Automated guided vehicle and method for controlling an automated guided vehicle

Abstract

The utility model discloses an unmanned carrier caster recovery mechanism and intelligent unmanned carrier belong to intelligent carrier technical field, including the car body and install the reset caster mechanism at the bottom of car body, reset caster mechanism includes the thread mounting plate fixed in the car body, the pivot that rotates and is connected in the thread mounting plate, and the rotating wheel fixed in the bottom of pivot, reset caster mechanism still includes the second fixed axle fixedly connected in the top of pivot, the second adapter strip that rotates and is connected in the second fixed axle, the spring shell fixedly connected in the second adapter strip, the first fixed axle fixedly connected in the bottom of thread mounting plate, the first adapter strip that rotates and is connected in the first fixed axle and set up in the reset spring of spring shell inside. The utility model has the advantages that makes the caster automatic return to the preset initial position, ensures the vehicle start smoothness and the track accuracy through reset spring connection fixed component and the component that rotates with pivot.

Description

Technical Field

[0001] This utility model relates to the field of intelligent transport vehicle technology, and in particular to an unmanned transport vehicle caster wheel restoration mechanism and an intelligent unmanned transport vehicle. Background Technology

[0002] Intelligent unmanned transport vehicles are indispensable equipment in modern automated logistics and intelligent manufacturing systems. They are responsible for automatically transporting materials and goods in environments such as warehouses and workshops. In order to achieve high mobility and flexible steering, these unmanned transport vehicles are usually equipped with multiple swivel casters at the bottom. The characteristic of swivel casters is that not only can the wheels roll, but the entire support can also rotate freely around the vertical axis, so that the transport vehicle can move in any direction.

[0003] However, this free-rotation characteristic brings about a common problem: when the unmanned transport vehicle completes a turning action or stops running, the orientation of its various swivel casters at the bottom is often random and inconsistent due to inertia or ground friction. When the transport vehicle receives the next instruction, especially when it needs to start in a precise straight line or drive into the docking station, it only passively turns to the correct direction when the vehicle body begins to move. This process can cause the vehicle body to shake, sway, or deviate from the preset trajectory at the moment of start-up, which seriously affects the smoothness of the transport vehicle's start-up and positioning accuracy.

[0004] Therefore, this utility model proposes an unmanned transport vehicle caster restoration mechanism and an intelligent unmanned transport vehicle to address the shortcomings of the existing technology. Utility Model Content

[0005] In view of the problem that the caster wheel restoration mechanism of the existing unmanned transport vehicle and the intelligent unmanned transport vehicle have random orientation after the omnidirectional caster turns, which leads to unstable vehicle start-up or trajectory deviation, this utility model aims to provide an unmanned transport vehicle caster wheel restoration mechanism and intelligent unmanned transport vehicle with improved structure that can effectively solve the above problems.

[0006] This utility model provides a caster wheel reset mechanism for an unmanned transport vehicle, which includes a reset caster mechanism comprising a threaded mounting plate, a rotating shaft, and a rotating wheel. The rotating shaft is rotatably connected to the threaded mounting plate, and the rotating wheel is fixedly connected to the bottom of the rotating shaft.

[0007] To achieve the automatic reset function, the reset caster mechanism further includes a second fixed shaft, a second adapter bar, a spring housing, a first fixed shaft, a first adapter bar, and a reset spring. The specific combination relationship between these components is as follows: the second fixed shaft is fixedly connected to the top of the rotating shaft, the second adapter bar is rotatably connected to the outside of the second fixed shaft, and one end of the second adapter bar is fixedly connected to the outer wall of the spring housing. At the same time, the first fixed shaft is fixedly connected to the bottom of the threaded mounting plate, the first adapter bar is rotatably connected to the outer wall of the first fixed shaft, and the reset spring is disposed inside the spring housing for elastically connecting the first adapter bar and the spring housing.

[0008] This utility model also provides an intelligent unmanned transport vehicle, which includes a vehicle body and a reset caster mechanism as described above. The reset caster mechanism is installed at the bottom of the vehicle body, and the threaded mounting plate of the reset caster mechanism is fixed to the vehicle body.

[0009] Preferably, in order to make the rotational connection of the shaft more stable and reliable, the reset caster mechanism further includes a mounting ring and a mounting strip. The shaft is rotatably connected inside the mounting ring, and the mounting ring is fixedly connected to the bottom of the threaded mounting plate through the mounting strip.

[0010] Preferably, in a specific elastic connection implementation, one end of the first adapter bar is slidably connected to the inside of the spring housing and elastically connected to the spring housing via the reset spring.

[0011] Preferably, as one embodiment of the intelligent unmanned transport vehicle, it further includes a fixed mounting plate, which is fixedly connected to the bottom of the vehicle body, and the threaded mounting plate of the reset caster mechanism is installed on the bottom of the fixed mounting plate by bolts. This design facilitates installation and subsequent maintenance.

[0012] Preferably, in order to achieve automated path planning and obstacle avoidance of the vehicle and demonstrate its intelligent characteristics, sensors are also installed on the vehicle body.

[0013] Preferably, in order to achieve the transport function, the vehicle body is also provided with a clamping and fixing mechanism for fixing and transporting goods.

[0014] Preferably, as a specific implementation of the clamping and fixing mechanism, the mechanism includes a connecting rod, a gripper, and a telescopic cylinder. The connecting rod passes through the side hole of the vehicle body and slides within the vehicle body. The gripper is threadedly installed on one end of the connecting rod by a mounting bolt. The telescopic cylinder is fixedly connected between the two connecting rods and is used to drive the grippers on both sides to open and close synchronously.

[0015] Preferably, in order to enhance the clamping effect and prevent the goods from sliding during transportation, the clamping and fixing mechanism also includes an anti-slip plate, which is fixedly connected to the top of the vehicle body.

[0016] This utility model has the following beneficial effects:

[0017] 1. This utility model solves the problem in the prior art where the omnidirectional casters of unmanned transport vehicles have random directions and inconsistent orientations after turning, resulting in unstable vehicle start-up or trajectory deviation, by setting a reset caster mechanism and using a reset spring to elastically connect between the fixed component and the component that rotates with the shaft. It achieves the technical effect of automatically returning the casters to the preset initial position, ensuring the smooth start-up of the vehicle and the accuracy of the trajectory.

[0018] 2. This utility model, by setting up a clamping and fixing mechanism, uses a telescopic cylinder to drive two connecting rods to drive the grippers to open and close synchronously, and works in conjunction with the anti-slip plate on the top of the vehicle body, to solve the problem of goods not being securely fixed or easily slipping off during transportation, and achieves the technical effect of stable and reliable clamping of goods.

[0019] 3. This utility model achieves automatic reset by using a purely mechanical spring and linkage structure for the reset caster mechanism, which solves the problems of complex structure, high cost, need for additional power supply or low reliability that may be caused by other reset schemes. It achieves the technical effect of simple structure, low cost, reliable operation and easy maintenance. Attached Figure Description

[0020] Figure 1 This is a perspective view of the caster wheel restoration mechanism for the unmanned transport vehicle and the intelligent unmanned transport vehicle proposed in this utility model;

[0021] Figure 2 This is an exploded view of the caster wheel restoration mechanism for the unmanned transport vehicle and the fixed mounting plate of the intelligent unmanned transport vehicle proposed in this utility model.

[0022] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0023] Figure 4 This is a cross-sectional schematic diagram of the caster wheel restoration mechanism for the unmanned transport vehicle and the spring housing of the intelligent unmanned transport vehicle proposed in this utility model.

[0024] Figure 5 This is a cross-sectional schematic diagram of the caster restoration mechanism for the unmanned transport vehicle and the connecting rod of the intelligent unmanned transport vehicle proposed in this utility model.

[0025] Legend:

[0026] 1. Vehicle body; 2. Sensor; 3. Reset caster mechanism; 301. Rotary wheel; 302. Threaded mounting plate; 303. Rotary shaft; 304. Mounting strip; 305. Mounting ring; 306. Spring housing; 307. First adapter strip; 308. First fixed shaft; 309. Second fixed shaft; 310. Reset spring; 311. Second adapter strip; 4. Clamping and fixing mechanism; 401. Anti-slip plate; 402. Gripper; 403. Mounting bolt; 404. Telescopic cylinder; 405. Connecting rod; 406. Side hole; 5. Fixed mounting plate. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Please refer to Figures 1 to 5 This utility model provides a caster restoration mechanism for unmanned transport vehicles and an intelligent unmanned transport vehicle, which aims to solve the problem that the omnidirectional casters of unmanned transport vehicles have random orientations after free turning, resulting in inconsistent directions, trajectory deviations, or unstable starts when the vehicle restarts.

[0029] The unmanned transport vehicle's caster recovery mechanism and intelligent unmanned transport vehicle include a vehicle body 1, which serves as the mounting base and load-bearing platform for the entire device. Sensors 2 are installed on the outer surface of the vehicle body 1 for data collection. A clamping and fixing mechanism 4 is installed on the top of the vehicle body 1 for securing goods. A fixing mounting plate 5 is fixedly connected to the bottom of the vehicle body 1.

[0030] The intelligent unmanned transport vehicle also includes a reset caster mechanism 3, which is installed at the bottom of the vehicle body 1. The reset caster mechanism 3 includes a threaded mounting plate 302, which is bolted to the bottom of the fixed mounting plate 5, thereby achieving fixation to the vehicle body 1. Please refer to... Figure 2 and Figure 3 The reset caster mechanism 3 also includes a mounting ring 305, which is fixedly connected to the bottom of the threaded mounting plate 302 by two mounting strips 304. The rotating shaft 303 is rotatably connected inside the mounting ring 305, and the rotating wheel 301 is a universal caster, which is fixedly connected to the bottom of the rotating shaft 303.

[0031] The reset caster mechanism 3 establishes an elastic connection between the rotating shaft 303 and the threaded mounting plate 302. The second fixed shaft 309 is fixedly connected to the top of the rotating shaft 303. The second adapter bar 311 is rotatably connected to the outside of the second fixed shaft 309. The spring housing 306 is fixedly connected to one end of the second adapter bar 311, specifically, it is fixedly connected to the outer wall of the spring housing 306. Thus, when the rotating wheel 301 drives the rotating shaft 303 to rotate, the spring housing 306 rotates synchronously. The first fixed shaft 308 is fixedly connected to the bottom of the threaded mounting plate 302. Since the threaded mounting plate 302 is fixed to the vehicle body 1, the first fixed shaft 308 is relatively fixed. The first adapter bar 307 is rotatably connected to the outer wall of the first fixed shaft 308.

[0032] The return spring 310 is disposed inside the spring housing 306. One end of the return spring 310 is elastically connected to the first adapter bar 307, and the other end is elastically connected to the spring housing 306, so that when the rotating wheel 301 deflects, the elastic force is stored and when the deflection force disappears, the elastic force is released to reset the rotating wheel 301. One end of the first adapter bar 307 is slidably connected inside the spring housing 306 and elastically connected to the spring housing 306 via the return spring 310.

[0033] The clamping and fixing mechanism 4 includes an anti-slip plate 401, which is fixedly connected to the top of the vehicle body 1 to increase friction when carrying goods. The clamping and fixing mechanism 4 includes a connecting rod 405. A side hole 406 is provided on the side wall of the vehicle body 1. The connecting rod 405 passes through the side hole 406 and is slidably disposed inside the vehicle body 1. The gripper 402 is disposed at one end of the connecting rod 405 located outside the vehicle body 1. Specifically, the gripper 402 is threadedly installed on one end of the connecting rod 405 by a mounting bolt 403.

[0034] In order to drive the grippers 402 on both sides to move synchronously, the clamping and fixing mechanism 4 also includes a telescopic cylinder 404. The telescopic cylinder 404 is arranged laterally inside the vehicle body 1 and is fixedly connected between two oppositely arranged connecting rods 405. This structure, which drives the two connecting rods 405 through the telescopic cylinder 404, ensures that when the telescopic cylinder 404 extends or retracts, the grippers 402 on both sides can clamp or release synchronously, thereby achieving stable clamping and fixing of the goods.

[0035] Based on the above embodiments, the present invention may further include the following preferred technical solutions:

[0036] In a preferred embodiment, in order to provide a stable and detachable rotating support, the reset caster mechanism 3 further includes a mounting ring 305 and mounting strips 304. The rotating shaft 303 is rotatably connected inside the mounting ring 305, and the mounting ring 305 is fixedly connected to the bottom of the threaded mounting plate 302 by two mounting strips 304.

[0037] In a preferred embodiment, in order to clarify the force transmission mode of the return spring 310, one end of the first adapter bar 307 is slidably connected to the spring housing 306 and elastically connected to the spring housing 306 via the return spring 310. This slidable connection allows the first adapter bar 307 to adjust its position within the spring housing 306 when the spring is stretched or compressed.

[0038] As a preferred embodiment, in order to facilitate the assembly of the whole vehicle and the maintenance and replacement of the reset caster mechanism 3, the intelligent unmanned transport vehicle also includes a fixed mounting plate 5. The fixed mounting plate 5 serves as a reinforcing connector at the bottom of the vehicle body 1 and is fixedly connected to the bottom of the vehicle body 1. The threaded mounting plate 302 of the reset caster mechanism 3 is installed at the bottom of the fixed mounting plate 5 by bolts.

[0039] As a preferred implementation, in order to enable autonomous navigation and data analysis of the intelligent unmanned transport vehicle, sensors 2 are also installed on the vehicle body 1.

[0040] The working principle of the caster wheel restoration mechanism and the intelligent unmanned transport vehicle of this utility model is as follows:

[0041] When the intelligent unmanned transport vehicle moves and turns based on the data collected by sensor 2, the rotating wheel 301 deflects due to ground friction. The deflection of the rotating wheel 301 causes the rotating shaft 303, which is fixedly connected to it, to rotate synchronously. The second fixed shaft 309 at the top of the rotating shaft 303 rotates accordingly, driving the second adapter bar 311, which in turn drives the spring housing 306, which is fixedly connected to it, to rotate synchronously. At the same time, the threaded mounting plate 302 fixed to the vehicle body 1 remains stationary, as does the first fixed shaft 308 at its bottom. The first adapter bar, which is rotatably connected to the first fixed shaft 308... 307 thus maintains a relatively fixed rotational position. Since the return spring 310 is located inside the rotating spring housing 306 and is elastically connected between the spring housing 306 and the relatively fixed first adapter bar 307, the rotation of the spring housing 306 will cause the return spring 310 to be stretched or twisted, thereby storing elastic energy. When the steering force disappears, the return spring 310 releases the elastic energy, pulling the spring housing 306 to rotate in the opposite direction to the initial position. The spring housing 306 drives the rotating shaft 303 to reset through the second adapter bar 311 and the second fixed shaft 309, and finally makes the rotating wheel 301 automatically return to the preset initial direction.

[0042] When it is necessary to clamp the goods, the telescopic cylinder 404 inside the vehicle body 1 is activated. The telescopic cylinder 404 pushes or pulls the two connecting rods 405 that are fixedly connected to it. The connecting rods 405 pass through the side holes 406 and slide, driving the gripper 402 that is installed at one end of the connecting rod 405 by the mounting bolts 403, so as to realize the synchronous opening and closing of the two grippers 402, and clamp and fix the goods on the anti-slip plate 401 on the top of the vehicle body 1.

Claims

1. A caster return mechanism for an unmanned transport vehicle, comprising a caster return mechanism (3), characterized in that, The reset caster mechanism (3) includes a threaded mounting plate (302), a rotating shaft (303), and a rotating wheel (301). The rotating shaft (303) is rotatably connected to the threaded mounting plate (302), and the rotating wheel (301) is fixedly connected to the bottom of the rotating shaft (303). The reset caster mechanism (3) further includes a second fixed shaft (309), a second adapter bar (311), a spring housing (306), a first fixed shaft (308), and a reset spring (310). The second fixed shaft (309) is fixedly connected to the top of the rotating shaft (303). The second adapter bar (311) is rotatably connected to the outside of the second fixed shaft (309). One end of the second adapter bar (311) is fixedly connected to the outer wall of the spring housing (306). The first fixed shaft (308) is fixedly connected to the bottom of the threaded mounting plate (302). The outer wall of the first fixed shaft (308) is rotatably connected to the first adapter bar (307). The reset spring (310) is disposed inside the spring housing (306) and is elastically connected between the first adapter bar (307) and the spring housing (306).

2. The unmanned transport vehicle caster wheel restoration mechanism according to claim 1, characterized in that, The reset caster mechanism (3) further includes a mounting ring (305) and a mounting strip (304). The rotating shaft (303) is rotatably connected inside the mounting ring (305), and the mounting ring (305) is fixedly connected to the bottom of the threaded mounting plate (302) through the mounting strip (304).

3. The unmanned transport vehicle caster wheel restoration mechanism according to claim 1, characterized in that, One end of the first adapter bar (307) is slidably connected to the spring housing (306) and elastically connected to the spring housing (306) via the return spring (310).

4. An intelligent unmanned transport vehicle, applied to the caster wheel restoration mechanism of the unmanned transport vehicle as described in any one of claims 1-3, characterized in that, It includes a vehicle body (1) and a reset caster mechanism (3), the reset caster mechanism (3) is installed at the bottom of the vehicle body (1), and the threaded mounting plate (302) of the reset caster mechanism (3) is fixed to the vehicle body (1).

5. The intelligent unmanned transport vehicle according to claim 4, characterized in that, It also includes a fixed mounting plate (5), which is fixedly connected to the bottom of the vehicle body (1), and the threaded mounting plate (302) of the reset caster mechanism (3) is installed on the bottom of the fixed mounting plate (5) by bolts.

6. The intelligent unmanned transport vehicle according to claim 4, characterized in that, The vehicle body (1) is also equipped with sensors (2).

7. The intelligent unmanned transport vehicle according to claim 4, characterized in that, The vehicle body (1) is also provided with a clamping and fixing mechanism (4).

8. The intelligent unmanned transport vehicle according to claim 7, characterized in that, The clamping and fixing mechanism (4) includes a connecting rod (405), a gripper (402), and a telescopic cylinder (404). The connecting rod (405) passes through the side hole (406) of the vehicle body (1) and slides inside the vehicle body (1). The gripper (402) is threadedly installed on one end of the connecting rod (405) by a mounting bolt (403). The telescopic cylinder (404) is fixedly connected between the two connecting rods (405).

9. The intelligent unmanned transport vehicle according to claim 7, characterized in that, The clamping and fixing mechanism (4) also includes an anti-slip plate (401), which is fixedly connected to the top of the vehicle body (1).

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