Automatic tracking carrier loader

Abstract

The utility model discloses an automatic tracking carrying cart, which relates to the technical field of carrying equipment and comprises a cart body, a protective plate is fixedly mounted at one end of the cart body, a controller is embedded on the protective plate, an assembly plate is fixedly mounted at the other end of the cart body, and a plurality of wheels for moving are arranged at the bottom of the cart body in a counterpoint manner. Through the extending block, the pin shaft and the sleeve, the supporting rod is obliquely arranged below the vehicle body, the movable block is finally arranged in front of the photoelectric sensor, the bottom of the movable block makes contact with the ground through the balls in the running process of the carrier loader, friction generated in the moving process can be reduced, a gap between the movable block and the ground is small, and the moving block can move more stably. The carrier loader has the advantages that sundries on a traveling route can be cleaned, interferents can be pushed to two sides of the loader body by the aid of matched arc-shaped surfaces, interference on a tracking route is avoided, a good operating environment is provided for the photoelectric sensor, and tracking accuracy of the carrier loader is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transport equipment, in particular to an automatic tracking transport vehicle. Background Art

[0002] An autonomous tracking vehicle is a device that can automatically move along a preset path. This path can be defined by physical markers (such as black lines or magnetic tape) or a virtual path (e.g., a path generated by sensors sensing environmental features). This technology involves the application of sensors, signal processing, motor drives, and automatic control. Autonomous driving is achieved through road surface detection, obstacle detection, and information feedback. Some devices use ultrasonic sensors and visual sensors (cameras) to achieve tracking. The cameras can capture images of the path ahead and use image recognition algorithms to identify path features, such as road markings, and then control the device's direction of movement based on these features. Photoelectric sensors are the most common method for automatic tracking.

[0003] Existing automated tracking vehicles, when driven by photoelectric sensors, primarily emit light and receive reflected light, determining their route based on the light absorption capacity of black conductors and white areas. However, in actual operation, due to the complexity of the route and driving area, ground obstruction or interference can cause changes in the reflectivity of the path markers, resulting in inaccurate sensor perception and, consequently, difficulty in accurately determining the vehicle's position, reducing ultimate transport efficiency. In light of this, the present application proposes an automated tracking vehicle. Summary of the Invention

[0004] The purpose of the utility model is to solve the problems in the prior art of reducing interference on the tracking route and difficulty in accurately determining the position of the vehicle, and to propose an automatic tracking transport vehicle.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An automatic tracking transport vehicle comprises a vehicle body, a guard plate fixedly mounted on one end of the vehicle body, a controller embedded in the guard plate, an assembly plate fixedly mounted on the other end of the vehicle body, a plurality of wheels for movement positioned on the bottom of the vehicle body, a carrier plate fixedly mounted on the top of the vehicle body, a boss fixedly connected to the top of the carrier plate, and a plurality of columns positioned on the upper surface of the carrier plate;

[0007] A connecting assembly is provided at the bottom of the assembly plate, and the connecting assembly includes an extension block arranged to be inclined laterally toward the vehicle body, and the extension block is detachably connected to the assembly plate through multiple sets of bolts on the fixed block, a pin is provided at the bottom of the extension block, a support assembly is connected to the pin, and an adjustment assembly is provided above the support assembly, and a movable block is installed at the end of the support assembly away from the pin.

[0008] As a further preferred embodiment of the present technical solution, the support assembly includes a sleeve mounted on the pin shaft, and the sleeve is rotatably connected to the pin shaft. A support rod is fixedly connected to the side wall of the sleeve, and the end of the support rod away from the pin shaft is connected to the movable block through a vibration sensor.

[0009] As a further preferred embodiment of the present technical solution, the adjustment component includes a limiting groove opened at the bottom of the assembly plate, a limiting column is arranged in the limiting groove, a spring is sleeved on the limiting column, and a damper is arranged at the bottom of the spring.

[0010] As a further preferred embodiment of the present technical solution, the top of the limiting column is fixedly connected to the inner wall of the limiting groove;

[0011] The top of the spring extends into the limiting groove and is fixedly connected to the inner wall of the limiting groove.

[0012] As a further preferred embodiment of the present technical solution, a sliding groove is provided on the support rod, and the limiting column is slidably connected to the support rod through the sliding groove;

[0013] A sphere is fixedly connected to the bottom of the limiting column. The sphere is arranged below the supporting rod, and the diameter of the sphere is greater than the width of the sliding groove.

[0014] As a further preferred embodiment of the present technical solution, the movable block is provided with a plurality of arcuate surfaces in a circumferential direction, and a plurality of balls are respectively embedded in the plurality of arcuate surfaces.

[0015] The present invention has the following beneficial effects: 1. The present invention, through the provision of an extension block, a pin shaft, and a sleeve, allows the support rod to be tilted and arranged below the vehicle body, ultimately placing the movable block in front of the photoelectric sensor. During the driving of the vehicle, the bottom of the movable block contacts the ground through the ball bearing, which can reduce the friction generated during movement. The gap between the movable block and the ground is small, which can clear debris on the travel route. The provided curved surface can ultimately push the interference to the sides of the vehicle body, avoiding interference with the tracking route, providing a better operating environment for the photoelectric sensor, and improving the tracking accuracy of the vehicle. 2. The present invention, through the provision of a limit column, a ball, and a spring, can maintain the stability of the support rod during driving, ensuring that the bottom of the movable block has a good cleaning effect on the ground. When encountering an object that is tightly attached and cannot be pushed during driving, the movable block will flip and drive the support rod to move, causing the spring to contract, thereby bypassing the obstacle. The feedback from the vibration sensor marks the location so that the operator can be notified later to handle it, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a rear view structural diagram of an automatic tracking vehicle proposed in the present invention;

[0018] Figure 2 This is an isometric structural diagram of an automatic tracking vehicle proposed in the present invention;

[0019] Figure 3 This is a bottom view of the structure of an automatic tracking vehicle proposed in the present invention;

[0020] Figure 4 This is a schematic diagram of a partial body structure of an automatic tracking carrier proposed in the present utility model;

[0021] Figure 5 This is a structural schematic diagram of the support assembly and adjustment assembly of an automatic tracking vehicle proposed in the present invention.

[0022] In the figure: 1. Vehicle body; 11. Guard plate; 12. Controller; 13. Wheel; 14. Assembly plate; 2. Carrier plate; 21. Boss; 22. Column; 3. Photoelectric sensor; 4. Connecting assembly; 41. Extension block; 42. Fixing block; 43. Pin; 5. Support assembly; 51. Sleeve; 52. Support rod; 53. Slide; 54. Vibration sensor; 6. Adjustment assembly; 61. Limiting groove; 62. Limiting column; 63. Sphere; 64. Spring; 65. Damper; 7. Movable block; 71. Arc surface; 72. Ball. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] The utility model provides a technical solution: Figure 1-3 As shown, an automatic tracking transport vehicle comprises a vehicle body 1, a guard plate 11 is fixedly mounted on one end of the vehicle body 1, a controller 12 is embedded in the guard plate 11, an assembly plate 14 is fixedly mounted on the other end of the vehicle body 1, a plurality of wheels 13 for movement are arranged in position on the bottom of the vehicle body 1, a carrier plate 2 is fixedly mounted on the top of the vehicle body 1, a boss 21 is fixedly connected to the top of the carrier plate 2, and a plurality of columns 22 are arranged in position on the upper surface of the carrier plate 2.

[0025] Controller 12, specifically an STM32F103, can simultaneously process data from multiple sensors for more precise path control. It is used to activate photoelectric sensor 3 (Panasonic CZ-461 series), receive ground marking information, and activate the motors corresponding to the wheel positions to control the vehicle's movement.

[0026] like Figure 4As shown, a connecting component 4 is provided at the bottom of the assembly plate 14, and the connecting component 4 includes an extension block 41 arranged to be tilted laterally toward the vehicle body 1, and the extension block 41 is detachably connected to the assembly plate 14 through multiple sets of bolts on the fixed block 42, and a pin shaft 43 is provided at the bottom of the extension block 41, and a support component 5 is connected to the pin shaft 43, and the support component 5 includes a sleeve 51 sleeved on the pin shaft 43, and the sleeve 51 is rotatably connected to the pin shaft 43, and a support rod 52 is fixedly connected to the side wall of the sleeve 51, and the end of the support rod 52 away from the pin shaft 43 is connected to the movable block 7 through a vibration sensor 54, and a slide groove 53 is provided on the support rod 52, and a limiting column 62 is slidably connected to the support rod 52 through the slide groove 53, and the bottom of the limiting column 62 is fixedly connected to the side wall of the sleeve 51. The part is fixedly connected with a ball 63, which is arranged under the support rod 52, and the diameter of the ball 63 is greater than the width of the slide groove 53. It should be noted that under the elastic force of the spring 64, the bottom of the spring 64 will push the support rod 52 to move downward, so that the ball 72 on the movable block 7 contacts the ground. When the movable block 7 flips over and swings up and down, the limit column 62 will move in the slide groove 53 opened on the support rod 52. Combined with the size of the slide groove 53, the limit column 62 can avoid hindering the swing of the movable block 7. Combined with the ball 63 arranged under the support rod 52, it can limit the support rod 52, and avoid separation from the limit column 62 when the support rod 52 swings up and down, and finally play a better limiting role on the movable block 7.

[0027] like Figure 4 and Figure 5 As shown, an adjustment component 6 is provided above the support component 5, and the adjustment component 6 includes a limit groove 61 opened at the bottom of the assembly plate 14, a limit column 62 is provided in the limit groove 61, a spring 64 is sleeved on the limit column 62, and a damper 65 is provided at the bottom of the spring 64. The top of the limit column 62 is fixedly connected to the inner wall of the limit groove 61, and the top of the spring 64 extends into the limit groove 61 and is fixedly connected to the inner wall of the limit groove 61.

[0028] A movable block 7 is installed at one end of the support assembly 5 away from the pin shaft 43. A plurality of arc surfaces 71 are arranged circumferentially on the movable block 7, and a plurality of balls 72 are respectively embedded in the plurality of arc surfaces 71. It should be noted that by arranging a plurality of balls 72 on the arc surfaces 71, the balls 72 rotate in the corresponding holes respectively, which can reduce the friction between the ground and make the bottom of the movable block 7 close to the ground to a greater extent, so as to ensure a better cleaning effect and shovel the debris on the route to both sides of the vehicle body 1. Furthermore, by arranging a plurality of balls 72 in position, the weight of the edge position of the movable block 7 can be increased, thereby changing the center of gravity position of the movable block 7, so that the movable block 7 can be turned over and contact the ground again.

[0029] The present utility model provides an automatic tracking transport vehicle, the specific working principle of which is as follows: the goods are placed on the carrier plate 2 on the top of the vehicle body 1, and the load-bearing capacity and stability of the carrier plate 2 are improved by limiting the position of the boss 21 and the column 22 to prevent the goods from falling during transportation. The controller 12 starts the operation of the electrically connected photoelectric sensors 3, and starts the corresponding motors respectively, and drives the vehicle body 1 to move through the wheels 13. During driving, the middle photoelectric sensor 3 determines the route according to the black mark line on the driving route, and the photoelectric sensors 3 on both sides emit light to the white areas on both sides of the black mark line, and flexibly adjusts the driving direction according to the reflected light of different intensities.

[0030] The installation position of the support rod 52 is determined by the extension block 41 tilted at the head of the vehicle body 1. Under the elastic force of the upper spring 64, the support rod 52 is pushed to swing downward, so that the bottom of the movable block 7 installed at the other end of the support rod 52 is close to the ground. Since a plurality of balls 72 are embedded on the curved surface 71 of the movable block 7, during the driving of the carrier, the plurality of balls 72 rotate flexibly relative to the movable block 7 to reduce the friction with the ground. Since the size of the balls 72 is small, the gap between the bottom of the movable block 7 and the ground is small. Therefore, the movable block 7 can play a cleaning role on the ground, and shovel the debris that interferes with the covering route to the sides of the vehicle body 1, so as to avoid affecting the photoelectric sensor 3 behind the movable block 7, so that the photoelectric sensor 3 can stably receive the reflected light.

[0031] Specific details such as Figure 2 As shown in the figure, and according to the above-mentioned "determining the installation position of the support rod 52 by the extension block 41 tilted at the head of the vehicle body 1", the support rods 52 on both sides are distributed in an "eight" shape when viewed from directly above the vehicle body 1, and the movable block 7 extends to the front of the corresponding photoelectric sensor 3. The vehicle body 1 does not rotate when it is moving normally, and relies on the tilted setting of the movable block 7 to cooperate with the arc surface 71 to push away debris.

[0032] When encountering debris that is difficult to clean, such as large cardboard or sticky chewing gum, the movable block 7 has difficulty in pushing the debris out of the reflection area. At this time, the bottom of the movable block 7 is against the debris, and the end connected to the axis of the support rod 52 is flipped over, thereby turning over the debris during driving. At the same time, the movable block 7 will be affected and jump, driving the spring 64 to contract, and a signal feedback is sent to the controller 12 through the vibration sensor 54 provided at the connection between the movable block 7 and the support rod 52, and the road condition here is recorded and uploaded to facilitate subsequent notification to the operator for processing. Under the elastic force of the spring 64, the movable block 7 will be pushed to the ground again to clean the subsequent route, ensuring the stable driving of the carrier.

[0033] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. An automatic tracking vehicle, comprising a vehicle body (1), characterized in that: A guard plate (11) is fixedly mounted on one end of the vehicle body (1), a controller (12) is embedded in the guard plate (11), an assembly plate (14) is fixedly mounted on the other end of the vehicle body (1), a plurality of wheels (13) for movement are arranged in alignment at the bottom of the vehicle body (1), a carrier plate (2) is fixedly mounted on the top of the vehicle body (1), a boss (21) is fixedly connected to the top of the carrier plate (2), and a plurality of columns (22) are arranged in alignment on the upper surface of the carrier plate (2); A connecting assembly (4) is provided at the bottom of the assembly plate (14), and the connecting assembly (4) includes an extension block (41) arranged to be inclined laterally toward the vehicle body (1), and the extension block (41) is detachably connected to the assembly plate (14) through multiple groups of bolts on a fixed block (42), a pin shaft (43) is provided at the bottom of the extension block (41), a support assembly (5) is connected to the pin shaft (43), and an adjustment assembly (6) is provided above the support assembly (5), and a movable block (7) is installed at the end of the support assembly (5) away from the pin shaft (43).

2. The automatic tracking vehicle according to claim 1, characterized in that: The support assembly (5) includes a sleeve (51) sleeved on the pin (43), and the sleeve (51) is rotatably connected to the pin (43). A support rod (52) is fixedly connected to the side wall of the sleeve (51), and one end of the support rod (52) away from the pin (43) is connected to the movable block (7) through a vibration sensor (54).

3. The automatic tracking vehicle according to claim 2, characterized in that: The adjustment assembly (6) includes a limiting groove (61) provided at the bottom of the assembly plate (14), a limiting column (62) being provided in the limiting groove (61), a spring (64) being sleeved on the limiting column (62), and a damper (65) being provided at the bottom of the spring (64).

4. The automatic tracking vehicle according to claim 3, characterized in that: The top of the limiting column (62) is fixedly connected to the inner wall of the limiting groove (61); The top of the spring (64) extends into the limiting groove (61) and is fixedly connected to the inner wall of the limiting groove (61).

5. The automatic tracking vehicle according to claim 3, characterized in that: The support rod (52) is provided with a sliding groove (53), and the limiting column (62) is slidably connected to the support rod (52) through the sliding groove (53); A sphere (63) is fixedly connected to the bottom of the limiting column (62), the sphere (63) is arranged below the support rod (52), and the diameter of the sphere (63) is greater than the width of the sliding groove (53).

6. The automatic tracking vehicle according to claim 1, characterized in that: The movable block (7) is provided with a plurality of arcuate surfaces (71) in the circumferential direction, and a plurality of balls (72) are respectively embedded in the plurality of arcuate surfaces (71).

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