AVG carrier

Abstract

The utility model discloses an AVG carrying vehicle, and relates to the field of unmanned vehicle lifting carrying, the AVG carrying vehicle comprises a carrying vehicle body, four corners of the bottom of the carrying vehicle body are fixedly provided with supporting wheels, two sides of the middle of the carrying vehicle body are provided with driving wheels, two sides of two ends of the carrying vehicle body are provided with indicating lamps, and the tops of the four supporting wheels are fixedly provided with pressure sensors. Pressure of four corners of the carrying vehicle body is detected through pressure sensors, the gravity center position of goods on the top of the carrying vehicle body is judged, the pressure sensor with the maximum pressure in the four pressure sensors sends signals to control a second servo motor and a third servo motor to rotate forwards and backwards, and a moving block is controlled to move; the first adjusting mechanism and the second adjusting mechanism adjust the position of the moving block, so that the position of the supporting disc at the top of the connecting disc is changed, the gravity center of goods at the top of the supporting disc at the top of the carrying vehicle body is rapidly adjusted, and the effect of adjusting the position of the goods according to the gravity center of the goods is achieved.

Description

Technical Field

[0001] This application relates to the field of unmanned vehicle lifting and transport, and in particular to an AVG transport vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are unmanned transport vehicles used in industrial applications that do not require a driver. They are powered by rechargeable batteries and can typically be controlled by a computer to navigate and move around, or by using electromagnetic tracks that are attached to the floor. The AGVs then follow the signals from these tracks to move and perform their actions.

[0003] However, existing pallet trucks usually do not have the function of controlling the center of gravity of the transported objects. Sometimes, when transporting objects, the center of gravity of the objects is not located in the middle of the pallet truck. When starting or stopping suddenly, when the center of gravity of the goods is on the edge, the goods are prone to tipping over. In minor cases, the goods need to be reloaded, while in serious cases, the pallet truck and the goods will be damaged, causing unnecessary losses. Utility Model Content

[0004] To address the problem that existing transport vehicles typically lack the ability to control the center of gravity of transported objects, this application provides an AVG transport vehicle.

[0005] This application provides an AVG transport vehicle with the following technical solution: It includes a transport vehicle body, with support wheels fixed at all four corners of the bottom of the transport vehicle body, drive wheels on both sides of the middle of the transport vehicle body, indicator lights on both sides of both ends of the transport vehicle body, pressure sensors fixed on the top of each of the four support wheels, and a lifting mechanism on the top of each support wheel. The lifting mechanism includes a torque motor and a connecting plate. A first sliding groove and a second sliding groove are formed through the inner wall of the connecting plate. A first sliding rod and a second sliding rod are slidably connected to the inner walls of the first and second sliding grooves, respectively. A moving block is slidably connected to the middle of the first and second sliding rods. A support plate is fixed on the top of the moving block. A first adjusting mechanism is provided at one end of the outer wall of the connecting plate, and a second adjusting mechanism is provided on one side of the outer wall of the connecting plate.

[0006] By adopting the above technical solution, the position of the moving block is adjusted by the first adjustment mechanism and the second adjustment mechanism, thereby changing the position of the support plate on the top of the connecting plate and quickly adjusting the center of gravity of the goods on the top of the support plate at the top of the transport vehicle.

[0007] Preferably, both the first and second slide rods are hollow rectangular in shape, the movable block is located at the intersection of the first and second slide rods, and an anti-falling block is fixed to the top of the outer wall of the movable block, and the bottom of the first slide rod and the top of the second slide rod are located on the same horizontal plane.

[0008] By adopting the above technical solution, when the first slide rod slides in the first slide groove, the moving block can slide inside the second slide rod without affecting the sliding of the first slide rod. At the same time, when the second slide rod slides in the second slide groove, the moving block can slide inside the first slide rod without affecting the sliding of the second slide rod, thereby realizing the omnidirectional movement of the moving block inside the connecting plate.

[0009] Preferably, the first adjustment mechanism includes a second servo motor, which is fixed to one end of the outer wall of the connecting plate. A second threaded rod is fixed to the power output end of the second servo motor, and a second threaded sleeve is fixed to one end of the second slide rod. The second threaded sleeve and the second threaded rod are connected by a through thread.

[0010] By adopting the above technical solution, when it is necessary to control the left and right movement of the moving block, the forward and reverse rotation of the second servo motor can be controlled to drive the second threaded sleeve block to move left and right.

[0011] Preferably, the second adjustment mechanism includes a third servo motor, which is fixed to one side of the outer wall of the connecting plate. A third threaded rod is fixed to the power output end of the third servo motor, and a third threaded sleeve is fixed to one end of the first slide rod. The third threaded rod and the third threaded sleeve are connected by a through thread.

[0012] By adopting the above technical solution, when it is necessary to control the forward and backward movement of the moving block, the third servo motor can be controlled to rotate in both directions to drive the third threaded sleeve block to move forward and backward.

[0013] Preferably, all four pressure sensors are electrically connected to the second servo motor and the third servo motor.

[0014] By adopting the above technical solution, the pressure of the transport vehicle body is detected by four pressure sensors. The pressure sensor with the highest pressure sends a signal to control the second and third servo motors to rotate in both directions, thereby controlling the moving block to move until the difference between the four pressure sensors is below the intervention value.

[0015] Preferably, the power output end of the torque motor is fixed with a first threaded rod, and the two sides of the top center of the transport vehicle body are slidably connected with first threaded sleeves. The two ends of the first threaded rod are respectively threadedly connected to the two first threaded sleeves, and the thread directions of the two first threaded sleeves are opposite.

[0016] By adopting the above technical solution, when the goods are above the pallet, an automatic handling mechanism can be used to move them. First, the support plate is lowered to its lowest position, and then the handling vehicle is moved to the bottom of the pallet.

[0017] Preferably, each of the two first threaded sleeves has a movable rod fixed at both ends, and each of the two movable rods has a driven rod rotatably connected to both ends. The driven rods are arranged in an X-shape, and the tops of the two driven rods are movably connected to the connecting plate.

[0018] By adopting the above technical solution, after the transport vehicle moves to the bottom of the pallet, the torque motor is controlled to rotate, which drives the first threaded rod to rotate. The threads of the two first threaded sleeves are opposite, so that the two threaded sleeves can slide simultaneously on the top of the transport vehicle towards the center, causing the two bottom ends of the driven rod to move towards the center, thereby raising the horizontal height of the support plate.

[0019] Preferably, each of the two driven rods is rotatably connected to a slider at its top, and a third sliding groove is provided at the bottom of both sides of the connecting plate, with the four sliders slidably connected to the two ends of the third sliding groove respectively.

[0020] By adopting the above technical solution, the sliding of the slider in the third groove does not affect the change of the angle of the driven rod, and at the same time, the driven rod can provide good support for the support plate.

[0021] In summary, this application includes at least the following beneficial technical effects:

[0022] 1. This application uses pressure sensors to detect the pressure at the four corners of the transport vehicle body, thereby determining the center of gravity position of the goods on top of the transport vehicle body. The pressure sensor with the highest pressure sends a signal to control the second and third servo motors to rotate in both directions, controlling the moving block to move. The position of the moving block is adjusted by the first and second adjustment mechanisms, thereby changing the position of the support plate on top of the connecting plate. This quickly adjusts the center of gravity of the goods on top of the support plate at the top of the transport vehicle body, thus achieving the effect of adjusting the position of the goods according to their center of gravity.

[0023] 2. This application controls the rotation of a torque motor, which drives the first threaded rod to rotate. The two bottom ends of the driven rod move towards the middle, causing the horizontal height of the support plate to rise, lifting the goods and transporting them to the designated location before retracting the support plate. This achieves the effect of lifting and lowering goods, making it more convenient when transporting palletized goods. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of an AVG transport vehicle according to an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the transport vehicle body from below, according to an embodiment of this application.

[0026] Figure 3This is a schematic diagram of the structure at the connecting plate and the transport vehicle body in an embodiment of this application;

[0027] Figure 4 This is a bottom view of the structure at the connecting plate and support plate in an embodiment of this application;

[0028] Figure 5 This is a top view of the structure at the connecting plate in an embodiment of this application;

[0029] Reference numerals: 1. Transport vehicle body; 2. Support wheel; 3. Drive wheel; 4. Pressure sensor; 5. Torque motor; 6. First threaded rod; 7. First threaded sleeve block; 8. Moving rod; 9. Driven rod; 10. Slider; 11. Connecting plate; 111. Third slide groove; 12. Support plate; 13. Indicator light; 14. First slide groove; 15. First slide rod; 16. Second slide groove; 17. Second slide rod; 18. Moving block; 19. Anti-drop block; 20. Second servo motor; 21. Second threaded rod; 22. Second threaded sleeve block; 23. Third servo motor; 24. Third threaded rod; 25. Third threaded sleeve block. Detailed Implementation

[0030] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0031] This application discloses an AVG transport vehicle, including a transport vehicle body 1. Support wheels 2 are fixed at the four corners of the bottom of the transport vehicle body 1. Drive wheels 3 are provided on both sides of the middle of the transport vehicle body 1. Indicator lights 13 are provided on both sides of both ends of the transport vehicle body 1. Pressure sensors 4 are fixed to the top of each of the four support wheels 2. The pressure sensors 4 detect the pressure at the four corners of the transport vehicle body 1 to determine the center of gravity position of the goods on top of the transport vehicle body 1. A lifting mechanism is provided on the top of the support wheels 2. The lifting mechanism includes a torque motor 5 and a connecting plate 11. The torque motor 5 can maintain the position of the connecting plate 11 after rotation stops. The inner wall of the connecting plate 11... A first slide groove 14 and a second slide groove 16 are provided through the passage. A first slide rod 15 and a second slide rod 17 are slidably connected to the inner walls of the first slide groove 14 and the second slide rod 17, respectively. A moving block 18 is slidably connected to the middle of the first slide groove 14 and the second slide rod 17. A support plate 12 is fixed to the top of the moving block 18. A first adjustment mechanism is provided at one end of the outer wall of the connecting plate 11, and a second adjustment mechanism is provided on one side of the outer wall of the connecting plate 11. The position of the moving block 18 is adjusted by the first adjustment mechanism and the second adjustment mechanism, thereby changing the position of the support plate 12 on the top of the connecting plate 11 and quickly adjusting the center of gravity of the goods on the top of the support plate 12 on the top of the transport vehicle body 1.

[0032] Reference Appendix Figure 4 and 5The first slide rod 15 and the second slide rod 17 are both hollow rectangular. The moving block 18 is located at the intersection of the first slide rod 15 and the second slide rod 17. The top of the outer wall of the moving block 18 is fixed with an anti-detachment block 19. The bottom of the first slide rod 15 and the top of the second slide rod 17 are set on the same horizontal plane. This allows the moving block 18 to slide inside the second slide rod 17 without affecting the sliding of the first slide rod 15 when the first slide rod 15 slides in the first slide groove 14. At the same time, when the second slide rod 17 slides in the second slide groove 16, the moving block 18 can slide inside the first slide rod 15 without affecting the sliding of the second slide rod 17. This enables the moving block 18 to move omnidirectionally inside the connecting plate 11.

[0033] Reference Appendix Figure 5 The first adjustment mechanism includes a second servo motor 20, which is fixed to one end of the outer wall of the connecting plate 11. A second threaded rod 21 is fixed to the power output end of the second servo motor 20, and a second threaded sleeve block 22 is fixed to one end of the second slide rod 17. The second threaded sleeve block 22 and the second threaded rod 21 are connected by a through thread. When it is necessary to control the movement of the moving block 18 to move left or right, the forward and reverse rotation of the second servo motor 20 is controlled to drive the second threaded sleeve block 22 to move left or right.

[0034] Reference Appendix Figure 5 The second adjustment mechanism includes a third servo motor 23, which is fixed to one side of the outer wall of the connecting plate 11. A third threaded rod 24 is fixed to the power output end of the third servo motor 23, and a third threaded sleeve block 25 is fixed to one end of the first slide rod 15. The third threaded rod 24 and the third threaded sleeve block 25 are connected by a through thread. When it is necessary to control the movement of the moving block 18, the third servo motor 23 is controlled to rotate in both directions, thereby driving the third threaded sleeve block 22 to move back and forth.

[0035] Reference Appendix Figure 2 The four pressure sensors 4 are electrically connected to the second servo motor 20 and the third servo motor 23. The pressure of the transport vehicle body 1 is detected by the four pressure sensors 4. The pressure of the four pressure sensors 4 with the highest pressure sends a signal to control the second servo motor 20 and the third servo motor 23 to rotate in both directions, and control the moving block 18 to move until the difference between the four pressure sensors 4 is below the intervention value.

[0036] Reference Appendix Figure 1 and 3The torque motor 5 has a first threaded rod 6 fixed at its power output end. The top center of the transport vehicle 1 is slidably connected to two first threaded sleeves 7 on both sides. The two ends of the first threaded rod 6 are respectively threadedly connected to the two first threaded sleeves 7, and the threads of the two first threaded sleeves 7 are opposite. When the goods are above the pallet, the lifting mechanism can be used for automatic transport. First, the support plate 12 is lowered to the lowest position, and then the transport vehicle 1 is moved to the bottom of the pallet.

[0037] Reference Appendix Figure 1 and 3 Both ends of the two first threaded sleeves 7 are fixed with moving rods 8, and both ends of the two moving rods 8 are rotatably connected with driven rods 9. The driven rods 9 are arranged in an X shape. The tops of the two driven rods 9 are movably connected to the connecting plate 11. After the transport vehicle body 1 moves to the bottom of the pallet, the torque motor 5 is controlled to rotate, which drives the first threaded rod 6 to rotate. The threads of the two first threaded sleeves 7 are opposite, so that the two threaded sleeves 7 can slide simultaneously on the top of the transport vehicle body 1 towards the center, so that the two bottom ends of the driven rods 9 move towards the center, thereby raising the horizontal height of the support plate 12.

[0038] Reference Appendix Figure 3 The top of each of the two driven rods 9 is rotatably connected to a slider 10, and the bottom of both sides of the connecting plate 11 is provided with a third slide groove 111. The four sliders 10 are slidably connected to the two ends of the third slide groove 111 respectively. The sliders 10 slide in the third slide groove 111 without affecting the change of the angle of the driven rod 9, and at the same time, the driven rod 9 can provide good support for the support plate 12.

[0039] The implementation principle of an AVG pallet truck in this application embodiment is as follows: First, when using a pallet to transport goods, the support plate 12 is retracted to its lowest position. Then, the pallet truck body 1 is moved to below the pallet. The torque motor 5 is rotated, driving the first threaded rod 6 to rotate. The threads of the two first threaded sleeves 7 are opposite, allowing the two threaded sleeves 7 to slide simultaneously from the top of the pallet truck body 1 towards the center. This causes the two bottom ends of the driven rod 9 to move closer to the center, thereby raising the horizontal height of the support plate 12. The slider 10 slides in the third slide groove 111 without affecting the angle change of the driven rod 9. At the same time, the driven rod 9 can effectively support the support plate 12. After the pallet leaves the ground, pressure is applied... Sensor 4 detects the pressure at the four corners of the transport vehicle 1 to determine the center of gravity of the goods on top of the transport vehicle 1. The sensor with the highest pressure sends a signal to control the second servo motor 20 and the third servo motor 23 to rotate forward and backward, controlling the movement block 18 to move. When it is necessary to control the movement block 18 to move left or right, the second servo motor 20 is controlled to rotate forward and backward, driving the second threaded sleeve block 22 to move left or right. When it is necessary to control the movement block 18 to move forward and backward, the third servo motor 23 is controlled to rotate forward and backward, driving the third threaded sleeve block 22 to move forward and backward, until the difference between the four pressure sensors 4 is below the intervention value. Finally, the transport vehicle 1 can transport the goods.

[0040] The pressure sensor model 4 mentioned above uses the MPX5010DP, which can detect pressure and also provides a signal to control the start and stop of the servo motor.

[0041] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An AVG transport vehicle, comprising a transport vehicle body (1), wherein support wheels (2) are fixed at the four corners of the bottom of the transport vehicle body (1), drive wheels (3) are provided on both sides of the middle of the transport vehicle body (1), and indicator lights (13) are provided on both sides of both ends of the transport vehicle body (1), characterized in that: Pressure sensors (4) are fixed to the top of each of the four support wheels (2). A lifting mechanism is provided on the top of the support wheels (2). The lifting mechanism includes a torque motor (5) and a connecting plate (11). A first sliding groove (14) and a second sliding groove (16) are provided through the inner wall of the connecting plate (11). A first sliding rod (15) and a second sliding rod (17) are slidably connected to the inner walls of the first sliding groove (14) and the second sliding rod (16), respectively. A moving block (18) is slidably connected to the middle of the first sliding groove (14) and the second sliding rod (17). A support plate (12) is fixed to the top of the moving block (18). A first adjustment mechanism is provided at one end of the outer wall of the connecting plate (11), and a second adjustment mechanism is provided on one side of the outer wall of the connecting plate (11).

2. The AVG transport vehicle according to claim 1, characterized in that: The first slide bar (15) and the second slide bar (17) are both hollow rectangular. The moving block (18) is located at the intersection of the first slide bar (15) and the second slide bar (17). An anti-falling block (19) is fixed to the top of the outer wall of the moving block (18). The bottom of the first slide bar (15) and the top of the second slide bar (17) are located on the same horizontal plane.

3. An AVG transport vehicle according to claim 1, characterized in that: The first adjustment mechanism includes a second servo motor (20), which is fixed to one end of the outer wall of the connecting plate (11). A second threaded rod (21) is fixed to the power output end of the second servo motor (20), and a second threaded sleeve (22) is fixed to one end of the second slide rod (17). The second threaded sleeve (22) and the second threaded rod (21) are connected by a through thread.

4. An AVG transport vehicle according to claim 3, characterized in that: The second adjustment mechanism includes a third servo motor (23), which is fixed to one side of the outer wall of the connecting plate (11). A third threaded rod (24) is fixed to the power output end of the third servo motor (23), and a third threaded sleeve (25) is fixed to one end of the first slide rod (15). The third threaded rod (24) and the third threaded sleeve (25) are connected by a through thread.

5. An AVG transport vehicle according to claim 4, characterized in that: All four pressure sensors (4) are electrically connected to the second servo motor (20) and the third servo motor (23).

6. An AVG transport vehicle according to claim 1, characterized in that: The torque motor (5) has a first threaded rod (6) fixed at its power output end. The top center of the transport vehicle body (1) is slidably connected to two first threaded sleeves (7). The two ends of the first threaded rod (6) are respectively threadedly connected to the two first threaded sleeves (7), and the threads of the two first threaded sleeves (7) are opposite.

7. An AVG transport vehicle according to claim 6, characterized in that: Both ends of the two first threaded sleeve blocks (7) are fixed with moving rods (8), and both ends of the two moving rods (8) are rotatably connected with driven rods (9). The driven rods (9) are arranged in an X shape, and the tops of the two driven rods (9) are movably connected to the connecting plate (11).

8. An AVG transport vehicle according to claim 7, characterized in that: The top of each of the two driven rods (9) is rotatably connected to a slider (10), and the bottom of both sides of the connecting plate (11) is provided with a third slide groove (111). The four sliders (10) are slidably connected to the two ends of the third slide groove (111) respectively.

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