Automatic logistics trolley with stable operation function

Abstract

An automatic logistics trolley with a stable operation function comprises an automatic logistics trolley body and further comprises a detection mechanism, a detection circuit and a control circuit. The detection mechanism comprises a detection tube and a contact ball, an isolation plate is mounted at the upper end of the detection tube, a flexible metal wire is mounted at the upper end of the contact ball, an opening is formed in a trolley body plate of the automatic logistics trolley body, and the detection tube is mounted in the opening; the control circuit and the detection circuit are installed in an element box of the automatic logistics trolley body and are electrically connected. Based on the automatic logistics trolley body, the balance degree of the trolley body can be automatically detected through the detection mechanism, the detection circuit and the like, and when safe driving of the logistics trolley body is affected by insufficient pavement flatness and the like, the power supply voltage output to the motor by the control system can be reduced at the first time through the control relay and the direct-current voltage reduction module; therefore, it is guaranteed that the logistics trolley body safely, stably and reliably transports articles as much as possible.

Description

Technical Field

[0001] The utility model relates to the technical field of ACV trolley equipment, in particular to an automatic logistics trolley with a smooth running function. Background Art

[0002] An automatic logistics trolley, also known as an Automated Guided Vehicle (AGV for short), an automatic guided handling vehicle, an automatic guided transport vehicle, etc., varies in name. An automatic logistics trolley generally loads goods at a corresponding position in an automatic or manual manner, and then automatically travels to a designated unloading location according to the route set by its internal control system (the two power output terminals of the control system output power to the power input terminals of the electric drive wheels on both sides of the automatic logistics trolley body at the same time, and the automatic logistics trolley moves forward. One of the power output terminals of the control system outputs power to the power input terminal of the electric drive wheel on the left or right side of the automatic logistics trolley body, and the automatic logistics trolley turns right or left and moves forward). Finally, it unloads the goods in an automatic or manual manner, and then travels to the loading area to load the goods. The above process can be continuously cycled to complete functions such as automatically transporting goods. Specifically, various sensors are installed around the body of the automatic logistics trolley to cooperate with the control system to work, ensuring driving safety and traveling along the normal path.

[0003] With the progress of industrial technology, ACV trolley technology has also developed. For example, the authorized patent with the patent number "201521034746.0" and the patent name "AGV Trolley" in China records that "the AGV trolley described in the utility model adopts gear transmission, is simple to assemble, and because the gears have greater strength, it effectively enhances the load capacity of the AGV trolley, and when there is no power, the AGV trolley can be driven manually and can be applied to more working occasions". As can be seen from the above, although the comparative patent has achieved the invention technical effects described by it, like other technologies in this field, there are still the following problems. Specifically, the voltage output from the power output terminal of the control system to the motor power input terminal of the electric drive wheel of the AGV trolley is constant, that is, regardless of whether the road surface on which the AGV trolley travels is flat or even has a slope, the traveling speed of the AGV trolley is constant. In this way, especially when the load of the AGV trolley is relatively large and the center of gravity of the goods in the cargo box is offset, etc., it will have an adverse impact on the driving safety of the AGV trolley. In extreme cases, there is also a risk of the AGV trolley overturning. Summary of the Utility Model

[0004] In order to overcome the drawbacks of the existing automatic logistics carts as mentioned in the background due to structural limitations, the utility model provides an automatic logistics cart body, which can automatically detect the balance of the cart body (that is, detect the road condition) under the joint action of relevant mechanisms. When the road surface flatness is not enough and affects the safe driving of the logistics cart body, it can immediately reduce the power supply voltage output by the control system to the motor, thereby slowing down the driving speed of the logistics cart body. When the road surface restores its flatness, the driving speed of the logistics cart body can be controlled to return to normal, thereby ensuring as much as possible that the logistics cart body can transport goods safely, stably and reliably. An automatic logistics cart with a smooth operation function.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] An automatic logistics vehicle with a smooth operation function includes an automatic logistics vehicle body, characterized in that it also has a detection mechanism, a detection circuit, and a control circuit; the detection mechanism includes a detection tube and a contact ball, an isolation plate is installed on the upper end of the detection tube, a flexible metal wire is installed on the upper end of the contact ball, the upper end of the metal wire is installed on the isolation plate, and the upper part of the metal wire is located outside the upper end of the isolation plate, the body plate of the automatic logistics vehicle body has an opening, and the detection tube is installed in the opening; the control circuit and the detection circuit are installed in a component box of the automatic logistics vehicle body, the signal output end of the detection mechanism is electrically connected to the signal input end of the detection circuit, and the power output end of the detection circuit is electrically connected to the power input end of the control circuit; the signal input end of the control circuit is electrically connected to the power output end of the control system in the automatic logistics vehicle body, and the power output end of the control circuit is electrically connected to the motor power input end of the electric drive wheel of the automatic logistics vehicle body.

[0007] Furthermore, the detection tube and the contact ball are made of metal materials, and the contact ball is spaced apart from the inner end of the detection tube.

[0008] Furthermore, the control circuit includes electrically connected relays and DC step-down modules, the power output terminals of the two DC step-down modules are respectively connected to the normally closed contact terminals of two of the relays, the positive and negative power input terminals of the four relays are respectively connected, the two normally open contact terminals of the other two relays are respectively connected to the power input terminals of the two DC step-down modules, the first relay is connected to the control power input terminal of the third relay, and the second relay is connected to the control power input terminal of the fourth relay.

[0009] Furthermore, the detection circuit includes an electrically connected transistor, a relay, and a resistor, wherein the negative power input terminal of the relay is connected to the collector of the transistor, one end of the resistor is connected to the base of the transistor, and the positive power input terminal of the relay is connected to the control power input terminal.

[0010] Compared with the prior art, the beneficial effects of the present utility model are as follows: Based on the automatic logistics trolley body, under the combined action of relevant mechanisms, the balance of the trolley body (i.e., the road conditions) can be automatically detected through the detection mechanism and the detection circuit, etc. When the road surface flatness is insufficient and affects the safe driving of the logistics trolley body, the power supply voltage output from the control system to the motor can be reduced immediately through the control relay and the DC step-down module, and then the driving speed of the logistics trolley body becomes slower. When the road surface resumes flatness, the driving speed of the logistics trolley body can be controlled to return to normal, thus ensuring the safe, stable and reliable transportation of items by the logistics trolley body as much as possible. In summary, the present utility model has good application prospects. Brief Description of the Drawings

[0011] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0012] Figure 1 It is a schematic diagram of the overall structure of the present utility model.

[0013] Figure 2 It is a schematic diagram of the partial structure of the present utility model.

[0014] Figure 3 It is a circuit diagram of the present utility model. Detailed Embodiment

[0015] Figure 1 、 2 As shown in Figures 2 and 3, an automatic logistics trolley with a smooth running function includes an automatic logistics trolley body 1, and also has a detection mechanism 2, a detection circuit 3, and a control circuit 4; the detection mechanism includes a detection tube K and a contact ball T. A plastic isolation plate 5 is installed at the upper end of the detection tube K through threads. There is an opening in the middle of the isolation plate 5. A flexible metal wire 6 (with strong strength and will not break due to the large weight of the contact sphere) is vertically welded to the middle of the upper end of the contact ball T, and the upper part of the metal wire 6 is bonded in the opening with glue. A hollow fixing seat 7 is welded to the upper end of the isolation plate. The upper end of the metal wire passes out through the opening on the right side of the middle of the fixing seat 7 (into the component box). There is a concave opening in the middle of the body plate 101 of the automatic logistics trolley body, and the detection tube K is installed in the opening. The upper end of the fixing seat 7 and the upper end of the body plate 101 are in a horizontal state; the control circuit 4 and the detection circuit 3 are installed in the component box of the automatic logistics trolley body 1.

[0016] Figure 1 、 2As shown in Figures 2 and 3, the detection tube K and the contact ball T are made of copper, and there is a spacing distance between the contact ball T and the inner end of the detection tube K. The control circuit includes relays J2, J3, J4, J5 and DC buck modules W2 and W3 connected by circuit board wiring. The power output terminals 3 and 4 of the two DC buck modules W2 and W3 are respectively connected to the normally closed contact terminals of the two relays J2 and J3. The positive and negative power input terminals of the four relays J2, J3, J4, J5 are respectively connected. The two normally open contact terminals of the relays J4 and J5 and the power input terminals 1 and 2 of the two DC buck modules W2 and W3 are respectively connected. The detection circuit includes a triode Q1, a relay J1 and a resistor R1 connected by circuit board wiring. The negative power input terminal of the relay J1 is connected to the collector of the triode Q1. One end of the resistor R1 is connected to the base of the triode Q1. The positive power input terminal of the relay J1 is connected to the control power input terminal. When the inclination angle in the circumferential direction of the vehicle body exceeds 10 degrees, the contact ball T contacts the inner side of the detection tube K, and the contact ball T has a relatively large weight. The two poles of the storage battery G1 in the automatic logistics vehicle body are connected to the positive power input terminal of the relay J1, the emitter of the triode Q1, and the wire at the upper end of the contact ball T, which is the power input terminal of the detection mechanism, through wires. The signal output terminal of the detection mechanism, the lower outer end of the detection tube K, and the other end of the resistor R1, which is the signal input terminal of the detection circuit, are connected through wires. The power output terminal of the detection circuit, the normally open contact terminal of the relay J1 and the emitter of the triode Q1, and the power input terminal of the control circuit, the positive and negative power input terminals of the relay J2, are respectively connected through wires. The signal input terminals of the control circuit, every two control power input terminals of the relays J2, J3, J4, J5 and the two power output terminals 3 and 4, 5 and 6 of the control system W1 in the automatic logistics vehicle body are respectively connected through wires. The two normally closed contact terminals of the two power output terminals of the control circuit, the relays J2 and J3, and the power input terminals of the motors M1 and M2 of the left and right electric drive wheels of the automatic logistics vehicle body are respectively connected through wires. The two normally open contact terminals of the other two power output terminals of the control circuit, the relays J4 and J5, and the power input terminals of the DC buck modules W2 and W3 are respectively connected through wires. The resistance value of the resistor R1 is 10K; the model of the triode Q1 is 9013 (NPN); the models of the relays J1, J2, J3, J4, J5 are DC24V; the DC buck modules W2 and W3 are DC-DC power modules with an input DC of 24V and an output DC of 12V.

[0017] Figure 1 、 2, as shown in Figures 3, this new type is based on the automatic logistics trolley body 1. It loads goods automatically or manually at the corresponding position, and then automatically travels to the designated unloading location according to the route set by its internal control system W1 (the two power output terminals of the control system W1 output power to the power input terminals of the electric drive wheels M1 and M2 on both sides of the automatic logistics trolley body at the same time, and the automatic logistics trolley body 1 moves forward. One of the power output terminals of the control system W1 outputs power to the power input terminals of the electric drive wheels M1 and M2 on the left or right side of the automatic logistics trolley body, and the automatic logistics trolley body 1 turns right or left and moves forward). Finally, it unloads goods automatically or manually, and then travels to the loading area to load goods. By continuously cycling the above process, functions such as automatically transporting goods can be completed. Specifically, a variety of sensors are installed around the body of the automatic logistics trolley body 1 to cooperate with the control system W1 to work, ensuring driving safety and driving along the normal path. The above automatic logistics trolley body 1 is an existing mature technology. This application does not elaborate on its working principle and working process, nor does it protect the structure and function of the automatic logistics trolley body 1 itself. Specifically, in this new type, the power output from pins 3, 4 and 5, 6 of the control system W1 respectively enters the power input terminals of the electric drive wheels M1 and M2 on the left or right side of the automatic logistics trolley body through the two control power input terminals and the two normally closed contacts of the relays J2 and J3, ensuring that the automatic logistics trolley body 1 can drive normally.

[0018] Figure 1 , 2As shown in Figures 3, when the DC power supply (24V) output from both poles of the storage battery G1 inside the automatic logistics trolley enters the power input terminals of the detection circuit and the detection mechanism, the detection circuit and the detection mechanism are powered on and operate. When the road surface flatness of the automatic logistics trolley body 1 is appropriate and the automatic logistics trolley body 1 tilts at any angle by no more than 10 degrees (in actual application, by using detection tubes with different inner diameters and contact balls with different outer diameters, the detection angle can be changed. For example, if the inner diameter of the detection tube is relatively small or the outer diameter of the contact ball is relatively large, then when the tilt angle is less than 10 degrees, the outer side of the contact ball will contact the inner side of the detection tube), the contact ball T will not contact the detection tube K. Then, the 24V power supply will not enter the base of the triode Q1, and the relays J1, J2, J3, J4, and J5 will not be powered on and attracted. The power output from pins 3 and 4 and pins 5 and 6 of the control system W1 will directly continue to enter the power input terminals of the electric drive wheels M1 and M2 on the left or right side of the automatic logistics trolley body through the control power terminals of the relays J2 and J3 and the two normally closed contacts, and the logistics trolley body 1 will travel at a relatively normal fast speed. When the road surface flatness of the automatic logistics trolley body 1 is insufficient and the automatic logistics trolley body 1 tilts at any angle by more than 10 degrees, the contact ball T will contact the inner side of the detection tube K. Then, the 24V power supply will enter the other end of the resistor R1 through the metal wire, the contact ball T, and the detection tube K. The DC power supply is stepped down and current-limited by the resistor R1 and enters the base of the triode Q1. The triode Q1 conducts and the collector outputs a low level and enters the negative power input terminal of the relay J1. The relay J1 is powered on and attracted, and its control power input terminal and normally open contact terminal are closed. Then, the two relays J2 and J3 are powered on and attracted, and their control power input terminals and normally closed contact terminals are open. The two relays J4 and J5 are powered on and attracted, and their control power input terminals and normally open contact terminals are closed. In this way, the power output from pins 3 and 4 and pins 5 and 6 of the control system W1 and the power input terminals of the electric drive wheels M1 and M2 are open. The power input terminals 1 and 2 of the DC step-down modules W2 and W3 are respectively connected to the control power input terminals and the two normally open contact terminals of the relays J4 and J5, and pins 3 and 4 of the control system W1, and the power output from pins 3 and 4 of the DC step-down modules W2 and W3 respectively enters the power input terminals of the electric drive wheels M1 and M2. Since the power voltage output from pins 3 and 4 of the DC step-down modules W2 and W3 to the motors M1 and M2 is relatively low (12V), the logistics trolley body 1 will travel at a slower speed (half as slow as the normal speed). After the subsequent road condition of the automatic logistics trolley body 1 becomes flat, that is, when the automatic logistics trolley body 1 tilts at any angle by less than 10 degrees, the contact ball T no longer contacts the inner side of the detection tube K. Correspondingly, the relays J1, J2, J3, J4, and J5 will lose power, and the motors M1 and M2 of the automatic logistics trolley body 1 will be powered by pins 3 and 4 and pins 5 and 6 of the control system W1 again and resume normal speed travel.Through the above, the balance of the new type of automatic detection trolley body (that is, the road condition is detected). When the road surface flatness is insufficient and affects the safe driving of the logistics trolley body, the power supply voltage output from the control relay and the DC buck module to the motor can be reduced immediately, and then the driving speed of the logistics trolley body becomes slower. When the road surface resumes flatness, the driving speed of the logistics trolley body can be normally controlled to return to normal. Thus, the safe, stable and reliable transportation of items by the logistics trolley body is ensured as much as possible.

[0019] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic features of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0020] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic logistics trolley with a stable operation function, comprising an automatic logistics trolley body, characterized in that: It also has a detection mechanism, a detection circuit, and a control circuit; the detection mechanism includes a detection tube and a contact ball, an isolation plate is installed on the upper end of the detection tube, a flexible metal wire is installed on the upper end of the contact ball, the upper end of the metal wire is installed on the isolation plate, and the upper part of the metal wire is located outside the upper end of the isolation plate, the body plate of the automatic logistics trolley body has an opening, and the detection tube is installed in the opening; the control circuit and the detection circuit are installed in the component box of the automatic logistics trolley body, the signal output end of the detection mechanism is electrically connected to the signal input end of the detection circuit, and the power output end of the detection circuit is electrically connected to the power input end of the control circuit; the signal input end of the control circuit is electrically connected to the power output end of the control system in the automatic logistics trolley body, and the power output end of the control circuit is electrically connected to the motor power input end of the electric drive wheel of the automatic logistics trolley body.

2. The automatic logistics vehicle with a stable operation function according to claim 1 is characterized in that: The detection tube and the contact ball are made of metal materials, and the contact ball is spaced a distance from the inner end of the detection tube.

3. The automatic logistics vehicle with a stable operation function according to claim 1 is characterized in that: The control circuit includes electrically connected relays and DC step-down modules, the power output terminals of the two DC step-down modules are respectively connected to the normally closed contact terminals of two of the relays, the positive and negative power input terminals of the four relays are respectively connected, the two normally open contact terminals of the other two relays are respectively connected to the power input terminals of the two DC step-down modules, the first relay is connected to the third relay control power input terminal, and the second relay is connected to the fourth relay control power input terminal.

4. The automatic logistics vehicle with a stable operation function according to claim 1 is characterized in that: The detection circuit includes a transistor, a relay and a resistor which are electrically connected. The negative power input terminal of the relay is connected to the collector of the transistor, one end of the resistor is connected to the base of the transistor, and the positive power input terminal of the relay is connected to the control power input terminal.

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