicle body (1), and the clamping module includes a sleeve shell (6) installed on the bracket (2) and an inner slide rail (8) slidably installed on the inner side of the sleeve shell (6), and protrusions are provided on the opposite end faces of the inner side of the sleeve shell (6), and grooves adapted to the protrusions are provided on the inner slide rail (8). The structure of the connecting shell (5) is the same as that of the sleeve shell (6), and a connecting cylinder (7) is provided at one end of the sleeve shell (6), and one end of the cylinder rod of the connecting cylinder (7) is connected to the inner slide rail (8), and the fork plate (9) is provided on the inner slide rail (8).
6. The AGV transport vehicle with stable clamping and anti-falling function according to claim 5, characterized in that: The inner slide rail (8) has a "C"-shaped cross section and a "T"-shaped slide rail in the middle. A motor box is provided at one end of the inner slide rail (8), and the motor box is connected to the cylinder rod. A screw rod (17) is rotatably installed in the "T"-shaped slide rail, and one end of the screw rod (17) is connected to the motor in the motor box. Two sliders (18) are symmetrically installed on the screw rod (17), and the fork plate (9) is installed on the slider (18).
7. The AGV transport vehicle with stable clamping and anti-falling function according to claim 6, characterized in that: One end of the slider (18) is in a "T" shape, and two separation blocks (19) are symmetrically installed at one end of the "T" shape of the slider (18). One end of the two separation blocks (19) is connected to a connecting plate (25). The separation block (19) is provided with an arc surface in the middle of one side close to the screw (17). The center of the arc surface is on the center line of the screw (17), and the arc surface does not contact the surface of the screw (17). The separation block (19) is provided with a separation groove in the middle, and a middle plate (20) is slidably installed in the separation groove. The width of the middle plate (20) is smaller than the width of the separation and combination groove. One end of the middle plate (20) cooperates with the separation and combination block (19) to provide an annular ball groove. The two straight segments contained in the ball groove are respectively provided at one end of the middle plate (20) and at the arc surface. The straight segments form a groove on the arc surface. A plurality of balls (23) are slidably installed in the ball groove. The balls (23) are partially exposed at the groove and cooperate with the thread groove on the screw (17). The width of the groove is smaller than the diameter of the balls (23).
8. The AGV transport vehicle with stable clamping and anti-falling function according to claim 7, characterized in that: The splitting and combining block (19) is provided with a driving groove above the splitting and combining groove, a driving plate (24) is provided in the middle of the middle plate (20), the driving plate (24) is located in the driving groove, and a driving member for moving the driving plate (24) is installed in the driving groove; When the driving member causes the driving plate (24) to be located in the middle of the driving groove, one end of the middle plate (20) extends out of the separation groove and abuts against the wall of the "T"-shaped slideway, and the straight segment ball groove on the middle plate (20) is connected with the remaining ball groove on the separation block (19) to form a complete annular ball groove. When the screw (17) rotates, the ball (23) circulates in the ball groove; When the driving member causes the driving plate (24) to be located at one end of the driving groove and close to the screw (17), one end of the middle plate (20) is received in the "T"-shaped slideway, and the straight segment ball groove on the middle plate (20) is separated from the remaining ball groove on the separation block (19). The middle plate (20) blocks the ball groove on the separation block (19). When the screw (17) rotates, the separation block (19) and the slider (18) are driven to move by the ball (23).
9. The AGV transport vehicle with stable clamping and anti-falling function according to claim 8, characterized in that: The splitting and combining block (19) is symmetrically provided with an avoidance groove, the avoidance groove being connected to the semicircular section of the ball groove. When the straight section ball groove on the middle plate (20) and the remaining ball groove on the splitting and combining block (19) form a complete annular ball groove, the center line of the avoidance groove is collinear with the center line of the straight section ball groove on the middle plate (20). A tensioning column (21) is threadedly connected to one end of the avoidance groove, a tensioning spring is installed in the avoidance groove, and a guide block (22) is slidably installed at the other end of the avoidance groove. The guide block (22) is provided with an arc surface, and the guide block (22) enables the ball (23) to move smoothly in the ball groove.