Self-adaptive load balancing device for AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of logistics transportation, in particular to a self-adaptive load balancing device for an AGV (Automatic Guided Vehicle), which can adjust the load of each part of an AGV trolley body, ensures that each part of the AGV trolley body is stressed more uniformly, and improves the stability, reliability and practicability of the AGV trolley body during object transportation. Comprising an AGV trolley body, a cavity is formed in the AGV trolley body, and a plurality of wheels are arranged on the lower portion of the AGV trolley body; the AGV further comprises a controller, a plurality of pressure sensors, a moving mechanism and a balance weight mechanism, the pressure sensors are arranged at the upper ends of the wheels, the upper ends of the pressure sensors make contact with the AGV body, the controller is installed in a cavity of the AGV body and connected with the pressure sensors, and the balance weight mechanism is installed on the moving mechanism. The moving mechanism is located in the cavity of the AGV body, used for moving the balance weight mechanism and connected with the controller.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of logistics transportation, in particular to a kind of self-adapting load balancing device for AGV. BACKGROUND

[0002] AGV is also automatic guided vehicle, is a kind of through preset program or external navigation facility automatic travel, complete material transport task intelligent equipment.Automatic guided vehicle when transferring object, sometimes transfer some bulky, and the quality of uneven object, since the volume of this object is large, and the quality is uneven, when transferring on automatic guided vehicle, it can cause uneven stress of each part of the vehicle, unstable center of gravity, transfer vehicle is prone to overturn in moving process, affect the safety of transfer, so a kind of self-adapting load balancing device for AGV is needed. SUMMARY

[0003] To solve the above technical problems, the utility model provides a kind of load of AGV dolly body each part can be adjusted, ensure that AGV dolly body each part stress is more uniform, improve the stability of AGV dolly body when transporting object, and the self-adapting load balancing device for AGV is high in reliability and practicality.

[0004] The self-adapting load balancing device for AGV of the utility model, including AGV dolly body, chamber is provided in AGV dolly body, the lower part of AGV dolly body is provided with multiple wheels;Still including controller, multiple pressure sensors, moving mechanism and counterweight mechanism, the upper end of multiple wheels is provided with pressure sensor, the upper end of multiple pressure sensors is in contact with AGV dolly body, controller is installed in the chamber of AGV dolly body, controller is connected with multiple pressure sensors, counterweight mechanism is installed on moving mechanism, moving mechanism is located in the chamber of AGV dolly body, moving mechanism is used to move counterweight mechanism, moving mechanism is connected with controller;When transporting object, first, object is placed on the upper end of AGV dolly body, then the weight of object is transmitted to multiple pressure sensors and multiple wheels through AGV dolly body, then multiple pressure sensors transmit the pressure value sensed to controller, controller makes moving mechanism drive counterweight mechanism to move according to the different pressure value borne on multiple wheels, and then make counterweight mechanism move to appropriate position on AGV dolly body, so that the pressure borne on multiple wheels is equal, ensure that AGV dolly body each part stress is more uniform, improve the stability of AGV dolly body when transporting object, and the self-adapting load balancing device for AGV is high in reliability and practicality.

[0005] Preferably, the moving mechanism comprises an electric sliding rail A, a sliding plate, an electric sliding rail B and a sliding plate, the electric sliding rail A is fixedly installed in the cavity of the AGV car body, the sliding plate is installed on the electric sliding rail A, the electric sliding rail A is used for moving the sliding plate left and right, the electric sliding rail B is fixedly installed on the upper end of the sliding plate, the sliding plate is installed on the electric sliding rail B, the electric sliding rail B is used for moving the sliding plate forward and backward, the counterweight mechanism is installed on the upper end of the sliding plate, and the sliding plate and the electric sliding rail B are connected with the controller; when it is necessary to adjust the stress of each part of the AGV car body, the electric sliding rail A can drive the sliding plate to move the electric sliding rail B, the sliding plate and the counterweight mechanism in the left and right directions, and the electric sliding rail B can drive the sliding plate to move in the forward and backward directions, so that the counterweight mechanism moves in the forward and backward directions, the counterweight mechanism moves to a suitable position on the AGV car body, the load of each part of the AGV car body is balanced, the stress of each part of the AGV car body is uniform, and the adjustment of the load at each position on the AGV car body is facilitated.

[0006] Preferably, the counterweight mechanism comprises an electronic scale, a counterweight box and counterweight sand, the electronic scale is fixedly installed on the upper end of the sliding plate, the counterweight box is fixedly installed on the weighing end of the upper part of the electronic scale, the counterweight box is provided with a cavity, the upper end of the counterweight box is open, and the counterweight sand is loaded in the counterweight box; the electronic scale is connected with the controller; the electronic scale weighs the counterweight box and transmits the value to the controller, the controller drives the moving mechanism to move the electronic scale and the counterweight box according to the different pressures borne by each wheel, so that the counterweight box moves to a suitable position on the AGV car body, the weight of each part of the AGV car body is more uniform, the stress of each part of the AGV car body is uniform, the pressure borne by each wheel is more uniform, and the stability of the AGV car body when transporting objects is improved.

[0007] Preferably, the AGV car body further comprises a storage tank, a mounting frame and a discharge pipe, the storage tank is fixedly installed on the middle of the upper end of the cavity of the AGV car body through the mounting frame, the storage tank is provided with a storage cavity, the upper end of the storage tank is open, the lower part of the storage tank is provided with the discharge pipe which is in communication with the storage cavity, the discharge pipe is provided with an electromagnetic valve, the discharge pipe is located above the counterweight box, the counterweight sand is loaded in the storage tank, and the electromagnetic valve is connected with the controller; when it is necessary to increase the weight of the counterweight sand in the counterweight box, the controller drives the electromagnetic valve on the discharge pipe, so that the counterweight sand in the storage tank falls into the counterweight box through the discharge pipe, and the electronic scale weighs the counterweight box until the weight of the counterweight box reaches a specified value, and then the controller closes the electromagnetic valve on the discharge pipe to stop adding the counterweight sand into the counterweight box; the adjustment of the weight of the counterweight sand in the counterweight box is facilitated.

[0008] Preferably, the system also includes a vacuum grain pump, a conveying hose, and a discharge pipe. The vacuum grain pump is fixedly installed on the storage tank. The input end of the vacuum grain pump is connected to the cavity of the counterweight box through the conveying hose, and the lower end of the conveying hose is also connected to the cavity of the counterweight box. The output end of the vacuum grain pump is connected to the discharge pipe, and the output end of the discharge pipe is located above the storage tank. The vacuum grain pump is connected to a controller. When it is necessary to reduce the weight of the counterweight sand in the counterweight box, the vacuum grain pump is turned on, allowing the counterweight sand in the counterweight box to be conveyed sequentially through the conveying hose, the vacuum grain pump, and the discharge pipe to the storage tank, thereby reducing the weight of the counterweight sand in the counterweight box. Once the weight of the counterweight sand in the counterweight box reaches the specified value, the vacuum grain pump is turned off. This facilitates the adjustment of the weight of the counterweight sand in the counterweight box.

[0009] Preferably, the counterweight box is made of stainless steel.

[0010] Preferably, the controller is equipped with a leakage current protection device.

[0011] Compared with the prior art, the beneficial effects of this utility model are: it can adjust the load of each part of the AGV body, ensuring that the force on each part of the AGV body is more uniform, improving the stability, reliability and practicality of the AGV body when transporting objects. Attached Figure Description

[0012] Figure 1 This is a cross-sectional structural schematic diagram of the present invention;

[0013] Figure 2 This is a schematic diagram of the isometric structure of this utility model;

[0014] Figure 3 This is a structural diagram of the moving mechanism and the counterweight mechanism;

[0015] Figure 4 This is a structural diagram of the electric slide rail A, sliding plate, and mounting bracket, etc.

[0016] Figure 5 This is a structural diagram of the delivery hose, counterweight box, and discharge pipe, etc.

[0017] Figure 6 This is a schematic diagram of the structure of the wheel and pressure sensor.

[0018] The attached diagram is labeled as follows: 1. AGV trolley body; 2. Wheel; 3. Pressure sensor; 4. Controller; 5. Electric slide rail A; 6. Sliding plate; 7. Electric slide rail B; 8. Sliding plate; 9. Electronic scale; 10. Counterweight box; 11. Storage tank; 12. Mounting frame; 13. Discharge pipe; 14. Vacuum grain pump; 15. Conveying hose; 16. Discharge pipe. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete. Example 1

[0020] like Figures 1 to 6 The adaptive load balancing device for AGVs of this invention includes an AGV body 1, with a chamber inside the AGV body 1. Multiple wheels 2 are located on the lower part of the AGV body 1. It also includes a controller 4, multiple pressure sensors 3, a moving mechanism, and a counterweight mechanism. Pressure sensors 3 are mounted on the upper ends of the multiple wheels 2, and the upper ends of the pressure sensors 3 are in contact with the AGV body 1. The controller 4 is installed inside the chamber of the AGV body 1 and is connected to the multiple pressure sensors 3. The counterweight mechanism is mounted on the moving mechanism, which is located inside the chamber of the AGV body 1. The moving mechanism is used to move the counterweight mechanism. The moving mechanism is connected to the controller. 4. Connection: When transporting objects, the object is first placed on the top of the AGV body 1. Then, the weight of the object is transmitted through the AGV body 1 to multiple pressure sensors 3 and multiple wheels 2. The multiple pressure sensors 3 then transmit the pressure values ​​they sense to the controller 4. The controller 4, based on the different pressure values ​​borne by the multiple wheels 2, causes the moving mechanism to drive the counterweight mechanism to move, thereby moving the counterweight mechanism to a suitable position on the AGV body 1, so that the pressure borne by the multiple wheels 2 is equal. This ensures that the force on each part of the AGV body 1 is more uniform, improving the stability, reliability and practicality of the AGV body 1 when transporting objects.

[0021] like Figure 1 , Figure 3 and Figure 4The moving mechanism includes an electric slide rail A5, a sliding plate 6, an electric slide rail B7, and a sliding plate 8. The electric slide rail A5 is fixedly installed inside the cavity of the AGV body 1. The sliding plate 6 is installed on the electric slide rail A5, which is used to move the sliding plate 6 left and right. The electric slide rail B7 is fixedly installed on the upper end of the sliding plate 6. The sliding plate 8 is installed on the electric slide rail B7, which is used to move the sliding plate 8 back and forth. A counterweight mechanism is installed on the upper end of the sliding plate 8. Both the sliding plate 6 and the electric slide rail B7 are connected to the controller 4. When adjustment is required... When the various parts of the AGV body 1 are subjected to force, the sliding plate 6 can be driven by the electric slide rail A5 to move the electric slide rail B7, the sliding plate 8 and the counterweight mechanism in the left and right directions. At the same time, the electric slide rail B7 can be driven by the sliding plate 8 to move in the front and back directions, thereby moving the counterweight mechanism in the front and back directions. This allows the counterweight mechanism to be moved to a suitable position on the AGV body 1, so that the load of each part of the AGV body 1 is balanced and the force on each part of the AGV body 1 is uniform, which facilitates the adjustment of the load at each position on the AGV body 1.

[0022] like Figure 3 The counterweight mechanism includes an electronic scale 9, a counterweight box 10, and counterweight sand. The electronic scale 9 is fixedly installed on the upper end of the sliding plate 8, and the counterweight box 10 is fixedly installed on the weighing end of the electronic scale 9. The counterweight box 10 has a cavity inside and an opening at the top. The counterweight box 10 is filled with counterweight sand. The electronic scale 9 is connected to the controller 4. The electronic scale 9 weighs the counterweight box 10 and transmits the value to the controller 4. The controller 4 moves the electronic scale 9 and the counterweight box 10 according to the different pressures on each wheel 2, thereby moving the counterweight box 10 to a suitable position on the AGV body 1. This makes the weight of each part of the AGV body 1 more even, makes the force on each part of the AGV body 1 more even, and makes the pressure on each wheel 2 more even, thus improving the stability of the AGV body 1 when transporting objects.

[0023] like Figure 1 and Figure 5It also includes a storage tank 11, a mounting frame 12, and a discharge pipe 13. The storage tank 11 is fixedly installed in the middle of the upper part of the AGV body 1 via the mounting frame 12. The storage tank 11 has a storage cavity, and the upper end of the storage tank 11 is open. The lower part of the storage tank 11 is provided with a discharge pipe 13 that communicates with the storage cavity. A solenoid valve is installed on the discharge pipe 13. The discharge pipe 13 is located above the counterweight box 10. The storage tank 11 is filled with counterweight sand. The solenoid valve and controller 4 Connection; When it is necessary to increase the weight of the counterweight sand in the counterweight box 10, the controller 4 drives the solenoid valve on the discharge pipe 13, so that the counterweight sand in the storage tank 11 falls into the counterweight box 10 through the discharge pipe 13. At the same time, the electronic scale 9 weighs the counterweight box 10 until the weight of the counterweight box 10 reaches the specified value. Then, the controller 4 closes the solenoid valve on the discharge pipe 13 to stop adding counterweight sand to the counterweight box 10. This facilitates the adjustment of the weight of the counterweight sand in the counterweight box 10.

[0024] like Figure 5 The system also includes a vacuum grain pump 14, a conveying hose 15, and a discharge pipe 16. The vacuum grain pump 14 is fixedly installed on the storage tank 11. The input end of the vacuum grain pump 14 is connected to the cavity of the counterweight box 10 through the conveying hose 15. The lower end of the conveying hose 15 is connected to the cavity of the counterweight box 10. The output end of the vacuum grain pump 14 is connected to the discharge pipe 16. The output end of the discharge pipe 16 is located above the storage tank 11. The vacuum grain pump 14 is connected to the controller 4. When it is necessary to reduce the weight of the counterweight sand in the counterweight box 10, the vacuum grain pump 14 is turned on, so that the counterweight sand in the counterweight box 10 is transported to the storage tank 11 in sequence through the conveying hose 15, the vacuum grain pump 14, and the discharge pipe 16, thereby reducing the weight of the counterweight sand in the counterweight box 10. When the weight of the counterweight sand in the counterweight box 10 reaches the specified value, the vacuum grain pump 14 is turned off. This facilitates the adjustment of the weight of the counterweight sand in the counterweight box 10. The counterweight box 10 is made of stainless steel. Example 2

[0025] Based on Example 1, a leakage current protector is installed on the controller 4, which improves the safety of the controller 4 during use.

[0026] The AGV trolley body 1, pressure sensor 3, electric slide rail A5, electronic scale 9, and vacuum grain suction pump 14 of this utility model for adaptive load balancing device for AGV are all purchased from the market. Technical personnel in this industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0027] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An adaptive load balancing device for an AGV, comprising an AGV trolley body (1), wherein a chamber is provided inside the AGV trolley body (1), and a plurality of wheels (2) are provided on the lower part of the AGV trolley body (1); characterized in that, It also includes a controller (4), multiple pressure sensors (3), a moving mechanism and a counterweight mechanism. Each of the multiple wheels (2) is equipped with a pressure sensor (3). The upper ends of the multiple pressure sensors (3) are in contact with the AGV body (1). The controller (4) is installed in the cavity of the AGV body (1). The controller (4) is connected to the multiple pressure sensors (3). The counterweight mechanism is installed on the moving mechanism. The moving mechanism is located in the cavity of the AGV body (1). The moving mechanism is used to move the counterweight mechanism. The moving mechanism is connected to the controller (4).

2. The adaptive load balancing device for AGV as described in claim 1, characterized in that, The moving mechanism includes an electric slide rail A (5), a sliding plate (6), an electric slide rail B (7), and a sliding plate (8). The electric slide rail A (5) is fixedly installed in the cavity of the AGV trolley body (1). The sliding plate (6) is installed on the electric slide rail A (5). The electric slide rail A (5) is used to move the sliding plate (6) left and right. The electric slide rail B (7) is fixedly installed on the upper end of the sliding plate (6). The sliding plate (8) is installed on the electric slide rail B (7). The electric slide rail B (7) is used to move the sliding plate (8) back and forth. The counterweight mechanism is installed on the upper end of the sliding plate (8). The sliding plate (6) and the electric slide rail B (7) are both connected to the controller (4).

3. The adaptive load balancing device for AGV as described in claim 2, characterized in that, The counterweight mechanism includes an electronic scale (9), a counterweight box (10), and counterweight sand. The electronic scale (9) is fixedly installed on the upper end of the sliding plate (8). The counterweight box (10) is fixedly installed on the weighing end of the electronic scale (9). The counterweight box (10) has a cavity inside and an opening at the upper end. The counterweight box (10) is filled with counterweight sand.

4. The adaptive load balancing device for AGV as described in claim 3, characterized in that, It also includes a storage tank (11), a mounting frame (12) and a discharge pipe (13). The storage tank (11) is fixedly installed in the middle of the upper part of the AGV trolley body (1) through the mounting frame (12). The storage tank (11) is provided with a storage cavity. The upper end of the storage tank (11) is open. The lower part of the storage tank (11) is provided with a discharge pipe (13) that communicates with the storage cavity. A solenoid valve is provided on the discharge pipe (13). The discharge pipe (13) is located above the counterweight box (10). The storage tank (11) is filled with counterweight sand. The solenoid valve is connected to the controller (4).

5. An adaptive load balancing device for AGVs as described in claim 4, characterized in that, It also includes a vacuum grain pump (14), a conveying hose (15) and a discharge pipe (16). The vacuum grain pump (14) is fixedly installed on the storage tank (11). The input end of the vacuum grain pump (14) is connected to the cavity of the counterweight box (10) through the conveying hose (15). The lower end of the conveying hose (15) is connected to the cavity of the counterweight box (10). The output end of the vacuum grain pump (14) is connected to the discharge pipe (16). The output end of the discharge pipe (16) is located above the storage tank (11). The vacuum grain pump (14) is connected to the controller (4).

6. The adaptive load balancing device for AGV as described in claim 3, characterized in that, The counterweight box (10) is made of stainless steel.

7. An adaptive load balancing device for AGVs as described in claim 1, characterized in that, The controller (4) is equipped with a leakage current protection device.

Images