An automated guided vehicle handling device

Abstract

The present application relates to the transportation technical field, specifically disclose a kind of automatic guided vehicle handling device, comprising: rack;Loading unit, it is set to rack, including the loading piece of movable installation in the middle of rack;Inertial trigger unit, it is set to loading piece, including mounting disc and the trigger piece of movable setting in mounting disc;Dynamic barycenter compensation unit, it is set to loading piece, including suspension frame and the barycenter adjusting piece of movable suspension in the below of suspension frame;When accelerating or decelerating, the barycenter position of barycenter adjusting piece is dynamically adjusted, and the barycenter of entire device is compensated, to adapt to resist the tendency of cargo front or back, reduce the risk of cargo falling or equipment rollover;When lifting drive piece drives loading platform to rise, barycenter adjusting piece is synchronously moved down, and the overall barycenter is effectively offset by compensation mechanism due to the lifting of goods, to reduce the risk of device side and rollover in lifting process, effectively improve the stability in the process of cargo transportation.

Description

TECHNICAL FIELD

[0001] The present application relates to the transportation field, more particularly, it relates to an automatic guided vehicle handling device. BACKGROUND

[0002] When the existing automatic guided vehicle carries goods, especially for the carrying of high gravity center or fragile goods, the gravity center of the whole device will deviate during acceleration, deceleration, turning and lifting, which will cause the risk of overturning of the goods. The existing handling device generally uses fixed counterweight, lacks compensation mechanism for dynamic change of gravity center, and thus cannot adaptively cope with the change of gravity center under complex working conditions. SUMMARY

[0003] In order to overcome the above technical problems, the present application provides an automatic guided vehicle handling device.

[0004] The purpose of the present application can be achieved by the following technical solutions:

[0005] An automatic guided vehicle handling device, comprising:

[0006] a rack;

[0007] a loading unit arranged on the rack, comprising a loading piece movably mounted at the center of the rack, and a lifting drive and a rotating drive arranged on the rack for driving the loading piece;

[0008] an inertia triggering unit arranged in the loading piece, comprising a mounting disc and a triggering piece movably arranged in the mounting disc, and a transverse guide and a longitudinal guide arranged in the mounting disc for guiding the triggering piece;

[0009] a dynamic gravity center compensation unit arranged in the loading piece, comprising a suspension rack and a gravity center adjusting piece movably suspended below the suspension rack;

[0010] When the rack accelerates to one side, the triggering piece drives the gravity center of the gravity center adjusting piece to deviate to the side; when the rack decelerates to one side, the triggering piece drives the gravity center of the gravity center adjusting piece to deviate to the opposite direction of the side.

[0011] As a further scheme of the present application: the loading piece comprises an inner cylinder and an outer cylinder sleeved outside the inner cylinder, and a loading table is rotatably mounted on the outer cylinder.

[0012] As a further scheme of the present application: the lifting drive comprises a support ring fixed on the rack, a gear ring rotatably embedded in the support ring, and the inner cylinder is fixed in the gear ring; a first motor is mounted on the rack, a first speed reducer is connected to the output end of the first motor, and a first gear meshing with the gear ring is arranged at the output end of the first speed reducer;

[0013] The rotating driving part comprises a second motor mounted on the frame, a second speed reducer connected to the output end of the second motor, a second gear provided at the output end of the second speed reducer, and a gear ring provided outside the outer cylinder and engaged with the second gear.

[0014] As a further scheme of the application, the lateral guide comprises two groups of lateral sliding grooves symmetrically provided in the mounting disc, a lateral sliding block slidingly arranged in the lateral sliding groove, and a first guide rod fixedly connected between the two lateral sliding grooves, wherein the trigger slidingly passes through the first guide rod, and a first spring is movably sleeved on both ends of the first guide rod and abuts against the trigger.

[0015] The longitudinal guide comprises two groups of longitudinal sliding grooves symmetrically provided in the mounting disc, a longitudinal sliding block slidingly arranged in the longitudinal sliding groove, and a second guide rod fixedly connected between the two longitudinal sliding blocks, wherein the trigger slidingly passes through the second guide rod, and a second spring is movably sleeved on both ends of the second guide rod and abuts against the trigger.

[0016] As a further scheme of the application, the gravity center adjusting part comprises a suspension rod movably connected with the suspension bracket and a counterweight disc fixed to the lower end of the suspension rod, and the counterweight disc is provided with a counterweight cavity for filling counterweight liquid.

[0017] The trigger comprises a moving block, and a plurality of elastic cables are connected between the moving block and the counterweight disc.

[0018] As a further scheme of the application, the suspension bracket comprises a support provided in the inner cylinder, a ball sleeve provided at the center of the support, and an adjusting ball movably embedded in the ball sleeve at the upper end of the suspension rod.

[0019] As a further scheme of the application, an annular sliding cavity is provided in the inner cylinder, a sliding ring is slidingly embedded in the annular sliding cavity, a through groove is provided in the inner wall of the inner cylinder and communicates with the annular sliding cavity, and the support movably penetrates through the through groove and is fixedly connected with the sliding ring.

[0020] As a further scheme of the application, a second annular air chamber is formed between the loading platform and the inner cylinder, a first annular air chamber is provided in the top of the inner cylinder and communicates with the annular sliding cavity, and a plurality of through holes are circumferentially provided on the outer side of the first annular air chamber and communicate with the second annular air chamber.

[0021] As a further scheme of the application, a sealing strip is embedded in the inner wall on both sides of the lower end of the first annular air chamber, and an elastic capsule is connected between the sealing strip and the sliding ring.

[0022] As a further aspect of the present invention, it also includes a traveling unit, which includes casters mounted at the four corners of the frame and drive wheels rotatably mounted on both sides of the middle of the frame. Drive motors for driving the corresponding drive wheels are respectively provided on both sides of the frame.

[0023] The beneficial effects of this invention are:

[0024] This invention utilizes an inertial triggering unit and a dynamic center of gravity compensation unit to dynamically adjust the center of gravity position of the center of gravity adjustment component when the frame accelerates or decelerates. This compensates for the center of gravity on the corresponding side of the entire device, thereby adaptively counteracting the forward or backward tilting tendency of the cargo and reducing the risk of cargo falling or equipment tipping over. When the lifting drive component drives the loading platform to rise, the inner cylinder and slip ring work together to synchronously drive the entire suspension frame and center of gravity adjustment component to move downward. The compensation mechanism effectively counteracts the upward shift of the overall center of gravity caused by the lifting of the cargo, thereby reducing the risk of tilting and tipping over during the lifting process and effectively improving the stability of the cargo transportation process. Attached Figure Description

[0025] The invention will now be further described with reference to the accompanying drawings.

[0026] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0027] Figure 2 This is a three-dimensional schematic diagram from another perspective of the present invention;

[0028] Figure 3 This is a schematic diagram of the loading unit in this invention;

[0029] Figure 4 This is a schematic diagram of the loading unit from another perspective in this invention;

[0030] Figure 5 This is a cross-sectional view of the loading unit in this invention;

[0031] Figure 6 This is a three-dimensional schematic diagram of the inertial triggering unit and the dynamic center of gravity compensation unit in this invention;

[0032] Figure 7 This is a cross-sectional view of the inertial triggering unit and the dynamic center of gravity compensation unit in this invention;

[0033] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0034] Figure 9 for Figure 5 Enlarged view at point B in the middle;

[0035] Figure 10 for Figure 9 Enlarged view of point C in the middle.

[0036] Fig. 1 is a schematic diagram of a robotic system according to an example embodiment.

[0037] 100, frame

[0038] 200, loading unit; 210, loading member; 211, inner cylinder; 212, outer cylinder; 213, loading platform; 214, first annular air chamber; 215, annular sliding cavity; 216, sliding ring; 217, through slot; 218, second annular air chamber; 219, through hole; 2110, sealing strip; 2111, elastic bag piece; 220, lifting driving member; 221, support ring; 222, gear ring; 223, first motor; 224, first speed reducer; 225, first gear; 230, rotating driving member; 231, gear ring; 232, second motor; 233, second speed reducer; 234, second gear

[0039] 300, inertia triggering unit; 310, mounting disc; 320, triggering member; 321, moving block; 322, elastic cable; 330, transverse guide; 331, transverse sliding slot; 332, transverse sliding block; 333, first guide rod; 334, first spring; 340, longitudinal guide; 341, longitudinal sliding slot; 342, longitudinal sliding block; 343, second guide rod; 344, second spring

[0040] 400, dynamic gravity center compensation unit; 410, suspension frame; 411, support; 412, ball sleeve; 420, gravity center adjusting member; 421, suspension rod; 422, counterweight disc; 423, adjusting ball; 424, counterweight cavity

[0041] 500, traveling unit; 510, universal wheel; 520, driving wheel; 530, driving motor DETAILED DESCRIPTION

[0042] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is merely meant to provide a better understanding of the subject matter described herein and can be changed in function and arrangement without departing from the scope of the present description. Various processes or components can be omitted, substituted, or added according to desired implementation. Additionally, features described with respect to some examples can be combined in other examples.

[0043] Reference will now be made to Figure 1 and Figure 2The application discloses an automatic guided vehicle carrying device, which comprises a rack 100, a loading unit 200, an inertia triggering unit 300 and a dynamic gravity center compensation unit 400.

[0044] Please refer to Figure 5 and Figure 6 The inertia triggering unit 300 is arranged in the loading piece 210 and comprises a mounting disc 310 and a triggering piece 320 movably arranged in the mounting disc 310; the mounting disc 310 is further provided with a transverse guide 330 and a longitudinal guide 340 for guiding the triggering piece 320; the dynamic gravity center compensation unit 400 is arranged in the loading piece 210 and comprises a suspension frame 410 and a gravity center adjusting piece 420 movably suspended below the suspension frame 410.

[0045] When the rack 100 accelerates to one side, the triggering piece 320 drives the gravity center of the gravity center adjusting piece 420 to deviate to the side; when the rack 100 decelerates to one side, the triggering piece 320 drives the gravity center of the gravity center adjusting piece 420 to deviate to the opposite side of the side.

[0046] Specifically, the goods to be transported are loaded on the loading piece 210; during the carrying process, when the rack 100 starts or accelerates in the middle, the goods on the loading piece 210 have a risk of backward tilting; at this time, the triggering piece 320 moves to the opposite side of the advancing side of the rack 100 due to inertia, thereby driving the gravity center adjusting piece 420 to tilt to the advancing side of the rack 100, so as to compensate the gravity center of the side, and make the gravity center of the whole device deviate to the side, so as to resist the risk of backward tilting of the goods.

[0047] When the rack 100 approaches the terminal or decelerates in the middle, the goods on the loading piece 210 have a risk of forward tilting; at this time, the triggering piece 320 moves to the advancing side of the rack 100 due to inertia, thereby driving the gravity center adjusting piece 420 to tilt to the opposite side of the advancing side of the rack 100, so as to compensate the gravity center of the side, and make the gravity center of the whole device deviate to the side, so as to resist the risk of forward tilting of the goods.

[0048] It should be noted that, by means of the inertia triggering unit 300 and the dynamic gravity center compensation unit 400, the gravity center position of the gravity center adjusting piece 420 is dynamically adjusted when the rack 100 accelerates or decelerates, the gravity center of the corresponding side of the whole device is compensated, the trend of forward or backward tilting of the goods is adaptively resisted, the risk of falling or overturning of the device is reduced, and the stability during the transportation of the goods is effectively improved.

[0049] In an embodiment, please refer toFigure 3 、 Figure 4 and Figure 5 , the loading member 210 comprises an inner cylinder 211 and an outer cylinder 212 threaded on the outer part of the inner cylinder 211, and the loading platform 213 is rotatably installed on the outer cylinder 212;

[0050] Specifically, under the driving of the lifting driving member 220, the inner cylinder 211 and the outer cylinder 212 produce relative screw rotation, so that the height of the outer cylinder 212 and the loading platform 213 changes, to realize the lifting and lowering operation of the goods; under the driving of the rotating driving member 230, the loading platform 213 rotates relative to the outer cylinder 212 in the circumferential direction, so as to realize the angle adjustment of the goods, to facilitate the carrying of the goods.

[0051] Further, referring to Figure 3 , the lifting driving member 220 comprises a support ring 221 fixed on the rack 100, a gear ring 222 is rotatably embedded in the support ring 221, and the inner cylinder 211 is fixed in the gear ring 222; a first motor 223 is installed on the rack 100, a first speed reducer 224 is connected to the output end of the first motor 223, and a first gear 225 engaged with the gear ring 222 is arranged at the output end of the first speed reducer 224;

[0052] Referring to Figure 4 , the rotating driving member 230 comprises a second motor 232 installed on the rack 100, a second speed reducer 233 is connected to the output end of the second motor 232, a second gear 234 is arranged at the output end of the second speed reducer 233, and a gear ring 231 engaged with the second gear 234 is arranged on the outer part of the outer cylinder 212;

[0053] Specifically, the second motor 232 drives the second gear 234 at the output end of the second speed reducer 233 to rotate, and under the meshing action of the second gear 234 and the gear ring 231, the loading platform 213 can be driven to rotate relative to the outer cylinder 212 in the circumferential direction, so as to realize the circumferential angle adjustment of the loading platform 213 and the goods;

[0054] The first motor 223 drives the first gear 225 at the output end of the first speed reducer 224 to rotate, and under the meshing action of the first gear 225 and the gear ring 222, the gear ring 222 and the inner cylinder 211 can be driven to rotate relative to the support ring 221 in the circumferential direction. At this time, due to the circumferential limiting of the second gear 234 to the gear ring 231, the outer cylinder 212 and the loading platform 213 cannot rotate synchronously with the inner cylinder 211, so as to drive the outer cylinder 212 and the inner cylinder 211 to move relatively in the screw direction, to realize the height adjustment of the outer cylinder 212 and the loading platform 213, and at the same time, the second gear 234 and the gear ring 231 produce axial relative sliding but always remain engaged.

[0055] It is worth noting that the lifting and rotating two sets of driving mechanisms are highly integrated through the threaded sleeve fitting of the inner cylinder 211 and the outer cylinder 212, share one mounting base and space, greatly optimize the overall structural layout, and reduce the equipment volume and occupied space.

[0056] The lifting driving member 220 and the rotating driving member 230 work independently; when lifting, the circumferential limiting of the second gear 234 to the gear ring 231 is the key; when rotating, the lifting system can remain stationary, so that the two functions do not interfere with each other, and can be independently or synchronously performed, with high flexibility in operation.

[0057] The threaded transmission has self-locking characteristics, can reliably stay at any position during lifting and support the heavy object, does not need an additional brake device, ensures safety and simplifies the structure, and is suitable for different weight cargo carrying scenes; the height and angle of the loading table 213 can be flexibly adjusted, not only can complete plane transportation, but also can dock different height shelves or workstations and perform accurate alignment, effectively expands the application scene, and improves the overall efficiency of the automatic carrying system.

[0058] In another embodiment, please refer to Figure 6 、 Figure 7 and Figure 8 , the transverse guide 330 includes two groups of transverse sliding grooves 331 symmetrically opened in the mounting disc 310, the transverse sliding grooves 331 are slidably provided with transverse sliding blocks 332, the first guide rod 333 is fixedly connected between the two transverse sliding grooves 331, the trigger 320 is slidably provided on the first guide rod 333, and the first spring 334 abutting against the trigger 320 is movably sleeved on both ends of the first guide rod 333;

[0059] The longitudinal guide 340 includes two groups of longitudinal sliding grooves 341 symmetrically opened in the mounting disc 310, the longitudinal sliding grooves 341 are slidably provided with longitudinal sliding blocks 342, the second guide rod 343 is fixedly connected between the two longitudinal sliding blocks 342, the trigger 320 is slidably provided on the second guide rod 343, and the second spring 344 abutting against the trigger 320 is movably sleeved on both ends of the second guide rod 343;

[0060] Specifically, the transverse sliding grooves 331 and the longitudinal sliding grooves 341 are distributed in different planes and perpendicular to each other, and the first guide rod 333 and the second guide rod 343 are also distributed in different planes and perpendicular to each other, the first guide rod 333 and the first spring 334 do not interfere with each other, so that the trigger 320 does not interfere with each other when moving in the transverse direction and the longitudinal direction;

[0061] In the initial state, due to the elastic force of the first spring 334 and the second spring 344, the trigger 320 is in the central position of the first guide rod 333 and the first spring 334;

[0062] In actual application, the distribution direction of the transverse sliding groove 331 and the longitudinal sliding groove 341 is not limited, for example, the extension direction of the longitudinal sliding groove 341 and the first guide rod 333 is set to be consistent with the forward direction of the rack 100;

[0063] When the rack 100 accelerates in the forward direction, the trigger 320 slides backward along the first guide rod 333 under the action of inertia, the first spring 334 at the rear side of the first guide rod 333 is compressed, and the longitudinal sliding block 342 is pulled backward along the corresponding longitudinal sliding groove 341 by the second guide rod 343, thereby driving the gravity center of the upper gravity center adjusting member 420 to offset to the front side;

[0064] When the rack 100 decelerates in the forward direction, the trigger 320 slides forward along the first guide rod 333 under the action of inertia, the first spring 334 at the front side of the first guide rod 333 is compressed, and the longitudinal sliding block 342 is pulled forward along the corresponding longitudinal sliding groove 341 by the second guide rod 343, thereby driving the gravity center of the upper gravity center adjusting member 420 to offset to the rear side;

[0065] In addition, whether the rack 100 travels in a straight line or turns, the trigger 320 can produce displacement relative to the rack 100 in a certain direction under the action of inertia during acceleration and deceleration of the rack 100, which can be consistent with the extension direction of the first guide rod 333 or the second guide rod 343, or can have a certain angle with the first guide rod 333 or the second guide rod 343. Since the transverse guide 330 and the longitudinal guide 340 do not interfere with each other, the action of the trigger 320 on the gravity center adjusting member 420 is not affected.

[0066] It should be noted that by setting the transverse guide 330 and the longitudinal guide 340 which are independent of each other and perpendicular to each other, a movement path is provided for the trigger 320, so that the trigger 320 can produce displacement in a predetermined direction under the action of inertia when the rack 100 accelerates or decelerates in a straight line or turns, ensuring instantaneous capture and response to changes in motion state;

[0067] The layout of the transverse sliding groove 331 and the longitudinal sliding groove 341 and the out-of-plane perpendicular structure of the first guide rod 333 and the second guide rod 343 make the movement of the trigger 320 in the transverse direction and the longitudinal direction completely decoupled, ensuring that the device can still be accurately triggered under complex working conditions (such as oblique acceleration, turning acceleration and deceleration), and avoiding mutual interference between inertial forces in different directions;

[0068] The configuration of the first spring 334 and the second spring 344 enables the trigger 320 to automatically and smoothly return to the initial central position after the inertia force disappears, so as to prepare for the next triggering, thereby not only ensuring the continuous response capability of the system, but also avoiding the failure of the components due to jamming, and effectively coping with various complex acceleration, deceleration and turning working conditions in actual handling, ensuring the timeliness and accuracy of the gravity center compensation, and finally effectively improving the ability to resist cargo rollover in the dynamic transportation process.

[0069] Further, referring to Figure 6 and Figure 7 , the gravity adjusting member 420 comprises a suspension rod 421 movably connected with the suspension frame 410 and a counterweight disc 422 fixed to the lower end of the suspension rod 421, and the counterweight disc 422 is provided with a counterweight cavity 424 for filling counterweight liquid.

[0070] Referring to Figure 7 and Figure 8 , the trigger 320 comprises a moving block 321, and a plurality of elastic cables 322 are connected between the moving block 321 and the counterweight disc 422.

[0071] Specifically, part of the counterweight liquid is filled in the counterweight cavity 424, and a certain space is provided in the counterweight cavity 424 to facilitate the free flow of the counterweight liquid inside; when the moving block 321 moves to one side under the action of inertia, the counterweight disc 422 on the opposite side can be pulled downward by the corresponding elastic cable 322, thereby driving the counterweight disc 422 to tilt, and the counterweight liquid in the counterweight cavity 424 can flow downward to the side where the counterweight disc 422 tilts under the action of gravity, so that the gravity center of the entire counterweight disc 422 shifts to that side to resist the risk of cargo tilting in the opposite direction.

[0072] Further, referring to Figure 6 and Figure 7 , the suspension frame 410 comprises a support 411 arranged in the inner cylinder 211, the support 411 is provided with a ball sleeve 412 at the center, and the upper end of the suspension rod 421 is provided with an adjusting ball 423 movably embedded in the ball sleeve 412.

[0073] Specifically, in the initial state, the suspension rod 421 is in a vertical suspension state, at this time the counterweight disc 422 is in a horizontal state, and the counterweight liquid in the counterweight cavity 424 is also uniformly distributed in each area; when the moving block 321 pulls the counterweight disc 422 to tilt through the elastic cable 322, the suspension rod 421 also swings around the center of the adjusting ball 423, and the adjusting ball 423 moves adaptively in the ball sleeve 412.

[0074] It is worth noting that when the mobile block 321 pulls the counterweight disc 422 to tilt by the elastic cable 322, the counterweight liquid can immediately flow downward under the action of gravity, accelerating the speed and amplitude of the gravity center deviation, and realizing the rapid compensation of the inertial force;

[0075] The suspension rod 421 is connected with the ball sleeve 412 through the adjusting ball 423 at the upper end to form a spherical hinge connection, so that the counterweight disc 422 has omnidirectional swinging freedom, ensuring that the counterweight disc 422 can be tilted in the required direction without obstruction under the traction of the elastic cable 322 in the working conditions of advancing, retreating or turning in any direction, realizing omnidirectional gravity compensation and adapting to complex running trajectories;

[0076] The counterweight disc 422 is suspended by the suspension rod 421, and when the counterweight disc 422 is pulled to tilt, the restoring moment generated thereby acts on the entire device, which can effectively resist the overturning tendency of the goods on the platform, thereby enhancing the dynamic stability of the rack 100 during acceleration, deceleration and turning.

[0077] In further embodiments, considering that the loading table 213 lifts the goods, the center of gravity of the entire device gradually rises, thereby increasing the risk of rollover. Therefore, referring to Figure 5 、 Figure 9 and Figure 10 , the inner cylinder 211 is provided with an annular sliding cavity 215, the sliding ring 216 is slidably embedded in the annular sliding cavity 215, the inner wall of the inner cylinder 211 is provided with a through groove 217 communicating with the annular sliding cavity 215, and the bracket 411 penetrates the through groove 217 and is fixedly connected with the sliding ring 216;

[0078] Specifically, when the lifting driving member 220 drives the loading table 213 to rise to lift the goods, the sliding ring 216 is driven to slide downward along the annular sliding cavity 215, thereby driving the suspension bracket 410 and the gravity center adjusting member 420 to synchronously move downward, and the upward movement of the gravity center caused by the upward movement of the goods is compensated by the downward movement of the gravity center adjusting member 420, thereby effectively reducing the height of the center of gravity of the entire device and reducing the risk of rollover of the goods.

[0079] It should be noted that the lifting action of the loading table 213 and the sinking action of the gravity center adjusting member 420 are linked, and when the lifting driving member 220 drives the loading table 213 to rise, the entire suspension bracket 410 and the gravity center adjusting member 420 are synchronously moved downward through the cooperation of the inner cylinder 211 and the sliding ring 216, and the upward movement of the overall center of gravity caused by the lifting of the goods is effectively offset by the compensation mechanism, thereby reducing the risk of tilting and rollover of the device during lifting;

[0080] The mechanism is a further supplement to the function of the dynamic gravity compensation unit 400, which solves the stability problem caused by the high gravity center in static or low-speed state, and combines with the inertia compensation function to cope with dynamic impact, forming a comprehensive stability solution covering lifting, acceleration, deceleration, turning and other working conditions.

[0081] Further, please refer to Figure 9 and Figure 10 , the loading platform 213 and the inner cylinder 211 form a second annular air chamber 218, the inner cylinder 211 is provided with a first annular air chamber 214 in the top, which is communicated with the annular sliding cavity 215, and a plurality of through holes 219 are arranged on the outer side of the first annular air chamber 214 and communicated with the second annular air chamber 218;

[0082] Specifically, the second annular air chamber 218 and the first annular air chamber 214 are communicated with each other and form a sealed space isolated from the outside. When the loading platform 213 rises, the space of the second annular air chamber 218 gradually decreases, so that the gas in the second annular air chamber 218 enters the first annular air chamber 214 through the through hole 219, and then pushes the sliding ring 216 to slide downward along the annular sliding cavity 215, so as to drive the gravity adjusting part 420 to move downward to adjust the gravity center;

[0083] During the rising process of the loading platform 213, although the inner cylinder 211 rotates relative to the loading platform 213, the through holes 219 arranged on the circumference of the inner cylinder 211 can always ensure that the second annular air chamber 218 and the first annular air chamber 214 are communicated, so as not to affect the synchronization of the movement of the loading platform 213 and the sliding ring 216.

[0084] It is worth noting that the first annular air chamber 214 and the second annular air chamber 218 are directly used to form a sealed air path, which converts the mechanical movement of the rising of the loading platform 213 into gas pressure change, so as to smoothly push the sliding ring 216 to slide downward and drive the gravity adjusting part 420 to move downward;

[0085] Although there is relative rotation between the inner cylinder 211 and the loading platform 213 during the lifting process, through the through holes 219 arranged on the circumference of the top of the inner cylinder 211, it is ensured that the second annular air chamber 218 and the first annular air chamber 214 are always communicated at any rotation angle, which guarantees the continuity and reliability of the linkage of lifting and gravity compensation, and is completely not affected by the rotating action.

[0086] Further, please refer to Figure 10 , in order to avoid that the gas in the first annular air chamber 214 leaks out through the annular sliding cavity 215 and the through slot 217 during the downward movement of the sliding ring 216, the inner walls on both sides of the lower end of the first annular air chamber 214 are embedded with sealing strips 2110, and the sealing strips 2110 and the sliding ring 216 are connected with elastic capsules 2111;

[0087] Specifically, the arrangement of the sealing strip 2110 and the elastic capsule 2111 can ensure that the first annular air chamber 214 is relatively isolated from the annular sliding cavity 215, and when the gas in the first annular air chamber 214 pushes the sliding ring 216 to slide downward, the elastic capsule 2111 can also adaptively elastically stretch, so as to always maintain the isolation effect between the first annular air chamber 214 and the annular sliding cavity 215, avoiding the leakage of the gas in the first annular air chamber 214 from the through slot 217.

[0088] It should be noted that by embedding the sealing strip 2110 in the inner wall of the lower end of the first annular air chamber 214, and cooperating with the elastic capsule 2111 connected with the sliding ring 216, a dynamic sealing system is formed, which can effectively isolate the first annular air chamber 214 from the annular sliding cavity 215, and ensure that the gas pressure pushing the sliding ring 216 to slide downward will not leak from the through slot 217, thereby ensuring the reliability of the transmission of the pneumatic compensation force.

[0089] The elastic capsule 2111 can be made of silica gel or other materials, which has good elastic deformation capability. During the sliding process of the sliding ring 216, the elastic capsule 2111 can adaptively stretch, and always tightly fit between the sliding ring 216 and the sealing strip 2110, so as to automatically compensate the displacement of the sliding ring 216, ensure that the sealing effect is durable and effective throughout the stroke, and avoid the leakage points that may be caused by the movement of the sliding ring 216.

[0090] In addition, please refer to Figure 1 and Figure 2 , and further comprising a traveling unit 500, the traveling unit 500 comprising universal wheels 510 installed on four corners of the rack 100 and drive wheels 520 rotatably installed on both sides of the middle part of the rack 100, and drive motors 530 are arranged on both sides of the rack 100 to drive the corresponding drive wheels 520;

[0091] Specifically, by controlling the steering and rotating speed of the corresponding drive wheels 520 through the two side drive motors 530, the forward, backward or turning operation of the rack 100 can be realized, and the universal wheels 510 arranged on the four corners can be adaptively deflected and adjusted towards the feeding direction.

[0092] The specific embodiments of the application are described above, but the application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative but not limiting, and those skilled in the art can make many forms under the inspiration of the application, which all belong to the protection of the application.

Claims

1. An automated guided vehicle handling device, characterized in that, The utility model relates to a kind of inertial trigger device and dynamic gravity compensation device, including: Rack (100); Loading unit (200) is arranged on rack (100), including movable mounting in the center of rack (100) loading piece (210), the rack (100) is provided with lifting drive (220) and rotary drive (230) for driving loading piece (210); Inertial trigger unit (300) is arranged in loading piece (210), including mounting disc (310) and movable trigger piece (320) arranged in mounting disc (310), the mounting disc (310) is also provided with transverse guide (330) and longitudinal guide (340) for guiding trigger piece (320) in it; Dynamic gravity compensation unit (400) is arranged in loading piece (210), including suspension frame (410) and gravity adjustment piece (420) movably suspended below suspension frame (410); When rack (100) accelerates towards a side, trigger piece (320) drives the gravity of gravity adjustment piece (420) to deviate towards the side;When rack (100) decelerates towards a side, trigger piece (320) drives the gravity of gravity adjustment piece (420) to deviate towards the opposite direction of the side; The transverse guide (330) includes two groups of transverse sliding grooves (331) symmetrically opened in the mounting disc (310), the transverse sliding grooves (331) are slidably provided with transverse sliding blocks (332), the first guide rod (333) is fixedly connected between the two transverse sliding grooves (331), the trigger piece (320) is slidably provided on the first guide rod (333), and the first spring (334) is movably sleeved on both ends of the first guide rod (333) and abuts against the trigger piece (320); The longitudinal guide (340) includes two groups of longitudinal sliding grooves (341) symmetrically opened in the mounting disc (310), the longitudinal sliding grooves (341) are slidably provided with longitudinal sliding blocks (342), the second guide rod (343) is fixedly connected between the two longitudinal sliding blocks (342), the trigger piece (320) is slidably provided on the second guide rod (343), and the second spring (344) is movably sleeved on both ends of the second guide rod (343) and abuts against the trigger piece (320); The gravity adjustment piece (420) includes a suspension rod (421) movably connected with the suspension frame (410) and a counterweight disc (422) fixed to the lower end of the suspension rod (421), and the counterweight disc (422) is provided with a counterweight cavity (424) for filling counterweight liquid; The trigger piece (320) includes a moving block (321), and a plurality of elastic cables (322) are connected between the moving block (321) and the counterweight disc (422).

2. An automated guided vehicle handling device according to claim 1, wherein, The loading piece (210) includes an inner cylinder (211) and an outer cylinder (212) threadedly sleeved outside the inner cylinder (211), and the loading table (213) is rotatably installed on the outer cylinder (212).

3. An automated guided vehicle handling device according to claim 2, wherein, The lifting driving part (220) comprises a support ring (221) fixed on the rack (100), a gear ring (222) rotatably embedded in the support ring (221), and the inner cylinder (211) is fixed in the gear ring (222); the rack (100) is provided with a first motor (223), the output end of the first motor (223) is connected with a first speed reducer (224), and the output end of the first speed reducer (224) is provided with a first gear (225) engaged with the gear ring (222). The rotating driving part (230) comprises a second motor (232) installed on the rack (100), the output end of the second motor (232) is connected with a second speed reducer (233), the output end of the second speed reducer (233) is provided with a second gear (234), and the outer cylinder (212) is provided with a gear ring (231) engaged with the second gear (234).

4. An automated guided vehicle handling device according to claim 2, wherein, The suspension frame (410) comprises a support (411) arranged in the inner cylinder (211), a ball sleeve (412) arranged at the center of the support (411), and an adjusting ball (423) movably embedded in the ball sleeve (412) and arranged at the upper end of the suspension rod (421).

5. An automated guided vehicle handling device according to claim 4, wherein, An annular sliding cavity (215) is formed in the inner cylinder (211), a sliding ring (216) is movably embedded in the annular sliding cavity (215), a through groove (217) is formed in the inner wall of the inner cylinder (211) and communicated with the annular sliding cavity (215), and the support (411) movably penetrates through the through groove (217) and is fixedly connected with the sliding ring (216).

6. An automated guided vehicle handling device according to claim 5, wherein, A second annular air chamber (218) is formed between the loading table (213) and the inner cylinder (211), a first annular air chamber (214) is formed in the top of the inner cylinder (211) and communicated with the annular sliding cavity (215), and a plurality of through holes (219) communicated with the second annular air chamber (218) are formed in the outer side of the first annular air chamber (214) in the circumferential direction.

7. An automated guided vehicle handling device according to claim 6, wherein, The inner wall of both sides of the lower end of the first annular air chamber (214) is embedded with a sealing strip (2110), and an elastic capsule (2111) is connected between the sealing strip (2110) and the sliding ring (216).

8. An automated guided vehicle handling device according to claim 1, wherein, Further comprising a traveling unit (500), the traveling unit (500) comprises universal wheels (510) installed on the four corners of the rack (100) and driving wheels (520) rotatably installed on both sides of the middle part of the rack (100), and the rack (100) is provided with a driving motor (530) driving the corresponding driving wheel (520) on each side.

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