Adaptive multi-environment agv operation optimization device

Abstract

The application discloses a self-adaptive multi-environment AGV operation optimization device in the technical field of AGV, which comprises a vehicle base, a wheel balancing device, a rollover righting device and a climbing balancing device. The wheel balancing device is arranged in the vehicle base and comprises a balancing cavity, a balancing air pump and a balancing block. The balancing cavity is arranged in the vehicle base, the balancing block is arranged in the balancing cavity in a sliding mode, left and right push air cavities are arranged below the balancing cavity, the left and right push air cavities are connected with air outlets through front two-position three-way electronic air valves downward, the left and right push air cavities are communicated with the balancing air pump through rear two-position three-way electronic air valves, and an air inlet is arranged in the side wall of the vehicle base. The application adjusts the gravity center of the vehicle by driving the balancing block to move through the balancing air pump, corrects the wheel idling, right the rollover trolley through driving the righting rod and the auxiliary push rod, and reduces the dumping in the righting process of the vehicle through the shock-absorbing bag.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, specifically to an adaptive multi-environment AGV operation optimization device. Background Technology

[0002] An automated guided vehicle (AGV) is a transport vehicle equipped with electromagnetic or optical automatic guidance devices. Often referred to as an AGV trolley, it can travel along a prescribed guidance path and has safety protection and various transfer functions. It is generally used in high-end manufacturing environments.

[0003] Existing AGVs are generally only suitable for traveling on flat ground. When AGVs travel on uneven roads or slopes, the drive wheels may not make good contact with the ground, resulting in the drive wheels being suspended in the air, loss of driving force, and slippage of the drive wheels. This reduces the AGV's adaptability to the ground and may cause the AGV to deviate from its track or overturn due to a large tilt. This reduces the reliability and accuracy of the AGV's operation.

[0004] Based on this, the present invention designs an adaptive multi-environment AGV operation optimization device to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive multi-environment AGV operation optimization device to solve the problems mentioned in the background art, such as the drive wheels not being able to make good contact with the ground when the AGV is traveling on uneven roads or slopes, resulting in the drive wheels being suspended in the air, the AGV losing driving force, and the drive wheels slipping.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an adaptive multi-environment AGV operation optimization device, comprising a vehicle base, a wheel balancing device, a rollover and straightening device, and a climbing balancing device. The wheel balancing device is installed inside the vehicle base, and includes a balancing chamber, a balancing air pump, and a balancing block. The balancing chamber is provided inside the vehicle base, and the balancing block is slidably disposed inside the balancing chamber. A left-pushing air chamber and a right-pushing air chamber are provided below the balancing chamber. The left-pushing air chamber and the right-pushing air chamber are connected downward through a front two-position three-way electronic air valve to an air outlet. The left-pushing air chamber and the right-pushing air chamber are connected to the balancing air pump through a rear two-position three-way electronic air valve. An air inlet is provided on the side wall of the vehicle base, and the air inlet is connected to the balancing air pump.

[0007] Preferably, the wheel balancing device is provided in multiple sets, and spherical plungers are provided at both ends of the balancing cavity, and a limiting groove is provided below the balancing block.

[0008] Preferably, the balance block has push ports on both sides below it, and the push ports form an acute angle with the horizontal direction.

[0009] Preferably, the rollover recovery device includes a recovery rod and a shock absorber bag. A drive motor is fixedly connected to the top of the vehicle base, and a recovery rod is fixedly connected to the drive end of the drive motor. The recovery rod is U-shaped, and an auxiliary push rod is provided on the side wall of the vehicle base. The auxiliary push rod is located on one side of the drive motor.

[0010] Preferably, a buffer groove is provided below the vehicle base, and a shock-absorbing bag is fixedly connected in the buffer groove. One end of the shock-absorbing bag is connected to an air pump through a pipe, and the other end of the shock-absorbing bag is connected to an electric air pump through a pipe.

[0011] Preferably, the climbing balancing device includes a hydraulic telescopic rod and a storage plate. Multiple sets of hydraulic telescopic rods are provided on the top of the vehicle base near the left and right ends. A rotating ring is fixedly connected to the extended end of the hydraulic telescopic rod. A rotating shaft is provided at both ends of the storage plate. A rotating shaft is rotatably provided inside the rotating ring.

[0012] Preferably, the storage plate has a storage slot.

[0013] Preferably, a filter screen is provided outside the air outlet and air inlet.

[0014] Preferably, wheels are provided on both sides of the vehicle base, and wheel speed sensors are provided behind the wheels.

[0015] Preferably, the shock-absorbing bag is made of high-strength nylon 66 material, and a rubber coating is added to the surface of the shock-absorbing bag.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] First, this invention adjusts the vehicle's center of gravity by moving the balance block driven by a balance air pump, thereby correcting wheel spin. It also corrects the overturned vehicle by driving a return rod and an auxiliary push rod, and uses shock-absorbing bags to dampen the vehicle's tilt during the return process, thus protecting the vehicle.

[0018] Second, this invention uses a hydraulic telescopic rod to adjust the center of gravity of the loaded vehicle, ensuring the vehicle's stability when driving on sloping roads. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the main view structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the wheel balancing device of the present invention;

[0022] Figure 3 This is a schematic diagram of the cross-sectional structure of the present invention from a top-down perspective;

[0023] Figure 4 This is a schematic diagram of the cross-sectional structure of the rear view portion of the present invention;

[0024] Figure 5 This is a schematic diagram of the balance block structure of the present invention;

[0025] Figure 6 This is a schematic diagram of the side-tilting and straightening device of the present invention;

[0026] Figure 7 This is a schematic diagram of the climbing balancing device of the present invention;

[0027] Figure 8 This is a schematic diagram of the hydraulic telescopic rod structure of the present invention.

[0028] The attached diagram lists the components represented by each number as follows:

[0029] 1-Vehicle base, 2-Wheel balancing device, 3-Rollover return device, 4-Climbing balancing device, 5-Balancing chamber, 6-Balancing air pump, 7-Balancing block, 8-Left push air chamber, 9-Right push air chamber, 10-Front two-position three-way electronic air valve, 11-Air outlet, 12-Rear two-position three-way electronic air valve, 13-Air inlet, 14-Spherical plunger, 15-Limiting groove, 16-Push port, 17-Return rod, 18-Shock absorber bag, 19-Drive motor, 20-Auxiliary push rod, 21-Buffer groove, 22-Inflation pump, 23-Electric vacuum pump, 24-Hydraulic telescopic rod, 25-Storage plate, 26-Rotating ring, 27-Rotating shaft, 28-Storage slot, 29-Filter screen, 30-Wheel. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following will refer to the appendix. Figures 1-8 This application will be described in detail with reference to the embodiments.

[0032] Example 1

[0033] As attached Figure 1 Appendix Figure 2 and attached Figure 4 As shown, the adaptive multi-environment AGV operation optimization device includes a vehicle base 1, a wheel balancing device 2, a side-tilt return device 3, and a climbing balancing device 4. The wheel balancing device 2 is installed inside the vehicle base 1. The wheel balancing device 2 includes a balancing chamber 5, a balancing air pump 6, and a balancing block 7. The balancing chamber 5 is opened inside the vehicle base 1, and the balancing block 7 is slidably installed inside the balancing chamber 5. A left pushing air chamber 8 and a right pushing air chamber 9 are opened below the balancing chamber 5. The left pushing air chamber 8 and the right pushing air chamber 9 are connected downward through a front two-position three-way electronic air valve 10 to an air outlet 11. The left pushing air chamber 8 and the right pushing air chamber 9 are connected to the balancing air pump 6 through a rear two-position three-way electronic air valve 12. An air inlet 13 is opened on the side wall of the vehicle base 1, and the air inlet 13 is connected to the balancing air pump 6.

[0034] As attached Figure 2 Appendix Figure 3 Appendix Figure 4 and Figure 5 As shown, the wheel balancing device 2 is provided with multiple sets, and spherical plungers 14 are provided at both ends of the balancing chamber 5. Limiting grooves 15 are provided below the balancing block 7.

[0035] As attached Figure 5 As shown, push ports 16 are provided on both sides below the balance block 7, and the push ports 16 form an acute angle with the horizontal direction.

[0036] As attached Figure 1 and attached Figure 6 As shown, the rollover return device 3 includes a return rod 17 and a shock absorber bag 18. A drive motor 19 is fixedly connected to the top of the vehicle base 1. The drive end of the drive motor 19 is fixedly connected to the return rod 17. The return rod 17 is U-shaped. An auxiliary push rod 20 is provided on the side wall of the vehicle base 1. The auxiliary push rod 20 is located on one side of the drive motor 19.

[0037] As attached Figure 1 and attached Figure 6 As shown, a buffer groove 21 is provided below the vehicle base 1. A shock-absorbing bag 18 is fixedly connected in the buffer groove 21. One end of the shock-absorbing bag 18 is connected to an air pump 22 through a pipe, and the other end of the shock-absorbing bag 18 is connected to an electric air pump 23 through a pipe.

[0038] As attached Figure 1 As shown, a filter screen 29 is provided outside the air outlet 11 and the air inlet 13.

[0039] As attached Figure 1 As shown, wheels 30 are provided on both sides of the vehicle base 1, and wheel speed sensors are provided behind the wheels.

[0040] As attached Figure 6 As shown, the shock-absorbing bag 18 is made of high-strength nylon 66 material, and a rubber coating is added to the surface of the shock-absorbing bag 18.

[0041] The working principle of Example 1 is as follows: When the wheel speed sensor detects that wheel 30 is spinning freely, the balance air pump 6 above the spinning wheel 30 is activated, and the rear two-position three-way electronic air valve 12 is controlled to circulate gas to the right push air chamber 9. The balance block 7 pushed by the gas is moved towards the spinning wheel 30 by the control of the front two-position three-way electronic air valve 10. The limiting groove 15 under the balance block 7 reaches the ball plunger 14 at the other end of the balance chamber 5 through the current ball plunger 14. At the same time, the front two-position three-way electronic air valve 10 on the left push air chamber 8 opens the air outlet 11 to discharge the gas in the balance chamber, completing the limiting and fixing. When the balance block 7 moves to the other end, the center of gravity of the car shifts to the side of the spinning wheel 30, thereby making the control wheel 30 contact the ground, increasing the grip, and completing the driving correction of the vehicle. Alternatively, the balance air pump 6 above the non-spinning wheel 30 is activated, causing the center of gravity of the car to shift to the other three wheels 30, driving the non-spinning wheel 30 to move towards the other three wheels 30. The rotating wheel 30 drives the trolley to move, driving the spinning wheel 30 away from the spinning area and completing the vehicle's driving correction. After the vehicle overturns, the air pump 22 is started to pump air into the shock-absorbing bag 18, causing the shock-absorbing bag 18 to expand. The drive motor 19 is started to drive the return rod 17 to rotate, gradually turning the vehicle to the side. After the vehicle is turned to the side, the auxiliary push rod 20 pushes the ground to break the vehicle's balance and turn the vehicle back to the right side. The shock-absorbing bag 18 dampens the shock during the vehicle's return to the right side, preventing damage to the vehicle. After the vehicle is turned to the right side, the electric vacuum pump 23 is started to extract air from the shock-absorbing bag 18 and compress it, completing the recovery of the shock-absorbing bag 18. This invention adjusts the vehicle's center of gravity by driving the balance block 7 to move through the balance air pump 6, completing the correction of the spinning wheels. The return rod 17 and the auxiliary push rod 20 are used to turn the overturned trolley back to the right side. The shock-absorbing bag 18 dampens the tilting of the vehicle during the return to the right side, thereby protecting the vehicle.

[0042] Example 2

[0043] Based on Example 1, as shown in the appendix Figure 7 and attached Figure 8 As shown, the hill-climbing balancing device 4 includes a hydraulic telescopic rod 24 and a storage plate 25. Multiple sets of hydraulic telescopic rods 24 are arranged on the top of the vehicle base 1 near the left and right ends. A rotating ring 26 is fixedly connected to the extended end of the hydraulic telescopic rod 24. A rotating shaft 27 is arranged at both ends of the storage plate 25. The rotating shaft 27 is rotatably arranged inside the rotating ring 26.

[0044] As attached Figure 7 As shown, a storage slot 28 is provided on the storage plate 25.

[0045] In implementing this embodiment, the overall center of gravity of the vehicle is adjusted by adjusting the extension height of the hydraulic telescopic rods 24 on both sides of the vehicle base 1, so as to ensure the stability of the vehicle when driving on a slope.

[0046] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An adaptive multi-environment AGV operation optimization device, comprising a vehicle base (1), a wheel balancing device (2), a roll-back device (3) and a climbing balancing device (4), characterized in that: The vehicle base (1) is provided with a wheel balancing device (2). The wheel balancing device (2) includes a balancing cavity (5), a balancing air pump (6), and a balancing block (7). The vehicle base (1) has a balancing cavity (5). The balancing block (7) is slidably arranged in the balancing cavity (5). The balancing cavity (5) has a left pushing air chamber (8) and a right pushing air chamber (9) below it. The left pushing air chamber (8) and the right pushing air chamber (9) are connected to an air outlet (11) through a front two-position three-way electronic air valve (10). The left pushing air chamber (8) and the right pushing air chamber (9) are connected to the balancing air pump (6) through a rear two-position three-way electronic air valve (12). The side wall of the vehicle base (1) has an air inlet (13) connected to the balancing air pump (6).

2. The adaptive multi-environment AGV operation optimization device according to claim 1, characterized in that: The wheel balancing device (2) is provided in multiple sets, and spherical plungers (14) are provided at both ends of the balancing cavity (5), and a limiting groove (15) is provided at the bottom of the balancing block (7).

3. The adaptive multi-environment AGV operation optimization device according to claim 1, characterized in that: The balance block (7) has push ports (16) on both sides below it, and the push ports (16) form an acute angle with the horizontal direction.

4. The adaptive multi-environment AGV operation optimization device according to claim 1, characterized in that: The rollover return device (3) includes a return rod (17) and a shock absorber (18). A drive motor (19) is fixedly connected to the top of the vehicle base (1). The drive end of the drive motor (19) is fixedly connected to the return rod (17). The return rod (17) is U-shaped. An auxiliary push rod (20) is provided on the side wall of the vehicle base (1). The auxiliary push rod (20) is located on one side of the drive motor (19).

5. The adaptive multi-environment AGV operation optimization device according to claim 4, characterized in that: A buffer groove (21) is provided below the vehicle base (1). A shock-absorbing bag (18) is fixedly connected in the buffer groove (21). One end of the shock-absorbing bag (18) is connected to an air pump (22) through a pipe, and the other end of the shock-absorbing bag (18) is connected to an electric vacuum pump (23) through a pipe.

6. The adaptive multi-environment AGV operation optimization device according to claim 1, characterized in that: The climbing balance device (4) includes a hydraulic telescopic rod (24) and a storage plate (25). Multiple sets of hydraulic telescopic rods (24) are provided on the top of the vehicle base (1) near the left and right ends. A rotating ring (26) is fixedly connected to the extended end of the hydraulic telescopic rod (24). A rotating shaft (27) is provided at both ends of the storage plate (25). The rotating shaft (27) is rotatably arranged inside the rotating ring (26).

7. The adaptive multi-environment AGV operation optimization device according to claim 6, characterized in that: The storage plate (25) has a storage slot (28).

8. The adaptive multi-environment AGV operation optimization device according to claim 1, characterized in that: A filter screen (29) is provided outside the air outlet (11) and air inlet (13).

9. The adaptive multi-environment AGV operation optimization device according to claim 1, characterized in that: The vehicle base (1) is provided with wheels (30) on both sides, and a wheel speed sensor is provided behind the wheels.

10. The adaptive multi-environment AGV operation optimization device according to claim 4, characterized in that: The shock-absorbing bag (18) is made of high-strength nylon 66 material, and a rubber coating is added to the surface of the shock-absorbing bag (18).

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