transport vehicle

Abstract

The application discloses a transport vehicle, which comprises a vehicle body and a jacking control mechanism, the jacking control mechanism comprising a floating assembly and a pallet for supporting goods, the floating assembly comprising a movable piece and an elastic piece; wherein one end of the movable piece is fixedly connected with the pallet, the other end is movably connected with the vehicle body, and the movable piece can move along a first direction relative to the vehicle body; the elastic piece is sleeved on the movable piece, and the elastic piece is arranged between the vehicle body and the pallet; in a direction away from the vehicle body, the cross-sectional area of the pallet perpendicular to the first direction decreases, and at least part of the circumferential direction of the pallet forms a guide slope. The intelligent adaptation to irregular working conditions is realized, the hard collision is effectively avoided, the success rate and safety of taking and placing goods are greatly improved, and the good nature of the equipment is ensured.

Description

Technical Field

[0001] This application belongs to the field of cargo transportation technology, specifically relating to a transport vehicle. Background Technology

[0002] In Automated Guided Vehicles (AGVs), the lifting control mechanism is the core component for achieving automatic cargo lifting and docking. Related technologies often employ servo motors or cylinder-driven lead screw / scissor mechanisms to achieve open-loop or simple closed-loop lifting control of pallets. However, in complex real-world applications, such mechanisms reveal significant shortcomings.

[0003] In some situations, when the bottom of the goods is slightly lower than the initial plane of the AGV pallet (such as when picking up goods from a low-elevation platform or a recessed shelf), the front end of the AGV pallet is very likely to collide hard with the bottom of the goods, resulting in failure to pick up the goods or damage to the equipment. Utility Model Content

[0004] This application aims to provide a transport vehicle that at least solves the problem that the front end of the AGV pallet is prone to hard collision with the bottom of the goods, resulting in failure to pick up goods or damage to the equipment.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: This application provides a transport vehicle, including a vehicle body and a lifting control mechanism. The lifting control mechanism includes a floating component and a pallet for supporting goods. The floating component includes a movable component and an elastic component. One end of the movable component is fixedly connected to the tray, and the other end is movably connected to the vehicle body. The movable component can move relative to the vehicle body in a first direction. The elastic element is sleeved on the movable element, and the elastic element is disposed between the vehicle body and the tray; Along a direction away from the vehicle body, the cross-sectional area of ​​the pallet perpendicular to the first direction decreases, and at least a portion of the circumferential direction of the pallet forms a guide ramp.

[0006] Optionally, the lifting control mechanism includes a rigid support assembly, which includes a driving component and a telescopic component; The drive component is mounted on the vehicle body and connected to the telescopic component. The drive component is used to drive the telescopic component to extend or retract along the first direction. The telescopic component is located on the side of the pallet facing the vehicle body. When the telescopic component is in the extended state, it abuts against the pallet and provides support to the pallet.

[0007] Optionally, the drive unit includes a housing, at least a portion of which protrudes from the side of the vehicle body facing the tray and is spaced apart from the tray along the first direction; The telescopic member is telescopically connected to the housing along the first direction; when the telescopic member is in the retracted state, the telescopic member retracts into the housing.

[0008] Optionally, the number of rigid support components includes at least two sets, and the at least two sets of rigid support components are evenly spaced along the circumference of the tray.

[0009] Optionally, the floating component further includes a limiting member, and the vehicle body includes a base plate; The limiting member is disposed on the side of the substrate away from the tray and is engaged with the substrate for limiting. The other end of the movable component passes through the base plate and is fixedly connected to the limiting component.

[0010] Optionally, the floating component further includes a fastener mounted on the side of the limiting member away from the substrate, the fastener being threadedly engaged with both the limiting member and the movable member.

[0011] Optionally, the floating component further includes a guide structure disposed between the pallet and the vehicle body, and the guide structure is fixedly connected to the pallet or the vehicle body; The guide structure is sleeved on the outside of the movable part and is movably connected to the movable part along the first direction.

[0012] Optionally, the guide structure includes a mounting member and a sliding bearing; the movable member is slidably connected to the mounting member along the first direction via the sliding bearing; The mounting component is fixedly connected to the tray or the vehicle body.

[0013] Optionally, the mounting component includes a mounting portion and a guide portion, the mounting portion protruding from the outer periphery of the guide portion; The end of the mounting portion near the vehicle body is flush with the end of the guide portion near the vehicle body, and the mounting portion is fixedly connected to the vehicle body; or... The end of the mounting part near the tray is flush with the end of the guide part near the tray, and the mounting part is fixedly connected to the tray.

[0014] Optionally, the elastic element is a rectangular spring.

[0015] Optionally, the number of floating components includes at least three groups, and the at least three groups of floating components are evenly spaced along the circumference of the tray.

[0016] Optionally, the lifting control mechanism includes a positioning feedback component and a controller, wherein the controller is electrically connected to the positioning feedback component and the drive component, respectively; The positioning feedback component is used to obtain the position information of the tray; The controller controls the telescopic component to switch between telescopic states based on the location information.

[0017] Optionally, the positioning feedback component includes a first sensor, a second sensor, and a trigger. The trigger is fixedly connected to the tray, and the first sensor and the second sensor are connected to the vehicle body; The trigger and the first sensor cooperate to obtain the first position information of the pallet. In the first position, the pallet carries goods. The controller controls the telescopic component to switch to the retracted state according to the first position information. The trigger and the second sensor cooperate to obtain the second position information of the pallet. In the second position, the pallet is not carrying any goods. The controller controls the telescopic component to switch to the extended state according to the second position information.

[0018] In the embodiments of this application, one end of the movable component is fixedly connected to the pallet, and the other end is movably connected to the vehicle body. The movable component can move relative to the vehicle body in a first direction, enabling the pallet to move relative to the vehicle body in the first direction. Since at least a portion of the pallet's circumferential direction forms a guide slope, and the elastic element is disposed between the pallet and the vehicle body, when encountering a situation where the bottom height of the goods is slightly lower than the initial plane of the pallet, the guide slope of the pallet's circumferential direction can act as a guide. Furthermore, the pallet can compress the elastic element, allowing the pallet to have a certain degree of flexible tilting freedom when in contact with the goods. The pallet can then slide smoothly into the bottom of the goods, which is slightly lower than its own height, achieving intelligent adaptation to irregular working conditions, effectively avoiding hard collisions, greatly improving the success rate and safety of picking up and placing goods, and ensuring the good performance of the equipment.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a front view of a transport vehicle according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a transport vehicle according to an embodiment of this application; Figure 3 This is a schematic diagram of the assembly of a lifting control component and a base plate in an embodiment of this application; Figure 4 This is a top view of a lifting control component and a base plate assembly in an embodiment of this application; Figure 5 This is a front view of a lifting control component and a base plate assembly in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a rigid support component in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a floating component in a certain direction according to an embodiment of this application. Figure 8 This is a schematic diagram of the structure of a floating component in another direction according to an embodiment of this application; Figure 9 This is a cross-sectional view of a floating component in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of an installation component in one embodiment of this application; Figure 11 This is a flowchart illustrating the steps of a transport vehicle picking up goods in one embodiment of this application; Figure 12 This is a flowchart illustrating the steps of loading goods onto a transport vehicle in an embodiment of this application.

[0021] Figure label: 100. Transport vehicle; 10. Lifting control mechanism; 11. Pallet; 111. Guide ramp; 12. Floating component; 121. Moving part; 122. Elastic part; 123. Limiting part; 124. Guide structure; 1241. Mounting part; 12411. Mounting section; 12412. Guide section; 12413. Guide channel; 12414. Threaded hole; 1242. Sliding bearing; 13. Rigid support assembly; 131. Drive component; 1311. Housing; 132. Telescopic component; 20. Vehicle body; 21. Base plate; 22. Vehicle frame. Detailed Implementation

[0022] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0024] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] The following is combined with Figures 1-12 The transport vehicle 100 described in this application embodiment is an Automated Guided Vehicle (AGV), an industrial automation device that can automatically handle and transfer materials according to a preset path or a real-time planned path. Essentially, it is an automated material handling unit with its own power and guidance system, requiring no manual driving and capable of automatically completing material transportation and loading / unloading operations from start to finish.

[0027] Specifically, the transport vehicle 100 includes a vehicle body 20 and a lifting control mechanism 10. The vehicle body 20 is the basic load-bearing structure of the transport vehicle 100, including a frame 22 and a chassis, used to carry the lifting control mechanism 10 and cargo. The transport vehicle 100 also includes a guidance system and a power system. The guidance system is the core of the transport vehicle's automated driving and can include electromagnetic guidance, laser guidance, visual guidance, or inertial guidance, etc. The power system provides power for the transport vehicle's driving and loading / unloading, and can be powered by a battery or a fuel cell, etc.

[0028] Specifically, the lifting control mechanism 10 includes a pallet 11, which is used to directly place and support goods. In practical applications, there may be situations where the height of the goods is slightly lower than the initial height of the pallet 11. In this situation, the front end of the pallet 11 is prone to a hard collision with the bottom of the goods, leading to failure in picking up the goods or even damage to the transport vehicle 100. Therefore, in this embodiment, a new lifting control mechanism 10 is designed, which, in conjunction with the vehicle body 20, can achieve flexible and adaptive adjustment.

[0029] In some optional embodiments of this application, the lifting control mechanism 10 includes: a floating component 12 and a pallet 11 for supporting goods. The floating component 12 includes a movable part 121 and an elastic part 122. One end of the movable part 121 is fixedly connected to the pallet 11, and the other end is movably connected to the vehicle body 20. The movable part 121 can move relative to the vehicle body 20 in a first direction. The elastic part 122 is sleeved on the movable part 121 and is disposed between the vehicle body 20 and the pallet 11. Along the direction away from the vehicle body 20, the cross-sectional area of ​​the pallet 11 perpendicular to the first direction decreases, and at least a portion of the circumferential direction of the pallet 11 forms a guide slope 111.

[0030] In the embodiments of this application, one end of the movable component 121 is fixedly connected to the pallet 11, and the other end is movably connected to the vehicle body 20. The movable component 121 can move relative to the vehicle body 20 in a first direction, enabling the pallet 11 to move relative to the vehicle body 20 in the first direction. Since at least a portion of the circumferential direction of the pallet 11 forms a guide slope 111, and the elastic component 122 is disposed between the pallet 11 and the vehicle body 20, when encountering a situation where the bottom height of the goods is slightly lower than the initial plane of the pallet 11, the guide slope 111 in the circumferential direction of the pallet 11 can play a guiding role, and the pallet 11 can compress the elastic component 122, so that the pallet 11 has a certain degree of flexible tilting freedom when contacting the goods. The pallet 11 can slide smoothly into the bottom of the goods that is slightly lower than its own height, realizing intelligent adaptation to irregular working conditions, effectively avoiding hard collisions, greatly improving the success rate and safety of picking up and placing goods, and ensuring the good performance of the equipment.

[0031] In this embodiment, the lifting control mechanism 10 includes a floating component 12 and a pallet 11. The pallet 11 can be used to place and carry goods. The upper surface of the pallet 11 can be flat to serve as a platform for placing goods and ensure the stability of the goods during placement or transportation. Alternatively, in some cases, the upper surface of the pallet 11 can be designed as a curved surface; this embodiment does not specifically limit this. The material of the pallet 11 can be wood, plastic, or metal, etc.; this embodiment does not specifically limit this.

[0032] In some embodiments, the tray 11 can be a flat structure or a ring structure. The outer contour of the tray 11 can be circular, rectangular, elliptical, or racetrack-shaped, etc. As shown in the figure, a case where the outer contour of the tray 11 is rectangular is illustrated. Other cases can be set with reference to this configuration.

[0033] In some embodiments, at least a portion of the circumferential direction of the pallet 11 may form a guide ramp 111 to guide goods onto the upper surface of the pallet 11. Taking a rectangular outer contour of the pallet 11 as an example, in some cases, guide ramps 111 are provided on opposite sides of the pallet 11 along a second direction, which is perpendicular to the first direction; in other cases, guide ramps 111 may be provided on all four sides of the pallet 11.

[0034] Specifically, along the direction away from the vehicle body 20, the cross-sectional area of ​​the pallet 11 perpendicular to the first direction decreases, making the angle between the guide ramp 111 and the first direction acute. The guide ramp 111 can guide the goods, facilitating their sliding from the guide ramp 111 onto the upper surface of the pallet 11. The guide ramp 111 can be a flat surface or an arc surface, etc. Figure 1 As shown, the dashed line S can be the generatrix of the guide ramp 111, or the dashed line S can be the projection of the guide ramp 111. The first direction is the Z direction. The angle between the guide ramp 111 and the first direction can be represented by β, where β is an acute angle. The bottom of the guide ramp 111 can first contact the goods, and then guide the pallet 11 to slide under the goods.

[0035] Specifically, the floating component 12 is used to adjust the position of the pallet 11 relative to the vehicle body 20. The floating component 12 includes a movable part 121 and an elastic part 122. One end of the movable part 121 is fixedly connected to the pallet 11, and the other end is movably connected to the vehicle body 20. The movable part 121 can move relative to the vehicle body 20 in a first direction, so that the pallet 11 can move relative to the vehicle body 20 in the first direction through the movable part 121. This can be understood as the height of the pallet 11 being adjustable in the first direction. Since the elastic part 122 is sleeved on the movable part 121 and is located between the vehicle body 20 and the pallet 11, when the pallet 11 reciprocates in the first direction, it can cause the elastic part 122 to compress or rebound. For example, after the pallet 11 successfully lifts the goods, the elastic part 122 is compressed under the weight of the goods; after the goods are put down, the load disappears, and the elastic part 122 can rebound.

[0036] Specifically, one end of the movable part 121 can be fixedly connected to the tray 11 by adhesive bonding, or one end of the movable part 121 can be fixedly connected to the tray 11 by screw connection, so as to enrich the variety of cooperation between the movable part 121 and the tray 11.

[0037] Specifically, the other end of the movable component 121 can be slidably connected to the vehicle body 20 along the first direction, or the other end of the movable component 121 can be rolledly connected to the vehicle body 20 along the first direction, so that the movable component 121 and the vehicle body 20 can move and cooperate in various ways.

[0038] In this embodiment, the first direction can be the vertical direction, i.e., the Z direction. When using the transport vehicle 100 to pick up and place goods, if the bottom of the goods is slightly lower than the initial height of the pallet 11, the guide slope 111 of the pallet 11 will contact the goods first. The pallet 11 can compress the spring downward and slide into the bottom of the goods that is slightly lower than its own height through the guide slope 111. This allows the pallet 11 to have a certain degree of flexible tilting freedom when it contacts the goods, which can effectively avoid hard collisions and greatly improve the success rate and safety of picking up and placing goods.

[0039] Specifically, after the pallet 11 carries the goods, the load of the goods is transferred to the elastic element 122 through the pallet 11. The elastic element 122 bears a large force. Under some sudden overload (such as jamming caused by uneven ground) or continuous off-center vibration, the large stress is easily transferred to the elastic element 122. The elastic element 122 is at risk of plastic deformation or even crushing, which may lead to functional failure of the lifting control mechanism 10, high maintenance costs, and safety hazards. Furthermore, in this embodiment, a rigid support component 13 is added to the lifting control mechanism 10. Through the cooperation of the rigid support component 13 and the floating component 12, reliable support for the pallet 11 can be achieved.

[0040] In some optional embodiments of this application, the lifting control mechanism 10 includes a rigid support assembly 13, which includes a drive member 131 and a telescopic member 132. The drive member 131 is mounted on the vehicle body 20 and connected to the telescopic member 132. The drive member 131 is used to drive the telescopic member 132 to extend or retract in a first direction. The telescopic member 132 is disposed on the side of the tray 11 facing the vehicle body 20. When the telescopic member 132 is in the extended state, it abuts against the tray 11 and provides support to the tray 11.

[0041] In this embodiment, after the goods are successfully lifted by the pallet 11, the drive member 131 can drive the telescopic member 132 to switch to the extended state, so as to provide rigid support for the pallet 11 through the telescopic member 132, and transfer the load from the vulnerable elastic member 122 to the rigid telescopic member 132. This can enhance the stability of the lifting control mechanism 10 under heavy load and vibration conditions, effectively prevent the floating component 12 from being crushed or damaged, and extend the service life of the lifting control mechanism 10.

[0042] Specifically, the drive unit can achieve high-precision limit engagement. In this way, after the pallet 11 successfully lifts the goods, the drive unit can quickly drive the telescopic component to extend and lock, providing rigid support for the pallet 11 and transferring the load from the vulnerable flexible support to the secure rigid support.

[0043] Specifically, the floating component 12 provides flexible support for the pallet 11, while the rigid support component 13 provides rigid support. During the process of lifting goods from the pallet 11, the floating component 12 provides flexible support, allowing the pallet 11 to have a certain degree of flexible tilting freedom. This enables the pallet 11 to tilt slightly and buffer when it comes into contact with low-hanging goods, allowing it to slide smoothly under the goods and preventing damage caused by collisions. After the pallet 11 successfully lifts the goods, the rigid support component 13 provides rigid support, transferring the load of the floating component 12 to the rigid support component 13. This enhances the stability of the lifting control component under heavy loads and vibrations, and also protects the floating component 12 from damage, reducing the maintenance costs of the transport vehicle.

[0044] In this embodiment of the application, after the pallet 11 successfully lifts the goods, the lifting control mechanism 10 can switch from "flexible" to "rigid". After the goods on the pallet 11 are put down, the lifting control mechanism can switch from "rigid" to "flexible" to prepare for the next retrieval.

[0045] Specifically, when the pallet 11 is not carrying any goods, it can be at its initial height, which is the first position. After the pallet 11 successfully lifts the goods, the weight of the goods causes the pallet 11 to compress the elastic element and descend to the second position. This allows for convenient and precise adjustment of the drive mechanism's control commands based on the first and second position information. Specifically, when the pallet 11 is in the first position, the drive mechanism drives the telescopic element to switch to the retracted state; when the pallet 11 is in the second position, the drive mechanism can drive the telescopic element to switch to the extended state.

[0046] In some alternative embodiments, the drive member 131 includes a housing 1311, at least a portion of which protrudes from the vehicle body 20 toward the tray 11 and is spaced apart from the tray 11 along a first direction; a telescopic member 132 is telescopically connected to the housing 1311 along the first direction; when the telescopic member 132 is in a retracted state, the telescopic member 132 can retract into the housing 1311.

[0047] In this embodiment of the application, before the pallet 11 carries the goods, the drive member 131 can drive the telescopic member 132 to retract into the housing 1311. Since the housing 1311 and the pallet 11 are spaced apart along the first direction, the rigid support component 13 can be prevented from interfering with the movement of the pallet 11 in the first direction, thus ensuring the reliability of the pallet 11 in compressing the elastic member 122 along the first direction to support the goods with a slightly lower height.

[0048] Specifically, the driving component 131 can be an electric cylinder, a hydraulic cylinder, or a servo motor, etc., used to provide driving force to the telescopic component 132. The telescopic component 132 can be a telescopic rod or a telescopic block, etc., and is a rigid structure used to provide rigid support for the pallet 11.

[0049] Specifically, at least a portion of the housing 1311 protrudes from the side of the vehicle body 20 facing the pallet 11, facilitating contact between the telescopic member 132 and the pallet 11 when the telescopic member 132 extends out of the housing 1311. Furthermore, this improves the structural compactness of the lifting control mechanism.

[0050] In some embodiments, when the driving member 131 is an electric cylinder, the housing 1311 can be the cylinder body of the electric cylinder, and the push rod of the electric cylinder can be linked with the telescopic member 132 to realize the extension and retraction of the telescopic member 132 along the first direction and connected to the cylinder body.

[0051] Specifically, the telescopic member 132 can be telescopically connected to the housing 1311 of the drive member 131. Since the housing 1311 is spaced apart from the tray 11 along the first direction, the telescopic member 132 can abut against the tray 11 when it extends out of the housing 1311. When the telescopic member 132 retracts into the housing 1311, the rigid support assembly 13 can be spaced apart from the tray 11, and the tray 11 can compress the elastic member 122 along the first direction.

[0052] Specifically, the housing 1311 may be provided with a self-adjusting hard limit, and the telescopic member 132 may be tightly fitted with the self-adjusting hard limit. The movement trajectory of the telescopic member 132 may be aligned with the self-adjusting hard limit. When the telescopic member 132 is switched to the extended state, the telescopic member 132 may be inserted into or abutted against the self-adjusting hard limit, so as to achieve precise driving of the telescopic member through the driving member, ensuring the reliability and stability of the telescopic member 132 extending and retracting along the first direction.

[0053] In this embodiment of the application, the rigid support component 13 includes a drive member 131 and a telescopic member 132. The drive member 131 serves as a power source, and the extension and retraction of its push rod can be precisely controlled. By linking the push rod of the drive member 131 with the telescopic member 132, precise control of the telescopic member 132 can be achieved, enabling the telescopic member 132 to switch precisely between the extended state and the retracted state.

[0054] Specifically, the rigid support component 13 can be installed on the vehicle body, such as... Figures 3 to 6 As shown, the housing 1311 can be inserted through the substrate 21, and the housing 1311 can be fixedly connected to the substrate 21. The running trajectory of the telescopic member 132 can be aligned with the self-adjusting hard limit of the housing 1311, thereby ensuring the reliability of the telescopic member 132's extension and retraction. Specifically, the self-adjusting hard limit of the housing 1311 can limit the telescopic member 132 in a first direction, causing the telescopic member 132 to extend and retract only in the first direction.

[0055] Before pallet 11 picks up the goods, drive component 131 can drive telescopic component 132 to switch to the retracted state. In this way, when the goods are low, pallet 11 can compress elastic component 122 downwards and slide into the bottom of the goods under the guidance of guide ramp 111. After pallet 11 successfully lifts the goods, drive component 131 can drive telescopic component 132 to switch to the extended state, so that telescopic component 132 abuts against pallet 11 and provides rigid support to pallet 11. This changes the support of pallet 11 from "flexible" to "rigid". Since rigid support is more stable, it can enhance the stability of the lifting control component under heavy load and vibration conditions and effectively protect the floating component 12.

[0056] In this embodiment, both the floating component 12 and the rigid support component 13 can cooperate with the pallet 11 to support it. The floating component 12 and the rigid support component 13 can cooperate alternately. Before picking up the goods, the floating component 12 can provide flexible support to the pallet 11, allowing the pallet 11 to have a certain degree of flexible tilting freedom, so that the lifting control mechanism 10 can adapt to some working conditions where the height of the goods is slightly lower than the height of the pallet 11. During the process of the pallet 11 successfully lifting the goods, the rigid support component 13 can provide rigid support to the pallet 11, which can ensure the stability of the lifting control mechanism under heavy load and vibration conditions, and can also protect the floating component 12, reducing the risk of the floating component 12 being crushed or damaged.

[0057] In some embodiments, the number of rigid support components 13 includes at least two sets, and the at least two sets of rigid support components 13 may be evenly spaced along the circumference of the tray 11.

[0058] In this embodiment of the application, at least two sets of rigid support components 13 are evenly spaced along the circumference of the pallet 11, so that the stress points of the pallet 11 can be evenly arranged along its circumference, which can improve the reliability and stability of providing rigid support to the pallet 11 through the rigid support components 13.

[0059] For example, the number of rigid support components 13 can be two, three, or four, etc.

[0060] Specifically, adjacent rigid support components 13 and floating components 12 may be spaced apart circumferentially along the tray 11, or spaced apart radially along the tray 11, etc.

[0061] In some embodiments, the number of floating components 12 may include at least three groups, and the at least three groups of floating components 12 may be evenly spaced along the circumference of the tray 11.

[0062] In this embodiment of the application, at least three sets of floating components 12 are evenly spaced along the circumference of the tray 11, which can improve the reliability of the floating components 12 in flexibly supporting the tray 11 quickly and smoothly, and ensure the reliability of the floating components 12 in rebounding.

[0063] Specifically, when the height of the goods being picked up is slightly lower than the initial height of the pallet 11, one side of the pallet 11 contacts the goods and compresses at least one set of floating components 12, causing the pallet 11 to tilt. In this way, under the combined action of at least three evenly arranged floating components 12, the pallet 11 can quickly and smoothly lift the goods after it has been successfully lifted.

[0064] For example, the number of floating components 12 can be three, four, or five, etc.

[0065] In some embodiments of this application, the floating component 12 further includes a limiting member 123, and the vehicle body 20 may include a base plate 21; the limiting member 123 is disposed on the side of the base plate 21 away from the tray 11 and is limited and cooperated with the base plate 21; the other end of the movable member 121 passes through the base plate 21 and is fixedly connected to the limiting member 123.

[0066] In this embodiment, the movable member 121 can drive the limiting member 123 to move relative to the substrate 21 along the first direction. Since the limiting member 123 is disposed on the side of the substrate 21 away from the tray 11 and cooperates with the substrate 21 for limiting, the limiting member 123 can limit the maximum movement stroke of the movable member 121, prevent the floating component 12 from detaching from the vehicle body 20, and ensure the structural stability and reliability of the lifting control mechanism.

[0067] Specifically, the substrate 21 may have a through hole, and the other end of the movable member 121 may pass through the through hole. The projection of the limiting member 123 on the substrate 21 covers the through hole to ensure the reliability of the limiting member 123 and the substrate 21 in a limiting engagement. The limiting member 123 may be a limiting block or a limiting plate, etc., and the shape of the limiting member 123 may be arranged with reference to the shape of the through hole. In this embodiment, no specific limitation is made.

[0068] Specifically, the other end of the movable part 121 can be fixedly connected to the limiting part 123 by means of welding, bonding or bolting.

[0069] In some alternative embodiments, the floating component 12 further includes a fastener mounted on the side of the limiting member 123 away from the base plate 21, and the fastener is threadedly engaged with the limiting member 123 and the movable member 121 respectively.

[0070] In this embodiment, since the fasteners are threadedly engaged with the limiting member 123 and the movable member 121 respectively, the travel of the limiting member 123 and the movable member 121 along the first direction can be adjusted by adjusting the thread depth of the fasteners into the limiting member 123 and the movable member 121, thereby adjusting the preload of the elastic member 122 to accommodate the handling of goods of different weights.

[0071] Specifically, the fastener can be a screw or bolt, etc., and is used to fix the limiting member 123 and the movable member 121. The closer the limiting member and the movable member are, the smaller the range of motion of the elastic member, and the greater the preload of the elastic member can be.

[0072] In some embodiments, the floating component 12 further includes a guide structure 124, which is disposed between the pallet 11 and the vehicle body 20 and is fixedly connected to the pallet 11 or the vehicle body 20; the guide structure 124 is sleeved on the movable member 121 and is movably connected to the movable member 121 along a first direction.

[0073] In this embodiment, the guide structure 124 can restrict the movement of the movable part 121 along the first direction, thereby ensuring that the tray 11, which is fixedly connected to the movable part, moves smoothly and without shaking along the first direction.

[0074] Specifically, the guide structure 124 may be provided with a guide channel 12413 extending along the first direction, and the movable member 121 may pass through the guide channel 12413.

[0075] In some embodiments, the guide structure 124 can be fixedly connected to the side of the pallet 11 facing the vehicle body 20, and the guide structure 124 can be spaced apart from the vehicle body 20 along a first direction to ensure the reliability of the movement of the movable part 121 in the first direction. In other embodiments, the guide structure 124 can be fixedly connected to the side of the vehicle body 20 facing the pallet 11, and the guide structure 124 can be spaced apart from the pallet 11 along a first direction to ensure the reliability of the movement of the movable part 121 in the first direction.

[0076] Specifically, the guide structure 124 can be fixedly connected to the pallet 11 or the vehicle body 20 by means of bonding, welding, or bolting. For example... Figure 10 As shown, a guide structure 124 is fixed to the base plate 21 of the vehicle body 20 by bolts. The mounting part 1241 of the guide structure 124 has multiple threaded holes 12414. Other configurations can be referenced.

[0077] In some alternative embodiments, the guide structure 124 may include a mounting member 1241 and a sliding bearing 1242; the movable member may be slidably connected to the mounting member 1241 along a first direction via the sliding bearing 1242; the mounting member 1241 may be fixedly connected to the tray 11 or the vehicle body 20.

[0078] In this embodiment, the movable part can be slidably connected to the mounting part 1241 along the first direction via the sliding bearing 1242, which can improve the reliability and stability of the movable part moving along the first direction.

[0079] Specifically, the sliding bearing 1242 may include a bushing or an oilless bushing, etc. The specific type of the sliding bearing 1242 is not limited in the embodiments of this application.

[0080] In some alternative embodiments, the mounting member 1241 may include a mounting portion 12411 and a guide portion 12412, with the mounting portion 12411 protruding from the outer periphery of the guide portion 12412. The mounting member 1241 is divided into two parts, which respectively fulfill the functions of mounting and guiding.

[0081] In some embodiments, the end of the mounting portion 12411 near the vehicle body 20 is flush with the end of the guide portion 12412 near the vehicle body 20, and the mounting portion 12411 is fixedly connected to the vehicle body 20.

[0082] In this embodiment, the end of the mounting part 12411 near the vehicle body 20 is flush with the end of the guide part 12412 near the vehicle body 20, which facilitates the contact between the end face of the mounting part 12411 and the vehicle body 20, and improves the reliability of the fixed connection between the mounting part 12411 and the vehicle body 20.

[0083] In other embodiments, the end of the mounting portion 12411 near the tray 11 is flush with the end of the guide portion 12412 near the tray 11, and the mounting portion 12411 is fixedly connected to the tray 11.

[0084] In this embodiment, the end of the mounting part 12411 near the tray 11 is flush with the end of the guide part 12412 near the tray 11, which facilitates the contact between the end face of the mounting part 12411 and the tray 11, and improves the reliability of the fixed connection between the mounting part 12411 and the tray 11.

[0085] In this embodiment of the application, along the first direction, the extension height of the mounting portion 12411 may be less than the extension height of the guide portion 12412.

[0086] In some alternative embodiments, the guide structure 124 is fixedly connected to the tray 11; one end of the elastic member 122 abuts against the tray 11, and the other end abuts against the guide structure 124.

[0087] In this embodiment, the two ends of the elastic member 122 can be limited by the tray 11 and the guide structure 124. Since the guide structure 124 is fixedly connected to the tray 11, the elastic member 122 can be compressed when the tray 11 moves toward the vehicle body 20, thus exhibiting flexible adaptive adjustment.

[0088] In some alternative embodiments, the guide structure 124 is fixedly connected to the tray 11; the movable member 121 includes a rod body and a limiting end, the limiting end being fixedly connected to the tray 11; the elastic member 122 is sleeved on the rod body, one end abutting against the limiting end, and the other end abutting against the guide structure 124.

[0089] In this embodiment, the two ends of the elastic member 122 can be limited by the limiting end of the movable member 121 and the guide structure 124. Since the guide structure 124 is fixedly connected to the tray 11, the elastic member 122 can be compressed when the tray 11 moves toward the vehicle body 20, thus exhibiting flexible adaptive adjustment.

[0090] Specifically, such as Figures 7 to 9 As shown, one end of the elastic member 122 can abut against the limiting end of the movable member 121, and the other end can abut against the mounting part 12411 of the guide structure 124.

[0091] In some alternative embodiments, the elastic element 122 can be a rectangular spring. Rectangular springs have the advantages of high stiffness, strong support strength, and better force transmission and adjustment. Designing the elastic element 122 as a rectangular spring can improve the reliability and efficiency of the floating assembly 12 in providing flexible support to the pallet 11, and is also beneficial to ensuring the service life of the lifting control mechanism 10.

[0092] Specifically, a rectangular spring is a helical spring with a rectangular cross-section that stores and releases energy through the elastic deformation of the material. The cross-section of a rectangular spring is rectangular or square; compared to a circular spring, it has a larger cross-sectional area within the same installation space, allowing it to store and release more energy and provide a greater load. At the same time, the rectangular cross-section gives it higher resistance to bending and lateral buckling in the direction perpendicular to the long side of the rectangle, resulting in better stability during operation.

[0093] In other embodiments, the elastic element 122 may also be a circular spring, which may be used in conjunction with a linear bearing or bushing to ensure that the floating component 12 is not overloaded.

[0094] In this embodiment, the floating component 12 provides the basis for initial flexible contact and height adjustment. Specifically, the pallet 11 is designed with a pre-set chamfer, so that at least part of the outer circumferential surface of the pallet 11 forms a guide slope 111. The load of the goods is transferred to the movable component 121 through the pallet 11, which serves as the main load-bearing and motion guide shaft. The elastic component 122 is sleeved on the outside of the movable component 121. The upper and lower ends of the elastic component 122 can respectively abut against the guide structure and the limiting end of the movable component. When the pallet 11 is at its initial height, the elastic component 122 can be in a compressed state. The preload of the elastic component can be adjusted by adjusting the thread depth of the fasteners screwed into the limiting component and the movable component, thereby adapting to different load weights of goods. In some cases where the goods are low, after the pallet 11 abuts against the bottom of the goods, it is compressed by the goods and the spring is compressed. Under the guidance of its circumferential guide slope, it slides smoothly into the bottom of the goods, achieving adaptive adjustment.

[0095] In some alternative embodiments, the transport vehicle includes a precision control component, which includes a positioning feedback component and a controller. The controller is electrically connected to the positioning feedback component and the drive component 131, respectively. The positioning feedback component is used to acquire the position information of the pallet 11. The controller controls the telescopic component 132 to switch the telescopic state according to the position information.

[0096] In this embodiment, the positioning feedback component can send the acquired position information of the pallet 11 to the controller. The controller can then precisely control the drive component 131 based on the position information, thereby improving the reliability and stability of the floating component 12 or the rigid support component 13 in supporting the pallet 11.

[0097] Specifically, the position of pallet 11 can change. For example, when pallet 11 is ready to pick up goods, it can be at its initial height and without any goods, at which point it is in the first position. After pallet 11 successfully picks up the goods, i.e., after it carries the goods, it can compress the elastic element, at which point it can be in the second position. When the positioning feedback component detects that pallet 11 is in the first position, the controller can adjust the telescopic element 132 to the retracted state through the drive element 131, so that the floating component 12 provides flexible support for pallet 11 to prepare for picking up goods. When the positioning feedback component detects that pallet 11 is in the second position, the controller can adjust the telescopic element 132 to the extended state through the drive element 131, so that the rigid support component 13 provides rigid support for pallet 11 to adapt to complex working conditions during transportation.

[0098] Specifically, the positioning feedback component is used to detect the position information of the pallet 11 and can send the detected position information to the controller, so that the controller can make precise adjustments based on the position information of the pallet 11 to precisely switch the floating component 12 or the rigid support component 13 to provide support for the pallet 11. This can realize adaptive anti-collision protection and overload protection under complex working conditions and improve the service life of the lifting control mechanism 10.

[0099] In some embodiments, the positioning feedback component includes a first sensor, a second sensor, and a trigger; the trigger is connected to the pallet 11, and the first and second sensors are connected to the vehicle body 20; the trigger and the first sensor cooperate to acquire first position information of the pallet 11. In the first position, the pallet 11 is not carrying goods, and the controller controls the telescopic member 132 to switch to the retracted state according to the second position information; the trigger and the second sensor cooperate to acquire second position information of the pallet 11. In the second position, the pallet 11 carries goods, and the controller controls the telescopic member 132 to switch to the extended state according to the first position information.

[0100] In this embodiment, the first position information of the tray 11 can be detected by the first sensor and the second position information of the tray 11 can be detected by the second sensor, so that the control can control the telescopic member 132 to switch the retraction state according to the position information, which is more accurate and can significantly improve the reliability and intelligence level of the lifting control mechanism 10.

[0101] Specifically, the pallet 11 has multiple positions, including but not limited to: the position corresponding to moving under the goods, the position corresponding to lifting up the goods after being lifted, the position corresponding to lowering down the goods after being lowered, and transporting the goods to the required position. In this embodiment, only two relatively important positions of the pallet 11 are described as examples. The pallet 11 has a first position and a second position. At the first position, the pallet 11 is at its initial height and has not yet carried any goods, preparing for picking up goods; at the second position, the pallet carries goods. After the pallet 11 carries goods, due to the weight of the goods, the elastic element 122 is compressed, and the pallet 11 descends to the second position.

[0102] Specifically, by detecting whether pallet 11 is in the first position, it can be determined whether pallet 11 is at the initial height. By detecting whether pallet 11 is in the second position, it can be determined whether pallet 11 is carrying goods and whether it is necessary to switch to rigid support provided by rigid support component 13 for pallet 11.

[0103] Specifically, when pallet 11 picks up goods, the goods may be slightly lower than the initial height of pallet 11. Therefore, before picking up goods, pallet 11 needs to be in the first position, relying on the floating component to provide flexible support so that pallet 11 can smoothly slide under the goods by adaptively compressing the spring. After pallet 11 successfully lifts the goods, in order to ensure the support strength of the pallet and adapt to overload or vibration conditions, it is necessary to avoid supporting pallet 11 with the floating component. Therefore, after pallet 11 successfully lifts the goods, that is, after pallet 11 switches to the second position, it is necessary to switch to the rigid support component 13 to support pallet 11. Among them, after the drive component 131 drives the telescopic component 132 to switch to the extended state, the telescopic component 132 lifts pallet 11, so that the weight of pallet 11 and goods can bypass the elastic component 122 and be applied to the telescopic component 132.

[0104] Specifically, the precision control component may include multiple sensors, which detect multiple positions of the pallet 11. The types of sensors may include positioning sensors, limit sensors, etc. This embodiment specifically defines the sensors at two key positions; other settings can be referenced and will not be elaborated further in this embodiment. The first sensor is used to detect first position information, i.e., the initial height of the pallet 11. The second sensor is used to detect second position information, i.e., the condition of the pallet carrying goods.

[0105] In this embodiment, the problem of collision between pallet 11 and goods can be solved by the floating component 12, and the rigid support component 13 can provide rigid support for pallet 11 and goods to solve the problem of potential damage to the floating component 12. The controller is electrically connected to the positioning feedback component and the drive component 131 respectively, and can accurately adjust the control drive component 131 according to the position information of pallet 11 to achieve precise closed-loop control of the lifting height, lowering position and reset initial point of pallet 11, so as to ensure the operating accuracy and long-term stability of the transport vehicle 100.

[0106] In this embodiment, the sensor is a signal acquisition source used to acquire the position information of the pallet 11; the trigger is a signal relay / triggering unit that can receive signals from the sensor, process the signals, and transmit the signals to the controller. Alternatively, the sensor can acquire the position information of the pallet 11 by detecting the signal from the trigger. The controller can be the "command center" of the transport vehicle 100, and can be used for signal reception, logic operations, and command output. The controller can receive signals transmitted by the trigger, perform complex logic operations, and then output control commands to the drive unit 131. The trigger can be a "signal initiation source," and the sensor is a "signal acquisition source."

[0107] Specifically, the interaction between the trigger and the sensor can be contact or non-contact; for example, the trigger can be a travel stop block, a trigger boss, or a mechanical pressure plate, etc.; the sensor can be a travel switch or a limit switch, etc. Specifically, the trigger is connected to the tray 11, and the trigger moves with the tray 11. When it passes the sensor connected to the vehicle body, it triggers a signal.

[0108] Specifically, the transport vehicle 100 may further include a power unit for providing power. In some embodiments, the lifting control mechanism 10 may operate together with the vehicle body 20, and the power unit may be connected to the vehicle body 20 to drive the transport vehicle 100 to move under the goods for retrieval. In other embodiments, the lifting control mechanism 10 may operate independently, and the power unit may be connected to the lifting control mechanism 10 to drive the lifting control mechanism 10 to move under the goods for retrieval.

[0109] Specifically, the power component is used to adjust the position of the pallet 11. For example, under the control command of the controller, the power component can drive the pallet 11 to lift or lower the goods. The power component can also drive the transport vehicle 100 to the pickup or drop-off location, etc., but this is not specifically limited in this embodiment. Specifically, the power component can drive the pallet assembly to rise or fall. The pallet assembly may include a base plate and a lifting control mechanism to enable the pallet 11 to lift or lower the goods.

[0110] Specifically, the power assembly is used to adjust the position of the tray 11. The power assembly may include multiple power components, which work together to achieve multi-position adjustment of the tray 11. The power component can be one of an electric cylinder, a pneumatic cylinder, or a servo motor. The power component can be electrically connected to a controller to issue control commands to it.

[0111] In this embodiment, the pallet's adjustable positions include: moving to a position corresponding to the area below the goods, lifting to a position corresponding to the area where the goods are lifted, lowering to a position where the goods are lowered, and transporting the goods to the desired position. This embodiment only uses two relatively important positions of the pallet as examples for illustration. The pallet has a first position and a second position. In the first position, the pallet is not carrying any goods and is at its initial height; in the second position, the pallet carries goods and compresses the spring.

[0112] In this embodiment, the power component and drive component have high-precision limiting capabilities. With the coordinated work of the power component, sensor and drive component, the lifting height, lowering height and reset position of the tray 11 can be precisely controlled, realizing precise closed-loop control of the lifting height, lowering position and reset initial point, ensuring operational accuracy and long-term stability. It not only ensures the accuracy of docking with upstream and downstream equipment and realizes operational stability, but also enables the mechanism to have self-calibration capabilities, avoiding cumulative errors caused by long-term use.

[0113] The transport vehicle provided in this embodiment of the application comprises a floating component, a rigid support component, and a precision control component, integrating flexible self-adaptation, rigid support, and precise control. The three components work together to enable the transport vehicle to intelligently and safely handle complex working conditions, providing collision avoidance, overload protection, and precise positioning, significantly improving the reliability and intelligence of the transport vehicle. Its core logic is: the pallet exhibits flexible self-adaptation when in contact with goods; after the pallet bears the goods, it transforms into a rigid support; and after the goods are placed, it achieves precise repositioning.

[0114] Specifically, the operational steps of the transport vehicle in this application during the pickup process may include: Step 11: The transport vehicle moves to the vicinity of the goods. Specifically, this process can be achieved by the controller controlling the power components.

[0115] Step 12: Place the pallet under the goods. Specifically, taking the case where the height of the goods is slightly lower than the initial position of the pallet as an example, when the pallet initially contacts the goods, the guide ramp of the pallet contacts the bottom of the goods, the pallet compresses the elastic element downwards, the pallet tilts adaptively, and the pallet can smoothly enter the bottom of the goods.

[0116] Step 13: The pallet has been successfully slid under the goods. Specifically, once the pallet is slid under the goods, it is easy to lift the goods using the pallet by raising it.

[0117] Step 14: Determine whether the second sensor has detected the second position information. If yes, proceed to step 16; otherwise, proceed to step 15. Specifically, after the pallet enters under the goods, the controller can control the power component to operate, so that the pallet successfully lifts the goods. If the pallet switches to the second position, it means that the pallet has successfully lifted the goods; if the pallet has not reached the second position, it means that the pallet has not yet successfully lifted the goods.

[0118] Step 15: The power unit drives the pallet to continue lifting or issues an alarm. Specifically, if the second sensor does not detect the second position information, the pallet may not have been lifted to the correct position or there may be a malfunction. Therefore, the power unit can be controlled to continue lifting the pallet to successfully lift the goods. Alternatively, an alarm can be issued to check for the fault. Step 14 is executed again after step 15.

[0119] Step 16: The drive unit drives the telescopic component to switch to the extended state. Specifically, in this state, the telescopic component rigidly supports the tray, and the lifting control mechanism can complete the "flexible-rigid" conversion, with the load borne by the rigid support component.

[0120] Step 17: The lifting control mechanism completes the "flexible-rigid" conversion.

[0121] Step 18: The rigid support assembly is locked to lock the pallet in the second position, stabilizing the pallet's height. Specifically, in this state, the pallet can be supported by the rigid support assembly.

[0122] Step 19: Lifting complete, transport vehicle carries goods. Specifically, the lifting control mechanism completes its lifting task, the power unit operates, and it drives the transport vehicle to carry the goods.

[0123] In this embodiment, after the transport vehicle travels under the goods, the pallet rises and contacts the bottom of the goods, thus supporting the goods. If the goods are low, the reaction force compresses the elastic element, allowing the pallet to adaptively slide into the bottom of the goods through a slight tilt. During this process, the elastic element acts as a buffer, effectively preventing the pallet and goods from colliding, thereby protecting the transport vehicle and effectively extending its service life.

[0124] Furthermore, after the pallet lifts the goods, the pallet bears the weight, and the elastic element is compressed. At this time, the second sensor can detect the trigger, indicating that the pallet has reached the second position and successfully lifted the goods. The controller can immediately instruct the drive to act, driving the telescopic element to switch to the extended state. The telescopic element makes rigid contact with the pallet, and the load is transferred from the floating component to the rigid support component. The elastic element is no longer subject to the weight of the goods. Subsequently, the power component can drive the pallet to lift the goods off the ground.

[0125] Specifically, the operational steps of the cargo unloading process of the transport vehicle in this application also include: Step 21: The transport vehicle arrives at the target location and is ready to place the goods.

[0126] Step 22: The power unit drives the pallet to descend smoothly. Specifically, the power unit drives the pallet to descend, causing the pallet to detach from the goods, completing the unloading process. During this process, the power unit can achieve a smooth descent of the pallet by driving the pallet assembly downwards.

[0127] Step 23: The pallet is lowered to near its initial height. Specifically, the pallet is at its initial height when it is in the first position.

[0128] Step 24: Determine whether the first sensor detects the first position information. If yes, proceed to step 24; otherwise, proceed to step 25. If the first sensor does not detect the first position information of the pallet, it means that the pallet has not yet been completely detached from the goods. The power unit can fine-tune the position of the pallet to find the signal of the first position information. If the first sensor detects the first position information of the pallet, it means that the pallet has been completely detached from the goods and the pallet is no longer carrying goods.

[0129] Step 25: Fine-tune the position of the tray using the power unit until the first position signal is found.

[0130] Step 26: The power unit stops driving and precisely positions the vehicle to a stop.

[0131] Step 27: The drive unit drives the telescopic component to switch to the retracted state.

[0132] Step 28: The pallet has been reset and the transport vehicle is ready to perform the next task.

[0133] After the transport vehicle arrives at its destination and unloads the goods, the power unit can drive the pallet to descend. When the pallet approaches the initial height, the first sensor can detect the trigger, and the precise positioning of the power unit can stop it, so that the pallet can accurately return to the preset initial height and detach from the load. That is, the pallet returns to the first position and can be prepared for the next operation.

[0134] The transport vehicle described in this application embodiment has at least the following advantages: In the embodiments of this application, one end of the movable component is fixedly connected to the pallet, and the other end is movably connected to the vehicle body. The movable component can move relative to the vehicle body in a first direction, enabling the pallet to move relative to the vehicle body in the first direction. Since at least a portion of the pallet's circumferential direction forms a guide slope, and the elastic element is disposed between the pallet and the vehicle body, when encountering a situation where the bottom height of the goods is slightly lower than the initial plane of the pallet, the guide slope of the pallet's circumferential direction can act as a guide. Furthermore, the pallet can compress the elastic element, allowing the pallet to have a certain degree of flexible tilting freedom when in contact with the goods. The pallet can then slide smoothly into the bottom of the goods, which is slightly lower than its own height, achieving intelligent adaptation to irregular working conditions, effectively avoiding hard collisions, greatly improving the success rate and safety of picking up and placing goods, and ensuring the good performance of the equipment.

[0135] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0136] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A transport vehicle, comprising a vehicle body and a lifting control mechanism, characterized in that, The lifting control mechanism includes: a floating component and a pallet for supporting the goods; the floating component includes movable parts and elastic parts; wherein, One end of the movable component is fixedly connected to the tray, and the other end is movably connected to the vehicle body. The movable component can move relative to the vehicle body in a first direction. The elastic element is sleeved on the movable element, and the elastic element is disposed between the vehicle body and the tray; Along a direction away from the vehicle body, the cross-sectional area of ​​the pallet perpendicular to the first direction decreases, and at least a portion of the circumferential direction of the pallet forms a guide ramp.

2. The transport vehicle according to claim 1, characterized in that, The transport vehicle includes a rigid support assembly, which includes a drive component and a telescopic component; The drive component is mounted on the vehicle body and connected to the telescopic component. The drive component is used to drive the telescopic component to extend or retract along the first direction. The telescopic component is located on the side of the pallet facing the vehicle body. When the telescopic component is in the extended state, it abuts against the pallet and provides support to the pallet.

3. The transport vehicle according to claim 2, characterized in that, The drive unit includes a housing, at least a portion of which protrudes from the vehicle body on the side facing the tray and is spaced apart from the tray along the first direction; The telescopic member is telescopically connected to the housing along the first direction; when the telescopic member is in the retracted state, the telescopic member retracts into the housing.

4. The transport vehicle according to claim 2, characterized in that, The number of rigid support components includes at least two sets, and the at least two sets of rigid support components are evenly spaced along the circumference of the tray.

5. The transport vehicle according to claim 1, characterized in that, The floating component also includes a limiting member, and the vehicle body includes a base plate; The limiting member is disposed on the side of the substrate away from the tray and is engaged with the substrate for limiting. The other end of the movable component passes through the base plate and is fixedly connected to the limiting component.

6. The transport vehicle according to claim 5, characterized in that, The floating component also includes fasteners, which are installed on the side of the limiting member away from the substrate, and the fasteners are threadedly engaged with the limiting member and the movable member, respectively.

7. The transport vehicle according to claim 1, characterized in that, The floating component also includes a guide structure, which is disposed between the pallet and the vehicle body, and is fixedly connected to the pallet or the vehicle body; The guide structure is sleeved on the outside of the movable part and is movably connected to the movable part along the first direction.

8. The transport vehicle according to claim 7, characterized in that, The guide structure includes a mounting component and a sliding bearing; the movable component is slidably connected to the mounting component along the first direction via the sliding bearing. The mounting component is fixedly connected to the tray or the vehicle body.

9. The transport vehicle according to claim 8, characterized in that, The mounting component includes a mounting portion and a guide portion, wherein the mounting portion protrudes from the outer periphery of the guide portion; The end of the mounting portion near the vehicle body is flush with the end of the guide portion near the vehicle body, and the mounting portion is fixedly connected to the vehicle body; or... The end of the mounting part near the tray is flush with the end of the guide part near the tray, and the mounting part is fixedly connected to the tray.

10. The transport vehicle according to claim 1, characterized in that, The elastic element is a rectangular spring.

11. The transport vehicle according to claim 1, characterized in that, The number of floating components includes at least three groups, and the at least three groups of floating components are evenly spaced along the circumference of the tray.

12. The transport vehicle according to claim 2, characterized in that, The transport vehicle includes a precision control component, which includes a positioning feedback component and a controller, wherein the controller is electrically connected to the positioning feedback component and the drive component respectively. The positioning feedback component is used to obtain the position information of the tray; The controller controls the telescopic component to switch between telescopic states based on the location information.

13. The transport vehicle according to claim 12, characterized in that, The positioning feedback component includes a first sensor, a second sensor, and a trigger. The trigger is connected to the tray, and the first sensor and the second sensor are connected to the vehicle body; The trigger and the first sensor cooperate to obtain the first position information of the pallet. In the first position, the pallet is not carrying any goods. The controller controls the telescopic component to switch to the retracted state according to the first position information. The trigger and the second sensor cooperate to obtain the second position information of the pallet. In the second position, the pallet carries goods, and the controller controls the telescopic component to switch to the extended state according to the second position information.

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