Anti-overturning handling device

Abstract

The application discloses an anti-overturning carrying device, which comprises a frame body for carrying a carrying object, a vehicle body which is detachably connected to the bottom of the frame body, the vehicle body comprising a suction part for sucking the frame body during movement of the vehicle body, and an adjustable counterweight structure for adjusting the total weight of the vehicle body, the suction part and the counterweight structure cooperating to prevent the frame body from shaking during movement, and a control module for controlling the suction part to suck and release the frame body. The application can improve the stability of the carrying device.

Description

Technical Field

[0001] This utility model relates to the field of handling device technology, and in particular to an anti-tipping handling device. Background Technology

[0002] In the warehousing and logistics sector, high-bay racking with a height of at least 3.5 meters is increasingly used to improve warehouse space utilization. Automated Guided Vehicles (AGVs), as the core automated handling equipment in this scenario, need to be adapted to the handling requirements of high-bay racking. Traditional AGVs can only carry single-layer pallets corresponding to low-rise racks, resulting in low space utilization. Increasing the number of rack layers to three to form high-bay racking can significantly improve warehouse space utilization. However, high-bay racking is prone to swaying during handling due to inertia, slight road bumps, and other factors, which can lead to tipping risks, resulting in cargo damage, equipment failure, or even safety accidents. This has become a key issue restricting the development of automated high-bay warehousing.

[0003] To address the aforementioned tipping problem, existing technologies have proposed several solutions: First, the electromagnetic adsorption solution, which uses an electromagnetic adsorption device on the AGV body to secure the racks. However, this requires continuous power to maintain the electromagnetic force, resulting in high power consumption and potential overheating of the vehicle body. Furthermore, the adsorption range is fixed, making it unsuitable for high-bay racks of different sizes. Second, the mechanical triggering solution, which uses a mechanical locking mechanism to secure the racks. However, this relies on manual operation or additional triggering mechanisms, increasing labor costs and equipment complexity. The trigger response is also susceptible to environmental influences, leading to high maintenance costs and short lifespans. Third, the self-weighting solution, which improves stability by increasing the AGV's weight. However, the additional weight reduces the carrying capacity, decreasing the actual cargo carrying capacity. Moreover, when the rack height exceeds 3.5 meters, it is still difficult to counteract the swaying caused by inertia, failing to fundamentally solve the tipping problem. None of the existing solutions can simultaneously achieve the safety of high-bay rack handling, the low energy consumption of the AGV, and operational flexibility. A superior technological solution is urgently needed to overcome the current bottlenecks. Utility Model Content

[0004] The technical problem solved by this utility model is to provide an improved handling device.

[0005] To solve the above-mentioned technical problems, this utility model provides an anti-tipping handling device, comprising: a frame for carrying the object to be transported; a vehicle body detachably connected to the bottom of the frame, the vehicle body including an adsorption part, wherein the frame is adsorbed by the adsorption part during the movement of the frame driven by the vehicle body, the vehicle body also including an adjustable counterweight structure for adjusting the total weight of the vehicle body, the adsorption part and the counterweight structure cooperating to prevent the frame from swaying during movement; and a control module for controlling the adsorption part to adsorb and release the frame.

[0006] Optionally, the adsorption section includes an electro-permanent magnet adsorption module.

[0007] Optionally, the frame includes a base plate, and the adsorption part adsorbs onto the base plate to achieve the connection between the vehicle body and the frame.

[0008] Optionally, the vehicle body is an automated guided vehicle (AGV).

[0009] Optionally, the electro-permanent magnet adsorption module includes: a magnetic adsorption part disposed on the side of the vehicle body facing the frame; and a wiring part for connecting the adsorption part and the control module, wherein the control module communicates with the adsorption part through the wiring part to transmit control signals for magnetization or demagnetization.

[0010] Optionally, the number of magnetic adsorption parts is at least two, and the at least two adsorption parts are distributed on the connection surface between the vehicle body and the frame.

[0011] Optionally, the magnetic attraction part is made of neodymium iron boron permanent magnet material.

[0012] Optionally, a limiting structure is provided between the vehicle body and the frame; the limiting structure includes a protrusion on the top of the vehicle body and a groove on the bottom of the frame. When the vehicle body and the frame are connected, the protrusion is embedded in the groove to limit the relative displacement between the vehicle body and the frame.

[0013] Optionally, the vehicle body includes a lifting section disposed on the side of the vehicle body facing the frame, and at least the adsorption end of the adsorption section is disposed on the lifting section, and rises with the lifting section to approach the frame or falls with the lifting section to move away from the frame.

[0014] Optionally, the counterweight structure includes: a mounting cavity formed inside the vehicle body; and a counterweight block detachably housed in the mounting cavity.

[0015] Optionally, the counterweight has a variety of different weight specifications, and the total weight of the counterweight installed in the mounting cavity is positively correlated with the total weight of the object actually carried by the frame.

[0016] Optionally, the control module communicates with the adsorption unit and acquires the adsorption force data of the adsorption unit. When the adsorption force data is lower than a preset threshold, the control module triggers an alarm signal.

[0017] Optionally, the vehicle body further includes a moving component, which includes drive wheels and guide wheels.

[0018] Optionally, the drive wheel is used to provide the vehicle body with the power to move, and the guide wheel is used to adjust the driving direction of the vehicle body according to a preset guide path.

[0019] Compared with the prior art, the technical solution of this utility model embodiment has the following beneficial effects:

[0020] The technical solution of this application constructs an integrated anti-tipping system combining adsorption fixation and counterweight balance by setting up a frame, a vehicle body with an adsorption unit and an adjustable counterweight structure, and a control module. The adsorption unit stabilizes the adsorption frame during transportation to resist swaying caused by inertial forces; the adjustable counterweight structure optimizes the vehicle's center of gravity by adjusting the total weight of the vehicle; and the control module provides unified control over the adsorption unit, avoiding human error. This solution solves the problem of insufficient effectiveness of single anti-tipping methods in existing technologies (such as electromagnetic adsorption alone or fixed counterweight alone), while taking into account both anti-tipping safety and vehicle body adaptability and flexibility, effectively meeting the core needs of high-level racking transportation scenarios.

[0021] Furthermore, compared to traditional electromagnetic adsorption devices, the electro-permanent magnet adsorption module only consumes instantaneous electrical energy during the magnetization / demagnetization phase, significantly reducing energy consumption and avoiding the risk of vehicle overheating.

[0022] Furthermore, the base plate of the frame provides a stable adsorption contact surface for the adsorption unit, ensuring uniform transmission of adsorption force and improving adsorption reliability.

[0023] Furthermore, the use of AGVs in the vehicle body directly adapts to the automated handling needs of warehousing scenarios, reduces manual intervention, improves operational efficiency, and solves the problems of existing mechanical triggering solutions relying on manual labor and electromagnetic solutions consuming high energy. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a conveying device according to an embodiment of the present utility model;

[0025] Figure 2 yes Figure 1 A magnified view of a portion of region A in the middle;

[0026] Figure 3 yes Figure 2 A schematic diagram of the structure shown from another perspective;

[0027] Figure 4 yes Figure 1 A schematic diagram of the internal structure of the CRRC body. Detailed Implementation

[0028] As mentioned in the background section, existing handling devices lack stability during handling and are prone to shaking or even tipping over.

[0029] To address the aforementioned technical problems, this application provides an anti-tipping handling device, comprising: a frame for supporting the object being transported; a vehicle body detachably connected to the bottom of the frame, the vehicle body including an adsorption unit, wherein the frame is adsorbed by the adsorption unit during the movement of the frame by the vehicle body, the vehicle body further including an adjustable counterweight structure for adjusting the total weight of the vehicle body, the adsorption unit and the counterweight structure cooperating to prevent the frame from swaying during movement; and a control module for controlling the adsorption unit to adsorb and release the frame.

[0030] The technical solution of this application constructs an integrated anti-tipping system combining adsorption fixation and counterweight balance by setting up a frame, a vehicle body with an adsorption unit and an adjustable counterweight structure, and a control module. The adsorption unit stabilizes the adsorption frame during transportation to resist swaying caused by inertial forces; the adjustable counterweight structure optimizes the vehicle's center of gravity by adjusting the total weight of the vehicle; and the control module provides unified control over the adsorption unit, avoiding human error. This solution solves the problem of insufficient effectiveness of single anti-tipping methods in existing technologies (such as electromagnetic adsorption alone or fixed counterweight alone), while taking into account both anti-tipping safety and vehicle body adaptability and flexibility, effectively meeting the core needs of high-level racking transportation scenarios.

[0031] To make the above-mentioned objectives, features and beneficial effects of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0032] Figure 1 This is a schematic diagram of a conveying device 100 according to an embodiment of the present invention. Figure 2 yes Figure 1 A magnified view of a portion of region A in the middle.

[0033] To clearly demonstrate the structure, Figure 1 In this configuration, the vehicle body 2 and the frame 1 are separated, and the frame 1 is unloaded. In practical applications, the vehicle body 2 moves to the bottom of the frame 1 and lifts the frame 1 so that it leaves the supporting plane (e.g., the ground), then moves the frame 1 toward the target position.

[0034] Combination Figure 1 and Figure 2 The transport device 100 may include: a frame 1 for carrying the object to be transported; a vehicle body 2 detachably connected to the bottom of the frame 1, the vehicle body 2 including an adsorption part 21, during which the frame 1 is adsorbed by the adsorption part 21 while the vehicle body 2 is moving the frame 1, the vehicle body 2 also including an adjustable counterweight structure 22, the counterweight structure 22 being used to adjust the total weight of the vehicle body 2, the adsorption part 21 and the counterweight structure 22 cooperating to prevent the frame 1 from shaking during movement; and a control module 3 for controlling the adsorption part 21 to adsorb and release the frame 1.

[0035] For ease of explanation, the following text will... Figure 1 From the perspective of the frame 1, the length direction is denoted as the x direction, the width direction as the y direction, and the height direction as the z direction.

[0036] In some embodiments, the handling device 100 can be used for automated handling operations of high-bay racks in warehousing and logistics scenarios.

[0037] Furthermore, frame 1 is a multi-layered frame structure extending along the z-direction, used to support the transported objects in layers.

[0038] Furthermore, the vehicle body 2 is a structure used to move the frame 1. The vehicle body 2 and the frame 1 can be detached and connected. When the frame 1 needs to be moved, the vehicle body 2 is connected to the bottom of the frame 1; after the movement is completed, the vehicle body 2 can be separated from the frame 1 to perform other moving tasks.

[0039] Specifically, the vehicle body 2 includes an adsorption part 21, which is used to continuously adsorb the frame 1 during the process of the vehicle body 2 moving the frame 1, thereby enhancing the connection stability between the vehicle body 2 and the frame 1.

[0040] Furthermore, the vehicle body 2 also includes an adjustable counterweight structure 22, the core function of which is to optimize the position of the vehicle's center of gravity by adjusting the total weight of the vehicle body 2.

[0041] In practical applications, the weight of the objects carried by the frame 1 varies with operational requirements (such as full load or empty load, different cargo weights). If the weight of the vehicle body 2 is fixed, its center of gravity may shift due to changes in the load on the frame, increasing the risk of tipping over. The adjustable counterweight structure 22 can increase or decrease its own weight according to the actual load on the frame 1, keeping the center of gravity of the vehicle body 2 at a low position, thereby improving the stability of the vehicle body 2.

[0042] Furthermore, the adsorption unit 21 and the counterweight structure 22 work together to achieve the function of preventing overturning.

[0043] Specifically, the counterweight structure 22 increases the weight of the vehicle body 2 and stabilizes its center of gravity. The adsorption unit 21 is used to connect the frame 1 and the vehicle body 2 into a whole. When the vehicle body 2 moves to the bottom of the frame 1, the adsorption unit 21 will firmly adsorb the bottom plate 11 of the frame 1. At this time, the originally independent frame 1 and vehicle body 2 are no longer two separate structures, but can be regarded as a whole transport device 100 formed by adsorption force. The weight of the frame 1 will be transferred to the vehicle body 2 through adsorption force. The force and center of gravity of the two need to be considered as a whole. The frame 1 itself is a high-level structure extending along the z-direction. When it exists alone, its center of gravity is located at a relatively high position in the z-direction (e.g., near the middle layer of the frame 1). During movement, it is highly susceptible to tipping due to inertial forces (such as vehicle start-stop, turning) or ground bumps. However, when the frame 1 and the vehicle 2 are connected as a whole by adsorption, the center of gravity of the entire handling device 100 will shift significantly downward. This is because the weight of the vehicle 2, after the weight increase, accounts for a higher proportion of the total weight of the handling device 100, and the center of gravity of the vehicle 2 itself is located at a lower position in the z-direction. Ultimately, the combined center of gravity may fall near the connection area between the bottom of the vehicle 2 and the frame 1 (far lower than the individual center of gravity height of the frame 1). The lower the center of gravity, the stronger the anti-tipping stability of the object. Even if inertial forces or bumps occur during the movement, the overall center of gravity of the transport device 100 can stably support the frame 1, preventing it from tilting to the side in the z direction; at the same time, the adsorption force of the adsorption part 21 can also limit the horizontal displacement of the frame 1 relative to the vehicle body 2, further eliminating the swaying tendency of the frame 1, and finally achieving the anti-tipping (or anti-overturning) effect.

[0044] In some embodiments, the transport device 100 may further include a control module 3, which is integrated on the vehicle body 2. When the vehicle body 2 moves to the bottom of the frame 1 and aligns with the frame 1, the control module 3 triggers the adsorption part 21 to begin adsorption. After confirming that the adsorption is firm, the vehicle body 2 starts to move. When the frame 1 is transported to the target position and the vehicle body 2 stops, the control module 3 can trigger the adsorption part 21 to release the frame 1. Then the vehicle body 2 drives away along the xy plane, completing a complete transport operation.

[0045] In some embodiments, the adsorption unit 21 may include an electro-permanent magnet adsorption module 211.

[0046] Specifically, the electro-permanent magnet adsorption module 211 can be instantly energized and demagnetized, and can maintain its adsorption state even after power failure. In practical applications, when the vehicle body 2 is docked with the frame 1, only an instantaneous current needs to be output by the control module 3 to allow the electro-permanent magnet adsorption module 211 to quickly generate a strong adsorption force, firmly adsorbing the frame 1, ensuring the stability of the handling device 100, and avoiding loosening of the connection and shifting of the center of gravity due to insufficient adsorption force. Moreover, the electro-permanent magnet adsorption module 211 can still maintain its adsorption state after power failure without continuous power consumption, which reduces the overall energy consumption of the vehicle body 2, avoids the overheating risk caused by continuous power supply of traditional electromagnetic adsorption devices, and can maintain the overall stability of the handling device 100 in extreme situations such as sudden power failure, preventing the frame 1 from tipping over due to adsorption failure. At the same time, the adsorption force of the electro-permanent magnet adsorption module 211 is stable and durable, suitable for the high-frequency and long-term handling needs in warehousing scenarios.

[0047] In one variation, the adsorption unit 21 may also be a vacuum adsorption device.

[0048] In some embodiments, the frame 1 includes a base plate 11, and the adsorption part 21 adsorbs onto the base plate 11 to connect the vehicle body 2 and the frame 1. The base plate 11 is a flat structure extending along the xy plane, and its material can be a metal material (such as steel) compatible with the electro-permanent magnet adsorption module 211. On the one hand, it provides a large area and a flat adsorption contact surface for the adsorption part 21, avoiding the dispersion of adsorption points and uneven force due to the irregular structure of the bottom of the frame 1, ensuring that the adsorption force can be evenly transmitted to the overall structure of the frame 1, making the connection between the frame 1 and the vehicle body 2 more stable. On the other hand, the flat base plate 11 allows the adsorption surface of the adsorption part 21 to fit closely, maximizing the effective effect of the adsorption force and reducing the risk of the frame 1 tipping over. In addition, the base plate 11 can also distribute the weight of the frame 1 and the object being transported, so that the weight is evenly transmitted to the vehicle body 2, avoiding structural deformation or loosening of connections caused by local overload.

[0049] In some embodiments, the vehicle body 2 is an Automated Guided Vehicle (AGV). The AGV itself has the function of automatically driving along a preset guide path and precise positioning. In a warehousing scenario, the AGV can be precisely moved to the corresponding area at the bottom of the frame 1 through electromagnetic, optical, or other guiding devices, ensuring that the adsorption part 21 is aligned with the base plate 11 of the frame 1. This avoids docking deviations caused by manual driving or pushing, and prevents the frame 1 from tipping over due to the adsorption position of the adsorption part 21 shifting. Simultaneously, the automated driving of the AGV avoids problems such as unstable start-stop and excessively fast turning during manual operation, reduces the inertial force caused by sudden changes in the vehicle body 2's driving state, reduces the swaying tendency of the frame 1, and improves operational efficiency while ensuring anti-tipping effects.

[0050] In some embodiments, the electro-permanent magnet adsorption module 211 includes: a magnetic adsorption part 2111, disposed on the side of the vehicle body 2 facing the frame 1; and a wiring part 2112 for connecting the adsorption part 21 and the control module 3, wherein the control module 3 communicates with the adsorption part 21 through the wiring part 2112 to transmit a control signal for magnetization or demagnetization.

[0051] Specifically, in combination Figures 1 to 3 The magnetic suction part 2111 is located on the side of the vehicle body 2 facing the frame 1, and its position is aligned with the bottom plate 11 of the frame 1. As the suction execution component of the electro-permanent magnet adsorption module 211, the magnetic suction part 2111 is a structure that directly contacts the bottom plate 11 of the frame 1. When the control module 3 transmits a magnetization signal to it, the magnetic suction part 2111 will quickly generate a strong magnetic attraction force, tightly adhering to the bottom plate 11, and firmly connecting the frame 1 and the vehicle body 2 into a whole. In this way, the weight of the frame 1 can be evenly transferred to the vehicle body 2, so that the two are firmly connected into the whole of the handling device 100.

[0052] Furthermore, the wiring section 2112 is the connection structure between the electro-permanent magnet adsorption module 211 and the control module 3, used to transmit control signals. When the vehicle body 2 moves to the bottom of the frame 1 and aligns with the base plate 11, the control module 3 sends a magnetizing signal to the magnetic adsorption part 2111 through the wiring section 2112, triggering the magnetic adsorption part 2111 to generate an adsorption force. After being transported to the target position, the control module 3 sends a demagnetizing signal through the wiring section 2112, causing the magnetic adsorption part 2111 to release the frame 1. The stable connection of the wiring section 2112 ensures the timely and reliable transmission of control signals, allowing the adsorption and release actions of the magnetic adsorption part 2111 to be synchronized with the driving and docking process of the vehicle body 2, further enhancing the reliability of the anti-tipping system.

[0053] In some embodiments, the number of magnetic suction parts 2111 is at least two, and the at least two suction parts 21 are distributed dispersedly on the connection surface between the vehicle body 2 and the frame 1. This dispersed arrangement allows the suction force to be evenly distributed on the base plate 11 of the frame 1, avoiding localized overload or tilting of the frame 1 caused by single-point suction, thus making the connection between the frame 1 and the vehicle body 2 more stable. Simultaneously, the dispersed suction points allow the center of gravity of the transport device 100 to be more centered, preventing center of gravity shift due to uneven force distribution and effectively reducing the risk of the frame 1 tipping to one side. Furthermore, the multiple magnetic suction parts also improve suction redundancy; even if a single magnetic suction part experiences temporary suction fluctuations, the remaining magnetic suction parts can maintain connection, ensuring the continuous reliability of the anti-tipping system.

[0054] For example in Figures 1 to 3In the illustrated embodiment, there are two magnetic suction parts 2111, spaced apart on the z-direction surface of the vehicle body 2. This spaced arrangement precisely corresponds to the two stress-bearing areas of the base plate 11 of the frame 1, allowing the suction force to be evenly distributed across the bottom of the frame 1. This avoids localized overload and deformation of the base plate 11 caused by concentrated suction force in a single area, and also allows the weight of the frame 1 to be more evenly transferred to the vehicle body 2, further reducing the risk of the frame 1 tipping to one side. Simultaneously, the two spaced magnetic suction parts 2111 can also form a more balanced force distribution with the counterweight structure, matching the weight distribution of the vehicle body 2 with the point of application of the suction force, thus enhancing the overall structural stability.

[0055] In a typical application scenario, the forces acting on the two magnetic attachments 2111 may be in opposite directions. For example, when the frame 1 tends to tilt to one side (e.g., the x-direction), the center of gravity of the frame 1 will shift in the x-direction, causing a difference in the force exerted by the base plate 11 on the two magnetic attachments 2111. The magnetic attachment 2111 located on the x-direction side will experience downward pressure from the frame 1. At this time, the attraction force of this magnetic attachment 2111 will reverse upward, firmly holding the base plate 11 to resist the downward tilting tendency of the frame 1. Conversely, the magnetic attachment 2111 located on the opposite x-direction side will experience upward pulling force due to the tilting of the frame 1. At this time, the attraction force of this magnetic attachment 2111 will reverse downward, tightly adhering to the base plate 11 and preventing the frame 1 from tilting upward away from the side.

[0056] In some embodiments, the magnetic attraction part 2111 can be made of neodymium iron boron permanent magnet material. Neodymium iron boron permanent magnet material has high magnetic energy product characteristics, providing stronger attraction force and ensuring a sufficiently firm connection between the frame 1 and the vehicle body 2. Simultaneously, the attraction force of neodymium iron boron permanent magnet material has a low attenuation rate, maintaining a stable attraction effect even after long-term use. This prevents the connection between the frame 1 and the vehicle body 2 from loosening due to a decrease in attraction force, adapting to the high-frequency, long-term handling requirements of warehousing scenarios and continuously ensuring anti-tipping performance.

[0057] In some embodiments, a limiting structure may be provided between the vehicle body 2 and the frame 1. The limiting structure includes a protrusion on the top of the vehicle body 2 and a groove on the bottom of the frame 1. When the vehicle body 2 and the frame 1 are connected, the protrusion is embedded in the groove to limit the relative displacement between the vehicle body 2 and the frame 1. Thus, when the vehicle body 2 and the frame 1 are docked, the protrusion is precisely embedded in the groove, forming a rigid limit on the xoy plane. This prevents the frame 1 from sliding on the surface of the adsorption part 21 due to inertia when the vehicle body 2 starts, brakes, or turns. It also resists the horizontal impact force from ground bumps, preventing the frame 1 from shifting.

[0058] Furthermore, the adsorption unit 21 achieves the connection and fixation between the vehicle body 2 and the frame 1 through strong adsorption force, while the limiting structure further strengthens the constraint of the xoy plane, forming a double insurance of adsorption fixation combined with physical limiting. This combination ensures that the adsorption unit 21 is always precisely attached to the bottom plate 11 of the frame 1, and the adsorption force is evenly distributed on the connection surface, avoiding local overload of the adsorption force or instability of the overall structure due to the offset of the frame 1.

[0059] In some embodiments, the vehicle body 2 includes a lifting part 23 disposed on the side of the vehicle body 2 facing the frame 1, and at least the adsorption end of the adsorption part 21 is disposed on the lifting part 23, and is raised with the lifting part 23 to approach the frame 1 or lowered with the lifting part 23 to move away from the frame 1.

[0060] Specifically, the lifting part 23 is located on the side of the vehicle body 2 facing the frame 1, and the adsorption end of the adsorption part 21 (for example, the end of the magnetic adsorption part 2111 facing the z direction) is directly mounted on the lifting part 23, and can move along the z direction (vertical direction) with the movement of the lifting part 23. When the vehicle body 2 moves along the xoy plane to the preset docking position at the bottom of the frame 1, the lifting part 23 starts the lifting action, driving the adsorption part 21 to move closer to the frame 1 until the adsorption part 21 is in contact with the bottom plate 11 of the frame 1.

[0061] After the adsorption unit 21 completes adsorption, the lifting unit 23 maintains its current height, providing stable support for the adsorption unit 21 and ensuring continuous and uniform adsorption force. Once transported to the target location, the control module 3 first controls the adsorption unit 21 to release the frame 1. Then, the lifting unit 23 lowers the adsorption unit 21, completely detaching it from the base plate 11. At this point, the vehicle body 2 can smoothly drive away along the xoy plane, avoiding friction or pulling during separation that could cause the frame 1 to shift or tip over. The lifting action of the lifting unit 23, in coordination with the adsorption unit 21, the limiting structure, and the counterweight structure 22, enhances the anti-tipping effect.

[0062] In some embodiments, combined with Figures 1 to 4 The counterweight structure 22 includes: a mounting cavity 221, which is opened inside the vehicle body 2; and a counterweight block 222, which is detachably accommodated in the mounting cavity 221.

[0063] The mounting cavity 221 is located inside the vehicle body 2. The mounting cavity 221 can be located in the lower part of the vehicle body 2 (near the ground). Its internal space is adapted to the counterweight 222, which can provide dedicated space for the counterweight 222, preventing the counterweight 222 from shifting due to bumps during the movement of the vehicle body 2. It can also concentrate the weight of the counterweight 222 on the lower part of the vehicle body 2, which helps to lower the center of gravity of the vehicle body 2 and ensures that the weight of the counterweight 222 can be efficiently converted into anti-overturning moment.

[0064] In some embodiments, the counterweight 222 is detachably housed within the mounting cavity 221 to achieve an adjustable counterweight. When the weight of the object being transported carried by the frame 1 changes (e.g., full load versus empty load, or weight differences between different goods), the operator can adjust the total weight of the vehicle body 2 by increasing or decreasing the number of counterweights 222 or replacing them with counterweights of different weight specifications, according to actual needs.

[0065] Thus, the mounting cavity 221 ensures the installation stability of the counterweight 222 and prevents the center of gravity of the vehicle body 2 from shifting due to the displacement of the counterweight 222; the detachable counterweight 222 allows the weight of the vehicle body 2 to be precisely matched with the load of the frame 1, ensuring that the center of gravity of the handling device 100 is always stable, and works in synergy with the adsorption and limiting structure of the adsorption part 21 to continuously consolidate the anti-tipping effect, while adapting to the diverse handling needs in the warehousing scenario.

[0066] In some embodiments, the counterweight 222 has multiple different weight specifications, and the total weight of the counterweight 222 installed in the mounting cavity 221 is positively correlated with the total weight of the object actually carried by the frame 1. Thus, this multi-specification design allows the counterweight adjustment to match the weight of the object being transported, ensuring that the total weight of the vehicle body 2 can form an optimal ratio with the actual load of the frame 1.

[0067] The total weight of the counterweights 222 installed in the mounting cavity 221 is positively correlated with the total weight of the objects actually carried by the frame 1. That is, the heavier the goods carried by the frame 1, the greater the total weight of the counterweights 222; the lighter the goods, the smaller the total weight of the counterweights 222 can be. When the load on the frame 1 increases, its center of gravity tends to shift upward. Increasing the total weight of the counterweights 222 at this time can simultaneously increase the weight ratio of the vehicle body 2, ensuring that the center of gravity of the entire handling device 100 remains stably located at a low level, avoiding the upward shift of the center of gravity and the decrease in anti-tipping ability due to excessive load. When the load on the frame 1 decreases, appropriately reducing the total weight of the counterweights 222 can maintain the low position of the center of gravity of the entire handling device 100, and avoid the energy waste or reduced driving flexibility caused by excessive weight of the vehicle body 2.

[0068] In some embodiments, the control module 3 communicates with the adsorption unit 21 and acquires the adsorption force data of the adsorption unit 21. When the adsorption force data is lower than a preset threshold, the control module 3 triggers an alarm signal.

[0069] During the handling process, the control module 3 continuously compares the acquired adsorption force data with a preset threshold. When the adsorption force of the adsorption unit 21 decreases due to reasons such as dust accumulation on the contact surface or temporary fluctuations in magnetic energy, and the data falls below the preset threshold, the control module 3 will immediately trigger an alarm signal (which may manifest as an audible and visual alarm or send a warning message to the warehouse control system). The alarm signal can quickly remind operators to stop the handling operation and promptly investigate the cause of the decrease in adsorption force (such as cleaning the contact surface and checking the status of the adsorption unit 21), avoiding continued movement when adsorption fails, and preventing the frame 1 from sliding or shifting due to insufficient adsorption force, which could lead to an accident of tipping over.

[0070] In some embodiments, the preset threshold can be determined based on the total weight of the object being transported.

[0071] For example, the preset threshold typically needs to satisfy a total adsorption force threshold ≥ 0.8-1.2 times the total weight of the handling device 100 and the object being handled to offset the inertial force and horizontal impact force caused by ground bumps during movement, while also overcoming the slight tilting tendency that the frame 1 may exhibit. For example, if the total weight of the frame 1 and the goods is 1 ton, and the adsorption part 21 includes two magnetic adsorption parts 2111, then the preset threshold for the adsorption force of a single magnetic adsorption part 2111 can be set to 800-1200N, and the total adsorption force threshold of the two magnetic adsorption parts should not be less than 1600-2400N, leaving sufficient safety redundancy.

[0072] In addition, the threshold needs to be adapted to the auxiliary role of other structures: if the horizontal constraint of the limiting structure is strong, the warehouse ground is flat (small bumps), and the vehicle body 2 travels slowly (small inertial force), the threshold can be taken as the lower limit (0.8-1 times the total weight); if the ground is bumpy in the scene and the vehicle body 2 needs to start, stop and turn frequently (large inertial force), then the threshold needs to be taken as the upper limit (1-1.2 times the total weight) to avoid insufficient adsorption force causing the frame 1 to slide.

[0073] In some embodiments, the vehicle body 2 may further include a moving component 24, the moving component 24 including a drive wheel 241 and a guide wheel 242; wherein the drive wheel 241 is used to provide moving power to the vehicle body 2, and the guide wheel 242 is used to adjust the driving direction of the vehicle body 2 according to a preset guiding path.

[0074] In practical applications, the moving component 24 is integrated into the bottom of the vehicle body 2 (the side closest to the ground) to provide a continuous and stable driving force for the vehicle body 2 to move along the xoy plane (warehouse floor).

[0075] In some embodiments, the drive wheel 241 in the moving component 24 may adopt a variable frequency drive design to achieve uniform speed regulation during the start-up and braking phases, avoid the instantaneous inertial force generated by the traditional rigid drive due to excessive start-up and stop, and reduce the swaying or deviation of the frame 1 due to inertia.

[0076] Furthermore, the guide wheel 242 is linked with the guidance system of the vehicle body 2 (such as the laser guidance module of the AGV), and can adjust the steering angle in real time according to the preset storage and handling path to ensure that the vehicle body 2 travels accurately along the predetermined route and avoids deviation from the path, which may cause the frame 1 to collide with the surrounding equipment or deviate from the adsorption position of the base plate 11.

[0077] In some embodiments, the vehicle body 2 may also be provided with a protective component 4 to avoid external interference and ensure the smooth operation of the transport device 100.

[0078] In some embodiments, the protective component 4 may include a laser unit 41, such as Figure 3 As shown, the laser unit 41 can be installed on the outer periphery of the vehicle body 2. The laser scanning beam emitted by it can cover the path area around the vehicle body 2 along the xoy plane to detect obstacles (such as personnel, other equipment) and path deviations on the transport route. When the laser unit 41 detects an obstruction or deviation from the guide path within a preset distance, it will immediately send a signal to the control module 3 to control the drive wheel 241 to decelerate and stop, and the guide wheel 242 to finely adjust the direction to avoid collision between the vehicle body 2 and obstacles or path deviation.

[0079] In some embodiments, the protective component 4 may include a safety contact edge 42, which is a flexible protective structure provided around the bottom perimeter and side corners of the vehicle body 2, completely covering the area where the vehicle body 2 may collide with the outside. As supplementary protection to the laser unit 41, its position corresponds to the part of the vehicle body 2 most prone to scraping and collision. When the vehicle body 2 makes slight contact with an obstacle due to an emergency, the safety contact edge 42 will be triggered by compression, quickly transmitting a signal to the control module 3 to cut off the power to the drive wheel 241 and bring the vehicle body 2 to an immediate stop. The flexible material can buffer the impact force of the collision, avoiding hard contact that could cause the bottom plate 11 of the frame 1 to detach from the adsorption unit 21, or misalignment of the protrusions and grooves of the limiting structure, ensuring the stability of the transport device 100 during operation.

[0080] In some embodiments, the protective component 4 may include an emergency stop button 43. In extreme situations (such as the frame 1 showing a clear tendency to tip over, the adsorption part 21 malfunctioning, or the laser part 41 and the safety contact edge 42 failing), the operator can quickly press the emergency stop button 43, and the control module 3 will immediately cut off the power and signal transmission of all components to avoid work accidents.

[0081] Based on the above, the technical solution of the handling device 100 of this application is adopted. By setting up a frame 1, a vehicle body 2 with an adsorption part 21 and an adjustable counterweight structure 22, and a control module 3, an anti-tipping system integrating adsorption fixation and counterweight balance is constructed: the adsorption part 21 can stabilize the adsorption frame 1 during handling to resist the shaking caused by inertial force; the adjustable counterweight structure 22 can optimize the center of gravity position of the vehicle body 2 by adjusting the total weight of the vehicle body 2; the control module 3 realizes unified control of the adsorption part 21 to avoid human operation errors. This solution solves the problem that the effect of a single anti-tipping method (such as only electromagnetic adsorption or only fixed counterweight) in the prior art is insufficient, while taking into account both anti-tipping safety and vehicle body 2 adaptability flexibility, effectively adapting to the core needs of high-level rack handling scenarios.

[0082] Furthermore, compared to traditional electromagnetic adsorption devices, the electro-permanent magnet adsorption module 211 only consumes instantaneous electrical energy during the magnetization / demagnetization phase, which greatly reduces energy consumption and avoids the risk of overheating of the vehicle body 2.

[0083] Furthermore, the base plate 11 of the frame 1 provides a stable adsorption contact surface for the adsorption part 21, ensuring uniform transmission of adsorption force and improving adsorption reliability.

[0084] Furthermore, the adoption of AGV in vehicle body 2 directly adapts to the automated handling needs of warehousing scenarios, reduces manual intervention, improves operational efficiency, and solves the problems of existing mechanical triggering solutions relying on manual labor and electromagnetic solutions consuming high energy.

[0085] Therefore, the continuous coating method of this application involves sending the device into the first buffer chamber, closing the inlet to create a vacuum, and then connecting it to the process chamber for coating. This avoids frequent vacuum breaking in the process chamber, reduces vacuuming time, achieves continuous coating process, improves production efficiency, reduces energy consumption and time costs, and ensures that the process chamber maintains the vacuum environment required for coating, thus guaranteeing the stability of coating quality.

[0086] It should be understood that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document indicates that the preceding and following related objects are in an "or" relationship. As used herein, unless explicitly stated otherwise, the term "or" covers all possible combinations unless impractical. For example, if a component is declared to include A or B, then unless explicitly stated otherwise or impractical, the component can include A, or B, or A and B. As a second example, if a component is declared to include A, B, or C, then unless explicitly stated otherwise or impractical, the component can include A, or B, or C, or A and B, or A and C, or B and C, or A and B and C.

[0087] The term "multiple" in the embodiments of this application refers to two or more entities. Relational terms appearing in the embodiments of this application, such as "first," "second," etc., are used only to distinguish an entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the words "comprising," "having," and "including," and other similar forms, are intended to be equivalent in meaning and are open-ended; one or more items following any of these words do not imply an exhaustive list of such items or that they are limited to only the listed items. Exemplary embodiments have been disclosed in the drawings and specification. However, many variations and modifications can be made to these embodiments. Therefore, although specific terminology is used, it is used only in a general and descriptive sense and not for limiting purposes.

[0088] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A tipping-proof conveying device, characterized in that, include: The frame is used to support the objects being moved. The vehicle body is detachably connected to the bottom of the frame. The vehicle body includes an adsorption part, during which the frame is adsorbed by the adsorption part when the vehicle body moves the frame. The vehicle body also includes an adjustable counterweight structure, which is used to adjust the total weight of the vehicle body. The adsorption part and the counterweight structure cooperate to prevent the frame from shaking during movement. A control module is used to control the adsorption part to adsorb and release the frame.

2. The conveying device according to claim 1, characterized in that, The adsorption unit includes an electro-permanent magnet adsorption module; and / or the frame includes a base plate, and the adsorption unit adsorbs onto the base plate to achieve the connection between the vehicle body and the frame; and / or the vehicle body is an automated guided vehicle.

3. The conveying device according to claim 2, characterized in that, The electro-permanent magnet adsorption module includes: A magnetic suction unit is provided on the side of the vehicle body facing the frame. The wiring section is used to connect the adsorption unit and the control module. The control module communicates with the adsorption unit through the wiring section to transmit control signals for magnetization or demagnetization.

4. The conveying device according to claim 3, characterized in that, The number of magnetic attraction parts is at least two, and the at least two attraction parts are distributed on the connection surface between the vehicle body and the frame; and / or The magnetic attraction part is made of neodymium iron boron permanent magnet material.

5. The conveying device according to claim 2, characterized in that, A limiting structure is provided between the vehicle body and the frame; The limiting structure includes a protrusion on the top of the vehicle body and a groove on the bottom of the frame. When the vehicle body and the frame are connected, the protrusion is embedded in the groove to limit the relative displacement between the vehicle body and the frame.

6. The conveying device according to claim 1, characterized in that, The vehicle body includes: A lifting unit is provided on the side of the vehicle body facing the frame. At least the adsorption end of the adsorption unit is provided on the lifting unit and is raised with the lifting unit to approach the frame or lowered with the lifting unit to move away from the frame.

7. The conveying device according to claim 1, characterized in that, The counterweight structure includes: The mounting cavity is located inside the vehicle body; The counterweight is detachably housed in the mounting cavity.

8. The conveying device according to claim 7, characterized in that, The counterweights are available in various weight specifications, and the total weight of the counterweights installed in the mounting cavity is positively correlated with the total weight of the object being transported that is actually carried by the frame.

9. The conveying device according to claim 1, characterized in that, The control module communicates with the adsorption unit and acquires the adsorption force data of the adsorption unit. When the adsorption force data is lower than a preset threshold, the control module triggers an alarm signal.

10. The conveying device according to claim 1, characterized in that, The vehicle body also includes: The moving component includes a drive wheel and a guide wheel; wherein The drive wheels provide the vehicle body with the power to move, and the guide wheels adjust the vehicle body's direction of travel according to a preset guide path.

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