Automatic carrying trolley

Abstract

The utility model discloses an automatic carrying trolley, and belongs to the technical field of automatic carrying trolleys. The vehicle body comprises a vehicle frame, a frame body and a rotating shaft; the rotating shaft is horizontally arranged in the middle of one end of the frame; the length direction of the rotating shaft is consistent with that of the frame; the frame body is rotationally arranged on the rotating shaft; the length direction of the frame body is consistent with the width direction of the frame; the frame body is located under the frame. The walking wheels are arranged on the vehicle body; the walking wheels comprise driving wheels and universal wheels; the traveling wheels are positioned below the frame and the frame body; the walking wheels on the frame body are located at the two ends of the frame body respectively. The control system is arranged on the frame; the control system is in circuit connection with the driving wheels. The vehicle body has the adjusting function, the positions and heights of the walking wheels on the frame body can be automatically adjusted according to the unevenness of the ground, the walking wheels are prevented from being separated from the ground, the walking wheels on the frame body make contact with the ground all the time, the stability and reliability of the whole vehicle are improved, and the vehicle can automatically adapt to the uneven road surface and is high in adaptability.

Description

TECHNICAL FIELD

[0001] The utility model belongs to automatic handling dolly technical field, concretely relates to an automatic handling dolly. BACKGROUND

[0002] The automatic guided vehicle is an industrial vehicle that is automatically controlled and travels by using a battery as a power source, also called an automatic guided vehicle, an automatic guided trolley, and AGV for short. The AGV trolley loads goods automatically or manually, travels automatically according to a set route, or drags a loading platform to a designated location to complete the transportation of goods.

[0003] However, the existing automatic handling dolly has limited adjustment capability and cannot adapt to different use scenarios. For example, when the automatic handling dolly travels on uneven road surfaces, some of the wheels will be separated from the ground or will slip, especially when the driving wheels of the automatic handling dolly with a single driving mechanism are separated from the ground, which will cause the dolly to be unable to move forward and to operate unstably. In addition, some automatic handling dollies cannot complete self-rotation in a limited space, or cannot detect obstacles around them during operation, which may cause collisions.

[0004] Therefore, it is necessary to design an automatic handling dolly that has good stability and high adaptability. UTILITY MODEL CONTENTS

[0005] The utility model provides an automatic handling dolly to solve the technical problem mentioned in the background.

[0006] To achieve the above purpose, the utility model adopts the following technical scheme:

[0007] An automatic handling dolly comprises a vehicle body, a frame, a frame body, and a rotating shaft. The rotating shaft is horizontally arranged at the middle of one end of the frame. The length direction of the rotating shaft is consistent with the length direction of the frame. The frame body is rotatably arranged on the rotating shaft. The length direction of the frame body is consistent with the width direction of the frame. The frame body is located directly below the frame. Walking wheels are arranged on the vehicle body. The walking wheels comprise driving wheels and universal wheels. The walking wheels are located below the frame and the frame body. The walking wheels on the frame body are located at both ends of the frame body. A control system is arranged on the frame. The control system is electrically connected with the driving wheels.

[0008] As a further improvement of the technical scheme, the driving wheels are steering wheels. At least one driving wheel and one universal wheel are arranged on the frame body and the frame.

[0009] As a further improvement of the technical scheme, the driving wheels on the frame and the driving wheels on the frame body are distributed at opposite angles.

[0010] As a further improvement of the technical scheme, the frame is a hollow structure; the walking wheels are located directly below the four corners of the vehicle body.

[0011] As a further improvement of the technical scheme, the vehicle body further comprises a first support; the universal wheels on the frame are connected with the frame through the first support; the top end of the first support is connected with the bottom surface of the end of the frame away from the frame body, and the other end is connected with the universal wheels.

[0012] As a further improvement of the technical scheme, the vehicle body further comprises a second support; the top end of the second support is connected with the bottom surface of the middle part of the frame; the bottom surface of the second support is higher than the bottom end of the walking wheels; the top end of the second support is an open structure; the second support is provided with a first accommodating space and a second accommodating space.

[0013] As a further improvement of the technical scheme, the control system comprises a battery, a controller and a magnetic navigation sensor; the battery and the controller are located in the middle part of the frame; the magnetic navigation sensor is located at the end of the frame; the battery and the magnetic navigation sensor are circuit-connected with the controller.

[0014] As a further improvement of the technical scheme, the control system further comprises a distance measuring sensor; the distance measuring sensor is located at the end of the frame; the distance measuring sensor is circuit-connected with the controller.

[0015] As a further improvement of the technical scheme, the control system further comprises a wireless remote controller and a remote controller receiver; the remote controller receiver is located on the end of the frame away from the frame body; the remote controller receiver is circuit-connected with the controller; the remote controller receiver is electrically connected with the remote controller.

[0016] As a further improvement of the technical scheme, the control system further comprises an RFID card reader and a mounting plate; the mounting plate is arranged on the bottom surface of the middle part of the frame; the RFID card reader is arranged on the mounting plate; the RFID card reader is circuit-connected with the controller.

[0017] As a further improvement of the technical scheme, the vehicle body further comprises a hydraulic lifting platform; the hydraulic lifting platform is arranged on the top surface of the frame; the hydraulic lifting platform is circuit-connected with the control system.

[0018] Compared with the prior art, the utility model has the advantages that:

[0019] The vehicle body of the present application has an adjusting function, can be applicable to different scenes, and the frame body is supported by the rotating shaft, rotates up and down on both sides of the rotating shaft, when the road surface is a flat road surface, the frame body keeps balance, the walking wheels are in contact with the ground, and stable running is achieved, when the ground is uneven, the frame body is supported by the rotating shaft, is rotated and inclined, forms high at one end and low at one end, the walking wheels on the frame body are inclined along with the frame body, the position height of the walking wheels on the frame body is automatically adjusted according to the unevenness of the ground, the walking wheels are prevented from being separated from the ground, the walking wheels on the frame body are kept in contact with the ground at all times, the stability and reliability of the whole vehicle are improved, the uneven road surface can be automatically adapted, and the adaptability is high. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and should not be regarded as a limitation to the scope, and for the ordinary skilled in the art, other related drawings can be obtained without creative labor on the basis of the drawings.

[0021] Figure 1 The structure diagram of the automatic carrying trolley provided by the present application Figure 1

[0022] Figure 2 The structure diagram provided by the present application Figure 2

[0023] Figure 3 The structure diagram provided by the present application Figure 3

[0024] The structure diagram provided by the present application Figure 4 Figure 4 The structure diagram provided by the present application

[0025] Figure 5 Figure 5 The structure diagram provided by the present application

[0026] The drawings show that 1 is a vehicle body, 11 is a vehicle frame, 12 is a frame body, 13 is a rotating shaft, 14 is a first support, 15 is a second support, 16 is a hydraulic lifting platform, 2 is a walking wheel, 21 is a driving wheel, 22 is a universal wheel, 3 is a control system, 31 is a battery, 32 is a controller, 33 is a magnetic navigation sensor, 34 is a distance measuring sensor, 35 is a remote control receiver, 36 is an RFID card reader, and 37 is a mounting plate. DETAILED DESCRIPTION

[0027] ​​​​In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort fall within the scope of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should have the usual meaning understood by those of ordinary skill in the art to which the present application belongs.

[0028] The terms "first", "second", and similar terms used in the description and claims of the present application do not denote any order, number, or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" do not denote a quantity restriction, but denote the existence of at least one. The terms "include" or "contain" and similar terms mean that the elements or objects appearing before "include" or "contain" cover the features, integers, steps, operations, elements, and / or components listed after "include" or "contain", and do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components, and / or sets. "Up", "down", "left", "right", and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0029] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, terms such as "mounting", "connecting", "connecting", "setting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements inside. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] Embodiment one:

[0031] As Figures 1 to 5As shown, an automated guided vehicle (AGV) includes: a vehicle body 1, wheels 2, and a control system 3; the vehicle body 1 includes a frame 11, a support 12, and a rotating shaft 13; the rotating shaft 13 is horizontally positioned at the middle of one end of the frame 11; the length direction of the rotating shaft 13 is consistent with the length direction of the frame 11; the support 12 is rotatably mounted on the rotating shaft 13; preferably, the frame 11 has a hollow structure to reduce the overall weight of the vehicle; the length direction of the support 12 is consistent with the length direction of the frame 11; the length direction of the support 12 is consistent with the width of the frame 11. The directions are consistent; the frame 12 is located directly below the frame 11, that is, the frame 21 rotates below the frame 11; the traveling wheels 2 are set on the vehicle body 1; the traveling wheels 2 include drive wheels 21 and swivel wheels 22; the traveling wheels 2 are located below the frame 11 and the frame 12, that is, the traveling wheels 2 are installed on the frame 11 and the frame 12, wherein the traveling wheels 12 on the frame 12 are located at both ends of the frame 12; the control system 3 is set on the frame 11; the control system 3 is electrically connected to the drive wheel 21 to control the movement of the drive wheel 21.

[0032] Work style:

[0033] The vehicle body 1 of this application has an adjustment function, which can be used in different scenarios. The frame 12 uses the pivot 13 as a support point and rotates up and down on both sides of the pivot 13. When the road surface is flat, the frame 12 remains balanced and the traveling wheels 2 are in contact with the ground, running smoothly. When the ground is uneven, the frame 12 uses the pivot 13 as a support point and rotates and tilts, forming a situation where one end is high and the other end is low. The traveling wheels 2 on the frame 12 tilt with the frame 12. The position of the traveling wheels 2 on the frame 12 is automatically adjusted according to the unevenness of the ground to prevent the traveling wheels 2 from separating from the ground, so that the traveling wheels on the frame 12 always keep in contact with the ground, improving the stability and reliability of the whole vehicle. It can automatically adapt to uneven road surfaces and has strong adaptability.

[0034] like Figure 2 and Figure 5 As shown, the drive wheel 21 is a steering wheel, which has strong adaptability, high control precision and flexibility, and can be applied to various scenarios. At least one drive wheel 21 and one omnidirectional wheel 22 are provided on the frame 12 and the chassis 11, forming a dual-drive system that enhances power and steering capability. It should also be noted that the connection between the control system and the drive wheel is a conventional connection; the specific model of the drive wheel is not an improvement point of this application and will not be elaborated upon here.

[0035] like Figure 2 and Figure 5 As shown, the drive wheels 21 on the frame 11 and the drive wheels 21 on the body 12 are diagonally distributed to ensure that in areas with large road unevenness, there is always one drive wheel 21 in contact with the ground to provide power, and it also facilitates better steering of the frame 11.

[0036] like Figure 1And Figure 2 As shown in the figure, the vehicle body 1 further comprises a hydraulic lifting platform 16; the hydraulic lifting platform 16 is arranged on the top surface of the vehicle frame 11; the hydraulic lifting platform 16 is circuit-connected with the control system 3; the hydraulic lifting platform 16 lifts the carried goods through the hydraulic rod, which is convenient for the staff to transfer the goods.

[0037] Example two:

[0038] As Figures 3 to 5 shown, compared with example one, the difference is that the vehicle frame 11 is a hollow structure to reduce the weight of the whole vehicle; the walking wheels 2 are located directly below the four corners of the vehicle body 1.

[0039] As Figure 3 and Figure 4 shown, the vehicle body 1 further comprises a first support 14; the universal wheels 22 on the vehicle frame 11 are connected with the vehicle frame 11 through the first support 14; the top end of the first support 14 is connected with the bottom surface of the end of the vehicle frame 11 away from the frame body 12, and the other end is connected with the universal wheels 22; because there is a height difference between the universal wheels 22 on the frame body 12 and the universal wheels 22 on the vehicle frame 11, the first support 114 is needed to reduce the height difference between the universal wheels 22 on the vehicle frame 11 and the frame body 12; preferably, the top end of the first support 14 is an open structure, so that the first support 14 can accommodate other equipment components, such as a remote control receiver.

[0040] As Figure 3 and Figure 4 shown, preferably, the vehicle body 1 further comprises a second support 15; the top end of the second support 15 is connected with the middle bottom surface of the vehicle frame 11; the bottom surface of the second support 15 is higher than the bottom end of the walking wheels 2; the top end of the second support 15 is an open structure; the second support 15 is provided with a first accommodating space and a second accommodating space, so that the second support 15 can accommodate equipment components, such as batteries, controllers, etc.

[0041] Example three:

[0042] As Figures 1 to 5 shown, compared with example two, the difference is that the control system 3 comprises a battery 31, a controller 32 and a magnetic navigation sensor 33; the battery 31 and the controller 32 are located in the middle of the vehicle frame 11 and can be respectively placed in the first accommodating space and the second accommodating space on the second support 15, so as to reasonably utilize the space of the vehicle frame 11 and reduce the volume of the whole vehicle; the magnetic navigation sensor 33 is located at the end of the vehicle frame 11; the magnetic navigation sensor 33 is located at the front and rear ends of the vehicle frame 11, and the detection end of the magnetic navigation sensor 33 is vertically directed towards the ground; the battery 31 and the magnetic navigation sensor 33 are circuit-connected with the controller 32; preferably, the battery 31 is a lithium battery. In addition, it should be noted that the connection mode of the battery and the magnetic navigation sensor with the controller is a conventional connection, and the specific models of the battery, the magnetic navigation sensor and the controller are not the improvement points of the present application, which will not be described here.

[0043] As Figures 2 to 5 shown, the control system 3 further comprises a distance measuring sensor 34; the distance measuring sensor 34 is located at the end of the frame 11, and the distance measuring sensor 34 is located at the front and rear ends of the frame 11; the distance measuring sensor 34 can be an ultrasonic distance measuring sensor or a radar distance measuring sensor; the distance measuring sensor 34 is circuit-connected with the controller 32, when the distance measuring sensor 34 detects that there is an obstacle in front, a signal is sent to the controller 32, and the controller 32 controls the driving wheel to make corresponding driving. In addition, it should be noted that the connection mode of the distance measuring sensor and the controller is a conventional connection, and the specific model of the distance measuring sensor is not the improvement point of the present application, and will not be described here.

[0044] As Figure 3 and Figure 4 shown, preferably, the control system 3 further comprises a wireless remote controller (not shown) and a remote controller receiver 35; the remote controller receiver 35 is located on the end of the frame 11 away from the frame body 12, and can be placed in the first support 13; the remote controller receiver 35 is circuit-connected with the controller 32; the remote controller receiver 35 is electrically connected with the remote controller, that is, the remote controller is wirelessly connected with the remote controller receiver 35, and the controller 32 is remotely controlled through the remote controller, so as to facilitate the staff to control the trolley. In addition, it should be noted that the connection mode of the remote controller receiver and the controller, the remote controller is a conventional connection, and the specific model of the remote controller and the remote controller receiver is not the improvement point of the present application, and will not be described here.

[0045] As Figure 2 and Figure 5 shown, preferably, the control system 3 further comprises an RFID card reader 36 and a mounting plate 37; the mounting plate 37 is arranged on the bottom surface of the middle part of the frame 11 and located below the second support 15; the RFID card reader 36 is arranged on the mounting plate 37; the mounting plate 37 can be made of plastic or non-magnetic metal (such as stainless steel), mainly because the RFID card reader 36 cannot be directly installed on the magnetic metal, and the magnetic metal will interfere with the electromagnetic signal between the RFID card reader 36 and the magnetic track, resulting in a decrease in the distance and speed of the RFID card reader 36 to identify the station; preferably, the mounting plate 37 is made of stainless steel, which has good strength and hardness; the RFID card reader 36 is circuit-connected with the controller 32, and the RFID card reader 36 is matched with the station on the track, when the trolley reaches a station, the RFID card reader 36 will send a signal to the controller 32. In addition, it should be noted that the connection mode of the RFID card reader and the controller is a conventional connection, and the specific model of the RFID card reader is not the improvement point of the present application, and will not be described here.

[0046] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application, and any modification, equivalent replacement, and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automated guided trolley, characterized by, The utility model relates to a kind of vehicle, including: Vehicle body (1), including frame (11), frame body (12) and pivot (13);The pivot (13) is horizontally arranged in the middle of one end of the frame (11);The length direction of the pivot (13) is consistent with the length direction of the frame (11);The frame body (12) is rotationally arranged on the pivot (13);The length direction of the frame body (12) is consistent with the width direction of the frame (11);The frame body (12) is located directly below the frame (11); Walking wheel (2), arranged on the vehicle body (1);The walking wheel (2) includes drive wheel (21) and universal wheel (22);The walking wheel (2) is located below the frame (11) and the frame body (12);The walking wheel (2) on the frame body (12) is located at both ends of the frame body (12) respectively; Control system (3), arranged on the frame (11);The control system (3) is circuit-connected with the drive wheel (21).

2. The automated palletizer of claim 1, wherein, The drive wheel (21) is a rudder wheel;At least one drive wheel (21) and one universal wheel (22) are arranged on the frame body (12) and the frame (11).

3. The automated pallet truck of claim 2, wherein, The drive wheel (21) on the frame (11) and the drive wheel (21) on the frame body (12) are diagonally distributed.

4. The automated pallet truck of claim 1, wherein, The frame (11) is a hollow structure;The walking wheel (2) is located directly below the four corners of the vehicle body (1).

5. The automated pallet truck of claim 4, wherein, The vehicle body (1) further includes first support (14);The universal wheel (22) on the frame (11) is connected with the frame (11) by the first support (14);The top end of the first support (14) is connected with the bottom surface of one end of the frame (11) away from the frame body (12), and the other end is connected with the universal wheel (22).

6. The automated pallet truck of claim 4, wherein, The vehicle body (1) further includes second support (15);The top end of the second support (15) is connected with the bottom surface of the middle part of the frame (11);The bottom surface of the second support (15) is higher than the bottom end of the walking wheel (2);The top end of the second support (15) is an open structure;The second support (15) is provided with first accommodating space and second accommodating space.

7. The automated pallet truck of any one of claims 1-6, wherein, The control system (3) includes battery (31), controller (32) and magnetic navigation sensor (33);The battery (31) and the controller (32) are located in the middle of the frame (11);The magnetic navigation sensor (33) is located in the end of the frame (11);The battery (31) and the magnetic navigation sensor (33) are circuit-connected with the controller (32).

8. The automated pallet truck of claim 7, wherein, The control system (3) further includes distance measuring sensor (34);The distance measuring sensor (34) is located in the end of the frame (11);The distance measuring sensor (34) is circuit-connected with the controller (32).

9. The automated pallet truck of claim 7, wherein, The control system (3) further comprises a wireless remote controller and a remote controller receiver (35); the remote controller receiver (35) is located on one end of the frame (11) away from the frame body (12); the remote controller receiver (35) is in circuit connection with the controller (32); and the remote controller receiver (35) is in electrical signal connection with the remote controller.

10. The automated pallet truck of claim 7, wherein, The control system (3) further comprises an RFID card reader (36) and a mounting plate (37); the mounting plate (37) is arranged on the bottom surface of the middle part of the frame (11); the RFID card reader (36) is arranged on the mounting plate (37); and the RFID card reader (36) is in circuit connection with the controller (32).

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