AGV (Automatic Guided Vehicle) with anti-toppling function

Abstract

The utility model belongs to the field of logistics transport vehicles, and provides an AGV (Automatic Guided Vehicle) with an anti-toppling function, which comprises a chassis frame, an anti-toppling device, a steering wheel system, a controller and a sensor, the chassis frame has a first direction and a second direction perpendicular to the first direction, and the first direction is consistent with the length direction of the bottom frame; the steering wheel system is located below the chassis frame and provides power for the chassis frame. The anti-toppling device can move in the horizontal direction in the direction perpendicular to the chassis frame. The anti-toppling device is provided with a first position and a second position; when the anti-toppling device is located at the first position, the anti-toppling device is located on the outer side of the chassis frame; when the anti-toppling device is located at the second position, the anti-toppling device is located in the chassis frame; according to the AGV with the anti-toppling function, the climbing gradient range of the AGV is enlarged, and particularly aiming at the condition of dragging goods, an anti-toppling device and a servo motor are combined, so that the phenomenon that the AGV topples over or a power wheel is suspended in the climbing process is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of logistics transportation vehicles, and in particular relates to an AGV vehicle with anti-tipping function. Background Technology

[0002] With the development of automated logistics technology, AGVs (Automated Guided Vehicles) have been widely used in factories, warehouses, and other scenarios. In existing AGV applications, when hauling goods and performing uphill operations, the AGV chassis may experience the phenomenon of the drive wheels being suspended in the air when entering the slope, and may tip over after going uphill due to the traction force of the goods and the shift of the center of gravity. The risk of these two phenomena increases significantly, especially when operating on steep slopes.

[0003] For example, the prior art application No. 202322199949.6 discloses an AGV chassis passage device suitable for steep inclines and declines, which uses an electric push rod to reduce or eliminate the large tilting of the AGV trolley during the climbing process, ensuring the stability of the AGV trolley when traveling uphill. Chinese patent application No. 201610046185.9 discloses an AGV vehicle with a simple, compact structure, small size, and high flexibility. It adopts a highly stable lifting mechanism. However, on some sloping freight roads, because the device does not have a leveling device, the goods transported on top of the device are prone to tipping over.

[0004] The existing technology has the following defects and shortcomings: the AGV chassis has insufficient slope crossing ability, the middle wheel of the AGV will be suspended in the air when entering the slope, causing the AGV to lose balance, and it is easy to tip over because there is no leveling device. Utility Model Content

[0005] This invention provides an AGV vehicle with an anti-tipping function, which solves the problem of AGV vehicles easily tipping over.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] An AGV (Automated Guided Vehicle) with anti-tipping function includes: a chassis frame, a steering wheel system, and an anti-tipping device; the chassis frame has a first direction and a second direction perpendicular to the first direction, the first direction being consistent with the length direction of the chassis frame; the steering wheel system is located below the chassis frame and provides power for the movement of the chassis frame; the anti-tipping device is configured to move along the second direction of the chassis frame, and the anti-tipping device has a first position and a second position; when the anti-tipping device is in the first position, the anti-tipping device is located outside the chassis frame; when the anti-tipping device is in the second position, the anti-tipping device is located inside the chassis frame.

[0008] Furthermore, in the AGV vehicle described above, the anti-tipping device has a frame structure, and a first steering wheel is arranged below the frame structure; the steering wheel system includes a second steering wheel and a third steering wheel arranged along the first direction below the chassis frame; the first steering wheel, the second steering wheel and the third steering wheel form a triangular structure.

[0009] Furthermore, in the AGV vehicle described above, a slide rail extending in a second direction is provided on the chassis frame, and the anti-tipping device is installed on the slide rail.

[0010] Furthermore, in the AGV vehicle described above, the anti-tipping device includes a sensor for acquiring signals that trigger the switching between the first and second positions; the sensor is a slope sensor for detecting the slope of the road on which the AGV vehicle travels; or

[0011] The sensor is a weight sensor, which is used to detect the load of the AGV vehicle.

[0012] Furthermore, in the AGV vehicle described above, each of the first, second, and third steering wheels is equipped with a traction servo motor and a steering servo motor. The traction servo motor is used to provide driving power to the steering wheel, and the steering servo motor is used to control the direction of each steering wheel.

[0013] Furthermore, in the AGV vehicle described above, a support is provided above the chassis frame, and the support has a third position and a fourth position; when the support is in the third position, the support is in an upward unfolded state; when the support is in the fourth position, the support is in a downward folded state; a platform is provided above the support for carrying goods; rollers are provided on the platform for moving goods on the platform; wherein, when the support is in the third position, the anti-tipping device is in the first position; when the support is in the fourth position, the anti-tipping device is in the second position.

[0014] Furthermore, in the AGV vehicle described above, each of the first, second, and third steering wheels is equipped with an independent shock absorption device.

[0015] Furthermore, in the AGV vehicle described above, the shock absorption device includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a shock absorption spring, a guide post, and a fixing plate. The fixing plate is located above the steering wheel and is used to mount the steering wheel. The first rotating shaft is provided on one side of the steering wheel, and the second rotating shaft and the third rotating shaft are provided on the other side of the steering wheel. The third rotating shaft is located above the second rotating shaft. The first rotating shaft and the steering wheel are rotatably connected to adjust the relative positional relationship between the steering wheel and the fixing plate. The second rotating shaft and the steering wheel are rotatably connected to adjust the relative positional relationship between the steering wheel and the fixing plate. One end of the guide post is rotatably connected to the second rotating shaft, and the other end is rotatably connected to the third rotating shaft. The shock absorption spring is sleeved on the outside of the guide post to reduce the vibration of the steering wheel system.

[0016] Furthermore, in the AGV vehicle described above, the shock absorption device also includes a fixed beam; one end of the fixed beam is rotatably connected to the first rotating shaft, and the other end is rotatably connected to the third rotating shaft.

[0017] Furthermore, in the AGV vehicle described above, the fixed beam is arranged in an arc shape on the outside of the steering wheel, including a first arc and a second arc, the first arc and the second arc are fixedly connected, and the first arc and the second arc are stepped; the width of the second arc is greater than the width of the first arc; a through hole is provided in the middle of the fixed plate, and the top of the steering wheel can be exposed through the through hole.

[0018] The technical solution provided in this application has the following beneficial effects:

[0019] Existing AGVs typically employ a fixed steering wheel layout, which cannot meet the needs of different working conditions. This patent, through a flexible steering wheel layout design, enables the AGV to adapt to different operating environments, especially under heavy load and climbing conditions. By optimizing the wheel system, traction and stability are improved, greatly enhancing the AGV's adaptability.

[0020] In existing AGV designs, tipping is a common risk when towing goods and climbing slopes. This patent addresses this issue with an innovative anti-tipping device that increases the support area of ​​the AGV chassis, effectively preventing tipping risks caused by shifts in the center of gravity or changes in traction force, thus improving the safety of the AGV in complex working conditions.

[0021] This patent utilizes a servo motor on the steering wheel to control traction and steering, enabling precise adjustment of the AGV's power output and steering angle. The servo motor's fast response and high control precision ensure that the AGV can still flexibly steer and stably traction while climbing hills, overcoming the shortcomings of traditional drive systems such as uneven power distribution or inflexible steering during heavy-load hill climbing.

[0022] Existing AGVs often suffer from insufficient traction and slippage on slopes. This patent optimizes the chassis structure and traction distribution to ensure stable traction output even on slopes up to 8 degrees, preventing slippage or loss of control and greatly improving the AGV's climbing ability and stability. Attached Figure Description

[0023] Figure 1 A schematic diagram of the unfolded anti-tipping device of an AGV vehicle with anti-tipping function provided in this application;

[0024] Figure 2 A schematic diagram of the retraction structure of the anti-tipping device of an AGV vehicle with anti-tipping function provided in this application;

[0025] Figure 3 A schematic diagram of the slide rail of an AGV vehicle with anti-tipping function provided in this application;

[0026] Figure 4 A schematic diagram of the steering wheel of an AGV vehicle with anti-tipping function provided in this application;

[0027] Figure 5 A front view of the steering wheel of an AGV vehicle with anti-tipping function provided in this application;

[0028] Reference numerals in the attached diagram: Chassis frame 11, Anti-tipping device 12, Steering wheel system 13, Bracket 14, Sensor 15, Platform 16, Conveyor belt 17, Traction servo motor 18, Steering servo motor 19, Shock absorber 20, First rotating shaft 21, Second rotating shaft 22, Third rotating shaft 23, Guide column 24, Fixing plate 25, Fixing beam 26, First arc 261, Second arc 262, Brake 27, Brake control line 271, Shock absorber spring 28, Slide rail 31. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] See attached document Figure 1-4 This application provides a detailed description of an AGV vehicle with anti-tipping function according to an embodiment. Figure 1 A schematic diagram of the unfolded anti-tipping device of an AGV vehicle with anti-tipping function provided in this application; Figure 2 A schematic diagram of the retraction structure of the anti-tipping device of an AGV vehicle with anti-tipping function provided in this application; Figure 3 A schematic diagram of the slide rail of an AGV vehicle with anti-tipping function provided in this application; Figure 4 A schematic diagram of the steering wheel of an AGV vehicle with anti-tipping function provided in this application; Figure 5 A front view of the steering wheel of an AGV vehicle with anti-tipping function provided in this application.

[0033] In short, the basic technical solution of this utility model is briefly described as follows:

[0034] An AGV vehicle with anti-tipping function includes: chassis frame 11, anti-tipping device 12, steering wheel system 13, controller and sensor 15;

[0035] The chassis frame 11 has a first direction and a second direction perpendicular to the first direction, the first direction being consistent with the length direction of the bottom frame;

[0036] The steering wheel system 13 is located below the chassis frame 11. The steering wheel is arranged in a triangular shape and provides power to the chassis frame 11. The steering wheel system 13 is electrically connected to the controller and includes a steering wheel.

[0037] The anti-tipping device 12 is movable in the horizontal direction in a direction perpendicular to the chassis frame 11; the anti-tipping device 12 has a first position and a second position; in the first position, the anti-tipping device 12 is located outside the chassis frame 11; in the second position, the anti-tipping device 12 is located inside the chassis frame 11; that is, the anti-tipping device 12 is configured to move in a second direction along the bottom frame;

[0038] The chassis frame 11 is provided with a slide rail 31, and an anti-tipping device 12 is installed on the slide rail 31. A sensor 15 is provided at the bottom of the chassis frame 11. The steering wheel system 13, the anti-tipping device 12, and the sensor 15 are electrically connected to the controller. The sensor 15 is used to monitor the slope, the attitude of the AGV vehicle, and the weight of the cargo. The controller controls the anti-tipping device 12 to unfold or retract based on the data provided by the sensor 15.

[0039] The purpose of this patent is to provide an AGV with an anti-tipping function, which increases the AGV's climbing gradient range, especially for hauling goods. Through its layout design, combined with the anti-tipping device 12 and a servo motor, this AGV ensures that it will not tip over or have its drive wheels suspended in the air when climbing slopes.

[0040] The following section discusses in detail an AGV vehicle with anti-tipping function provided in this application.

[0041] like Figure 1-3 As shown, the AGV vehicle with anti-tipping function provided in this application includes the chassis frame 11, anti-tipping device 12, steering wheel system 13, controller, and sensor 15 mentioned in the above embodiments.

[0042] The steering wheel system 13 is located below the chassis frame 11 and provides power to the chassis frame 11. The steering wheel system 13 is electrically connected to the controller and includes a steering wheel. A slide rail 31 is provided at a position perpendicular to the chassis frame 11 and in the middle of the bottom frame. That is, a slide rail extending in a second direction is provided on the bottom frame. An anti-tipping device 12 is installed on the slide rail 31 to prevent the AGV from tipping over when towing goods and climbing slopes. It automatically deploys when working on slopes and automatically retracts when working on flat roads. The anti-tipping device can also provide power to the chassis frame.

[0043] The anti-tipping device includes a sensor 15 located at the bottom of the chassis frame 11 or on the steering wheel. This sensor monitors the slope, the AGV's posture, and the weight of the cargo. The sensor 15 is electrically connected to the controller, sending monitoring data to collect signals that trigger the switching between the first and second positions. Based on the data received from the sensor 15, the controller controls the anti-tipping device 12 to move (deploy or retract). When the sensor 15 detects a first limit value, the controller controls the anti-tipping device 12 to move to the first position. In the first position, the anti-tipping device 12 and the chassis frame 11 form a T-shape, increasing the support area and improving stability; that is, the anti-tipping device 12 and the chassis frame 11 are vertically aligned. When the sensor 15 detects a second limit value, the controller controls the anti-tipping device 12 to move to the second position. In the second position, the anti-tipping device 12 is located within the chassis frame 11. The sensor can be a slope sensor or a weight sensor. The slope sensor detects the slope of the road the AGV travels on; the weight sensor detects the load on the AGV.

[0044] In one specific embodiment, the first limiting value is when the slope is greater than the maximum limiting value, and the second limiting value is when the slope is less than the minimum limiting value; preferably, the maximum limiting value is 5°, and the minimum limiting value is 3°. In another specific embodiment, the first limiting value is when the goods reach 200kg, and the second limiting value is when the goods are less than 200kg.

[0045] In other words, when sensor 15 detects a slope greater than the maximum set value, the controller controls the anti-tipping device 12 to move and unfold along the slide rail 31 away from the chassis frame 11; when sensor 15 detects a slope less than the minimum set value, the controller controls the anti-tipping device 12 to move and retract along the slide rail 31 towards the chassis frame 11 based on the data received from sensor 15. Preferably, the maximum set value is 5° and the minimum set value is 3°. Alternatively, when the AGV's load reaches 200kg, the controller controls the anti-tipping device 12 to automatically unfold along the slide rail 31 based on the data received from sensor 15, forming a support, increasing the chassis's support area, and preventing tipping due to changes in the center of gravity; when the AGV's load is less than 200kg, the controller controls the anti-tipping device 12 to automatically retract along the slide rail 31 based on the data received from sensor 15.

[0046] The anti-tipping device 12 has a frame structure, with a first steering wheel located below the frame structure. The first steering wheel can provide power to the chassis frame. When the AGV is running on flat ground, the anti-tipping device 12 is located inside the chassis frame 11. When the AGV is running on a slope, the anti-tipping device 12 unfolds along the slide rail 31 via one of its steering wheels, and the anti-tipping device 12 and the chassis frame 11 form a T-shape. When the AGV is running on flat ground, the anti-tipping device 12 retracts along the slide rail 31 via one of its steering wheels.

[0047] like Figure 4-5 As shown, the steering wheel system 13 includes steering wheels. Specifically, the steering wheel system includes a second steering wheel and a third steering wheel positioned below the chassis frame along a first direction. The first, second, and third steering wheels form a triangular structure to ensure the stable operation of the AGV. A controller is electrically connected to each steering wheel to control its operation. Each steering wheel (including each of the first, second, and third steering wheels) is equipped with a traction servo motor 18 and a steering servo motor 19. The traction servo motor 18 provides driving power to the steering wheel, and the steering servo motor 19 controls the direction of each steering wheel. The controller is electrically connected to the traction servo motor 18 to control its operation, and also electrically connected to the steering servo motor 19 to control its operation. The AGV adopts a layout where the traction servo motor 18 and steering servo motor 19 of the steering wheels control driving and steering respectively, ensuring the AGV's stability and steering flexibility when traction cargo. This layout enables flexible 360-degree all-around steering, while providing good flexibility and stability in complex working conditions.

[0048] A support frame 14 is mounted on top of the chassis frame 11, and the support frame 14 is electrically connected to the controller. The support frame 14 is telescopic, meaning its height is adjustable. The support frame 14 has a third position and a fourth position. When the support frame 14 is in the third position, it is in an upward-extended state; when the support frame 14 is in the fourth position, it is in a downward-folded state. In one specific embodiment, the third position of the support frame 14 is a climbing position; the fourth position of the support frame 14 is a flat-road working position. The chassis is made of lightweight materials, and a platform 16 is mounted on top of the support frame 14 for carrying goods. The platform 16 is equipped with rollers for moving the goods on the platform 16. The controller controls the extension and retraction of the support frame 14 and the operation of the rollers. One end of the platform 16 serves as the loading entrance for goods, and the other end is connected to a conveyor belt 17 for transporting goods. The controller is electrically connected to the conveyor belt 17 and controls its operation. Goods enter from one end of the platform 16, pass through the rolling rollers, enter the conveyor belt 17, and are transported to a designated location by the conveyor belt 17. To enable goods distribution on slopes, the support frame 14 automatically raises and deploys when climbing slopes and lowers and retracts when operating on level ground, ensuring flexibility. In other words, when the support frame is in the third position, the anti-tipping device is in the first position; when the support frame is in the fourth position, the anti-tipping device is in the second position.

[0049] like Figure 4As shown, each steering wheel is equipped with a brake 27 (also called a holding brake) for decelerating and stopping the steering wheel. The brake 27 is electrically connected to the controller via the brake control line 271. Specifically, the controller can control the deceleration and braking of the steering wheels through the brake 27. The controller can control the deceleration and braking of each steering wheel individually, or it can control the deceleration and braking of all three steering wheels simultaneously.

[0050] In one specific embodiment, a crash barrier is provided on the outer side of the chassis frame 11 to protect the chassis frame 11. In another specific embodiment, a collision sensor 15 is provided on the crash barrier. The collision sensor 15 is electrically connected to the controller, which controls the deceleration and braking of the steering wheel based on the data from the collision sensor 15 to prevent a collision.

[0051] like Figure 4 As shown, the steering wheel system 13 is equipped with a shock absorber 20 to reduce vibration. Specifically, each steering wheel (including each of the first, second, and third steering wheels) is equipped with an independent shock absorber 20, which can adjust the height and ground pressure of the steering wheel according to the terrain, prevent the steering wheel from being suspended on slopes, ensure close contact between the tires and the ground, and guarantee stable traction output. The shock absorber 20 can be adjusted independently or electrically connected to the controller for control. The shock absorption device 20 includes a first rotating shaft 21, a second rotating shaft 22, a third rotating shaft 23, a shock absorption spring 28, a guide post 24, a fixing plate 25, and a fixing beam 26. The fixing plate 25 is located above the steering wheel and is used to install the steering wheel. A through hole is provided in the middle of the fixing plate 25, and the top of the steering wheel can be exposed through the through hole. The through hole is used to save materials, reduce weight, and facilitate the installation of the steering wheel. The steering wheel can move up and down in a direction perpendicular to the fixing plate 25. The first rotating shaft 21 is rotatably connected to the steering wheel and is used to adjust the relative positional relationship between the steering wheel and the fixing plate 25. The second rotating shaft 22 is rotatably connected to the steering wheel and is used to adjust the relative positional relationship between the steering wheel and the fixing plate 25. The steering wheel has a first rotating shaft 21 on one side and a second rotating shaft 22 and a third rotating shaft 23 on the other side. The third rotating shaft 23 is located above the second rotating shaft 22 on the other side of the steering wheel. It should be noted that one side of the steering wheel is the front and the other side is the rear. That is, the first rotating shaft 21 is installed on the front side of the steering wheel, and the second rotating shaft 22 and the third rotating shaft 23 are installed on the rear side of the steering wheel. The steering wheel always moves towards the first rotating shaft 21. That is, when moving forward, the steering wheel moves towards the first rotating shaft 21. When moving backward, the steering wheel rotates 180 degrees and still moves towards the first rotating shaft 21 to achieve backward movement.

[0052] One end of the guide post 24 is rotatably connected to the second rotating shaft 22, and the other end is rotatably connected to the third rotating shaft 23. In other words, the guide post 24 connects the second rotating shaft 22 and the third rotating shaft 23, and supports the second rotating shaft 22 and the third rotating shaft 23. A shock-absorbing spring 28 is sleeved on the outside of the guide post 24 to reduce vibration of the steering wheel system 13. There is a gap between the shock-absorbing spring 28 and the guide post 24 to alleviate vibration. One end of the fixed beam 26 is rotatably connected to the first rotating shaft 21, and the other end is rotatably connected to the third rotating shaft 23. The fixed beam 26 supports the first rotating shaft 21 and the third rotating shaft 23. 3. The fixed beam 26 is arc-shaped and located on the outside of the steering wheel, including a first arc 261 and a second arc 262. The first arc 261 and the second arc 262 are fixedly connected. Specifically, the first arc 261 and the second arc 262 are welded together or integrally formed. To optimize space and avoid interference between components, the first arc 261 and the second arc 262 are stepped. The width of the second arc 262 is greater than the width of the first arc 261, increasing the adjustment range of the shock-absorbing spring 28 and thus expanding the application range of the AGV. The arrangement of the fixed plate 25, guide column 24, fixed beam 26, first rotating shaft 21, second rotating shaft 22, and third rotating shaft 23 effectively buffers the vertical force exerted by the ground on the steering wheel. Simultaneously, there is a gap between the guide column 24 and the shock-absorbing spring 28. Combined with the rotatable connection between the first rotating shaft 21 and the steering wheel, and the rotatable connection between the second rotating shaft 22 and the steering wheel, this effectively prevents the AGV's wheels from becoming suspended and losing balance.

[0053] When the steering wheel moves, the first shaft 21 is in front, and the second shaft 22 and the third shaft 23 are behind. The relative position of the first shaft 21 remains unchanged. The second shaft 22 and the third shaft 23 drive the steering wheel to rotate around the first shaft 21. When the load becomes heavier, the third shaft 23 increases the pressure on the second shaft 22 through the guide post 24, the shock-absorbing spring 28 is compressed, and the steering wheel rotates clockwise. When the sensor 15 detects the first limit value, the controller controls the anti-tipping device 12 to move to the first position. When the load becomes lighter, the pressure on the third shaft 23 through the guide post 24 decreases, the shock-absorbing spring 28 extends, and the steering wheel rotates counterclockwise. When the sensor 15 detects the second limit value, the controller controls the anti-tipping device 12 to move to the second position.

[0054] When one of the steering wheels is suspended from the ground, the pressure between the steering wheel and the ground decreases, the pressure on the third rotating shaft 23, the second rotating shaft 22 and the guide column 24 decreases, the shock-absorbing spring 28 extends, and the steering wheel moves toward the ground. The distance of the movement toward the ground is no more than 10mm, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10mm, so as to achieve contact between the steering wheel and the ground, thereby stabilizing the AGV vehicle.

[0055] The anti-tipping device 12 automatically deploys when operating on a slope, and the shock absorption device 20 can automatically adjust the ground pressure of the steering wheel according to the road surface conditions (i.e., road surface smoothness) and slope changes to ensure that the steering wheel is on the ground and prevent the steering wheel from being suspended in the air, resulting in insufficient traction.

[0056] The controller monitors the slope and the AGV's posture in real time through sensor 15, and controls the traction servo motor and steering servo motor to control the steering wheel's power and direction, ensuring the AGV travels smoothly on the slope. The anti-tipping device 12 can automatically deploy or retract according to the AGV's load and the slope conditions during climbing, effectively reducing the risk of tipping over by increasing the chassis's support surface.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] For those skilled in the art, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. It is obvious that this invention is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, all embodiments are merely illustrative and not exhaustive, and should be considered exemplary and non-limiting. The scope of this invention is defined by the appended claims rather than the foregoing description, and therefore all changes falling within the meaning and scope of equivalents of the claims are intended to be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims. All changes within the scope of this invention or its equivalents are included in this invention.

Claims

1. An AGV vehicle with anti-tipping function, characterized in that, include: Chassis frame, steering wheel system, and anti-tipping device; The chassis frame has a first direction and a second direction perpendicular to the first direction, wherein the first direction is consistent with the length direction of the chassis frame; The steering wheel system is located below the chassis frame and provides power for the movement of the chassis frame; The anti-tipping device is configured to move along a second direction of the chassis frame. The anti-tipping device has a first position and a second position. When the anti-tipping device is in the first position, it is located outside the chassis frame. When the anti-tipping device is in the second position, it is located inside the chassis frame.

2. The AGV vehicle according to claim 1, characterized in that, The anti-tipping device has a frame structure, and a first steering wheel is installed below the frame structure; The steering wheel system includes a second steering wheel and a third steering wheel disposed below the chassis frame along the first direction; The first steering wheel, the second steering wheel, and the third steering wheel form a triangular structure.

3. The AGV vehicle according to claim 1, characterized in that, The chassis frame is provided with a slide rail extending in a second direction, and the anti-tipping device is installed on the slide rail.

4. The AGV vehicle according to claim 1, characterized in that, The anti-tipping device has a sensor, which is used to collect signals that trigger the switching between the first position and the second position; The sensor is a slope sensor, used to detect the slope of the road the AGV is traveling on; or The sensor is a weight sensor, which is used to detect the load of the AGV vehicle.

5. The AGV vehicle according to claim 2, characterized in that, Each of the first, second, and third steering wheels is equipped with a traction servo motor and a steering servo motor. The traction servo motor is used to provide driving power to the steering wheel, and the steering servo motor is used to control the direction of each steering wheel.

6. The AGV vehicle according to claim 1, characterized in that, A support is provided above the chassis frame, and the support has a third position and a fourth position; when the support is in the third position, the support is in an upward unfolded state; when the support is in the fourth position, the support is in a downward folded state. A platform is provided above the support frame for supporting goods; rollers are provided on the platform for moving the goods on the platform. When the support is in the third position, the anti-tipping device is in the first position; When the support is in the fourth position, the anti-tipping device is in the second position.

7. The AGV vehicle according to claim 2, characterized in that, Each of the first, second, and third steering wheels is equipped with an independent shock absorption device.

8. The AGV vehicle according to claim 7, characterized in that, The shock absorption device includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a shock absorption spring, a guide post, and a fixing plate; The fixing plate is located above the steering wheel and is used to install the steering wheel. The first rotating shaft is provided on one side of the steering wheel, and the second rotating shaft and the third rotating shaft are provided on the other side of the steering wheel. The third rotating shaft is located above the second rotating shaft. The first rotating shaft is rotatably connected to the steering wheel, and is used to adjust the relative positional relationship between the steering wheel and the fixed plate; The second rotating shaft is rotatably connected to the steering wheel and is used to adjust the relative positional relationship between the steering wheel and the fixed plate; One end of the guide post is rotatably connected to the second rotating shaft, and the other end is rotatably connected to the third rotating shaft; The shock-absorbing spring is sleeved on the outside of the guide post to reduce the vibration of the steering wheel system.

9. The AGV vehicle according to claim 8, characterized in that, The shock absorption device also includes a fixed beam; One end of the fixed beam is rotatably connected to the first rotating shaft, and the other end is rotatably connected to the third rotating shaft.

10. The AGV vehicle according to claim 9, characterized in that, The fixed beam is arranged in an arc shape on the outside of the steering wheel, including a first arc and a second arc, the first arc and the second arc are fixedly connected, and the first arc and the second arc are stepped. The width of the second arc is greater than the width of the first arc; The fixed plate has a through hole in the middle, and the top of the steering wheel can be exposed through the through hole.

Images