阅读说明：本技术 一种自动导引运输车 (Automatic guide transport vechicle ) 是由 朱首红 于 2019-11-16 设计创作，主要内容包括：本发明涉及物流分拣装置技术领域,且公开了一种自动导引运输车,包括导引车体,导引车体顶端的两侧均固定安装有感应传感器,导引车体的内部设有主液压装置,主液压装置内腔两侧的底部固定安装有限位块。该自动导引运输车,通过主液压装置和万向从动轮的设置,利用控压装置及货物自身的重量,可以自动的保持四组万向从动轮和驱动差速轮之间的压力大小,即使是在不平整的地面上行驶时,也可以自动的重新分配四组万向从动轮和驱动差速轮之间的液压油,并使其一直保持压力平衡的状态,进而确保了该导引车无论是在不平整的地面还是坡道上行驶时,都可以保证其上的货物一直处于水平的状态,不会发生晃动甚至是货物摔落的情况。(The invention relates to the technical field of logistics sorting devices and discloses an automatic guide transport vehicle which comprises a guide vehicle body, wherein induction sensors are fixedly mounted on two sides of the top end of the guide vehicle body, a main hydraulic device is arranged inside the guide vehicle body, and limiting blocks are fixedly mounted at the bottoms of two sides of an inner cavity of the main hydraulic device. The automatic guiding transport vehicle can automatically keep the pressure between four groups of universal driven wheels and driving differential wheels by arranging the main hydraulic device and the universal driven wheels and utilizing the weight of the pressure control device and goods, and can automatically redistribute hydraulic oil between the four groups of universal driven wheels and the driving differential wheels even when the vehicle runs on uneven ground, and keep the pressure balance state of the hydraulic oil, thereby ensuring that the goods on the vehicle are always in a horizontal state no matter the vehicle runs on uneven ground or on a ramp, and avoiding shaking or even falling of the goods.)

1. An automated guided vehicle, comprising a guided vehicle body (1), characterized in that: the guide car body is characterized in that induction sensors (2) are fixedly mounted on two sides of the top end of the guide car body (1), a main hydraulic device (3) is arranged inside the guide car body (1), a limiting block (4) is fixedly mounted at the bottoms of two sides of an inner cavity of the main hydraulic device (3), the inner cavity of the main hydraulic device (3) is communicated with a pressure control device (5) located on one side inside the guide car body (1), hydraulic cylinders I (6) are arranged at four corners of the bottom end of the guide car body (1), a universal driven wheel (7) is fixedly mounted at the bottom end of each hydraulic cylinder I (6), a driving differential wheel (8) is fixedly mounted in the middle of the bottom end of the main hydraulic device (3) through each hydraulic cylinder I (6), a supporting pressing plate (9) is arranged at the top end of the main hydraulic device (3), and the bottom end of each supporting pressing plate (9) is fixedly connected with four hydraulic cylinders II (, the top end of the supporting pressure plate (9) is movably sleeved with a supporting platform (11).

2. An automated guided vehicle as defined in claim 1, wherein: the maximum volume of the compressed hydraulic oil in the inner cavity of the main hydraulic device (3) is larger than the sum of the volumes of the compressed hydraulic oil in the inner cavities of the five groups of hydraulic cylinders I (6).

3. An automated guided vehicle as defined in claim 1, wherein: the driving differential wheel (8) adopts a cylindrical driving wheel structure, and the driving differential wheel (8) is positioned at the right center of the guide vehicle body (1).

4. An automated guided vehicle as defined in claim 1, wherein: and a pull-back spring is arranged in the hydraulic cylinder II (10).

Technical Field

The invention relates to the technical field of logistics sorting devices, in particular to an automatic guided transport vehicle.

Background

An automated guided vehicle is an unmanned transportation device that can be implemented along a designated path and has safety protection and various transfer functions, and has high transportation efficiency and flexible operability, and is widely applied to the field of logistics sorting.

However, the existing automatic guided vehicle has a high requirement on the flatness of the ground environment in the driving process, and no matter the vehicle is of a four-wheel vehicle type or a three-wheel vehicle type, the vehicle is very easy to tilt and rock due to the unevenness of the ground, and the goods fall off.

Disclosure of Invention

Technical problem to be solved

The invention provides an automatic guided vehicle which has the advantages of automatic adjustment of the balance state, good stability, combined use, wide application range, flexibility and reliability, solves the problem that the existing automatic guided vehicle has higher requirements on the flatness of the ground environment in the running process, no matter four-wheel vehicles or three-wheel vehicles are easy to generate inclined shaking due to the unevenness of the ground, the goods fall off, and when a driving wheel passes through the uneven ground, the driving wheel is easy to suspend and idle to cause the deviation of the guided vehicle, the guided vehicle cannot run along a specified path, the goods cannot be accurately delivered, the arrangement can deviate to other tracks, the normal running of other guided vehicles is influenced, and meanwhile, when the existing guided vehicle transports the goods on a slope, the existing guided vehicle can carry the goods to do inclined motion together, and the goods fall off easily in the transporting process, thereby causing serious influence on the following guided vehicles.

(II) technical scheme

The invention provides the following technical scheme: the utility model provides an automatic guide transport vechicle, includes the guide automobile body, the equal fixed mounting in both sides on guide automobile body top has inductive sensor, the inside of guide automobile body is equipped with main hydraulic means, the bottom fixed mounting of main hydraulic means inner chamber both sides has the stopper, and main hydraulic means's inner chamber and the accuse pressure device intercommunication that is located the inside one side of guide automobile body, four corners of guide automobile body bottom all are equipped with pneumatic cylinder I, and the bottom fixed mounting of pneumatic cylinder I has the universal follow driving wheel, there is the drive differential wheel through I fixed mounting of pneumatic cylinder in the middle part of main hydraulic means bottom, main hydraulic means's top is equipped with holding plate, and holding plate's bottom respectively with fixed mounting in four pneumatic cylinder II fixed connection at guide automobile body top corner, holding plate's top activity cup joints supporting platform.

Preferably, the maximum volume of the compressed hydraulic oil in the inner cavity of the main hydraulic device is larger than the sum of the volumes of the compressed hydraulic oil in the inner cavities of the five groups of hydraulic cylinders I.

Preferably, the driving differential wheel adopts a cylindrical driving wheel structure, and the driving differential wheel is positioned at the right center of the guide vehicle body.

Preferably, a pull-back spring is arranged inside the hydraulic cylinder II.

(III) advantageous effects

The invention has the following beneficial effects:

1. the automatic guiding transport vehicle can automatically keep the pressure between four groups of universal driven wheels and driving differential wheels by arranging the main hydraulic device and the universal driven wheels and utilizing the weight of the pressure control device and goods, and can automatically redistribute hydraulic oil between the four groups of universal driven wheels and the driving differential wheels even when the vehicle runs on uneven ground, and keep the pressure balance state of the hydraulic oil, thereby ensuring that the goods on the vehicle are always in a horizontal state no matter the vehicle runs on uneven ground or on a ramp, and avoiding shaking or even falling of the goods.

2. The automatic guiding transport vehicle has the advantages that through the arrangement of the supporting pressure plate and the hydraulic cylinder II, when goods with large volume and heavy weight are conveyed, a plurality of groups of guiding vehicles can be combined for combined use, the guiding vehicles are respectively guided to the appointed positions at the bottoms of the goods, the hydraulic cylinder II is lifted up for conveying, when the goods need to turn, the single guiding vehicle can be directly turned by utilizing the mutual rotation between the supporting pressure plate and the supporting platform, and the automatic guiding transport vehicle can be matched with other guiding vehicles to act, so that the automatic guiding transport vehicle is convenient and flexible to use, and the applicability of the guiding vehicle is effectively improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a bottom view of the structure guided vehicle body of the present invention.

In the figure: 1. a guide vehicle body; 2. an inductive sensor; 3. a main hydraulic device; 4. a limiting block; 5. a pressure control device; 6. a hydraulic cylinder I; 7. a universal driven wheel; 8. driving a differential wheel; 9. supporting the pressure plate; 10. a hydraulic cylinder II; 11. and supporting the platform.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, an automatic guided vehicle comprises a guided vehicle body 1, inductive sensors 2 are fixedly mounted on both sides of the top end of the guided vehicle body 1, a main hydraulic device 3 is disposed inside the guided vehicle body 1, limit blocks 4 are fixedly mounted on the bottoms of both sides of the inner cavity of the main hydraulic device 3, and the inner cavity of the main hydraulic device 3 is communicated with a pressure control device 5 positioned at one side in the guide vehicle body 1, four corners at the bottom end of the guide vehicle body 1 are provided with hydraulic cylinders I6, and the bottom end of the hydraulic cylinder I6 is fixedly provided with a universal driven wheel 7, the middle part of the bottom end of the main hydraulic device 3 is fixedly provided with a driving differential wheel 8 through the hydraulic cylinder I6, the top end of the main hydraulic device 3 is provided with a supporting pressing plate 9, and the bottom end of the supporting pressure plate 9 is respectively and fixedly connected with four hydraulic cylinders ii 10 fixedly installed at the top corner of the guiding vehicle body 1, and the top end of the supporting pressure plate 9 is movably sleeved with a supporting platform 11.

Wherein, through the main hydraulic means 3, the setting of stopper 4 and accuse pressure equipment 5, utilize goods and the pressure that accuse pressure equipment 5 produced, the pressure between four universal follow driving wheels 7 of group and the drive differential wheel 8 of automatic balance, make the pressure size keep unanimous, even when passing through certain slope, through the automatic distribution of pressure between main hydraulic means 3 and accuse pressure equipment 5, and the flexible action of different degrees takes place between the four universal follow driving wheels 7 of automatic drive group, even make this guided vehicle pass through the slope, can also guarantee the balance of self and goods on it, the phenomenon of slope can not take place, the effectual security and the stability that improves this guided vehicle in the transportation.

The four groups of independently controlled universal driven wheels 7 are arranged, so that the universal driven wheels 7 can rotate towards any direction and are not controlled, the friction force borne by the four groups of universal driven wheels 7 when the guiding vehicle turns is effectively reduced, and the steering of the guiding vehicle is more flexible and labor-saving.

In the technical scheme, the maximum volume of the compressed hydraulic oil in the inner cavity of the main hydraulic device 3 is larger than the sum of the volumes of the compressed hydraulic oil in the inner cavities of the five groups of hydraulic cylinders I6.

The volume of the inner cavity of the main hydraulic device 3 is set, so that the main hydraulic device 3 and the pressure control device 5 can provide enough pressure for the five groups of hydraulic cylinders I6, the situation that the guide vehicle cannot be effectively supported due to insufficient pressure between the universal driven wheel 7 and the driving differential wheel 8, and the goods are conveyed to pass through a slope, is prevented, and the slope is caused.

In the technical scheme, the driving differential wheel 8 adopts a cylindrical driving wheel structure, and the driving differential wheel 8 is positioned at the right center of the guide vehicle body 1.

The arrangement of the cylindrical driving wheel for driving the differential wheel 8 effectively improves the adaptability of the cylindrical driving wheel to the ground environment, even in a region with a hollow ground, enough friction force can be provided for the guiding vehicle body 1 to drive the guiding vehicle to normally operate, the situation that the guiding vehicle slips and cannot operate due to the fact that the friction force between the driving differential wheel 8 and the ground is reduced due to the hollow ground is prevented, and the stability and the reliability of the guiding vehicle in turning are ensured through the arrangement of the installation position of the driving differential wheel 8.

Wherein, through the setting of supporting pressure plate 9 and pneumatic cylinder II 10, when carrying some bulky, the quality is heavier goods to this automated guided vehicle, when an independent automated guided vehicle can't support, can use four groups or multiunit guided vehicles combination to through supporting platform 11's setting, make every group guided vehicle can be rotatory independently, thereby can be when guaranteeing that the goods is motionless, can realize the action of turning, to the right angle warehouse entry of some bulky, the quality is heavier goods, have good suitability.

In this technical scheme, the inside of pneumatic cylinder II 10 is equipped with the pullback spring.

Wherein, to the setting of pullback spring for after II 10 pressure releases of pneumatic cylinder, can receive supporting platform 11 back, prevent that supporting platform 11's top and the long-pending extrusion of goods from bonding together, and lead to the problem that this automatic guide car card can't be withdrawed in the bottom of goods.

The use method and the working principle of the embodiment are as follows:

when the automatic guided vehicle is used for transporting goods, when the goods are placed on a supporting platform 11, force is transmitted into a main hydraulic device 3 through a supporting pressing plate 9, pressure is uniformly distributed into five groups of hydraulic cylinders I6 under the action of the main hydraulic device 3 and a pressure control device 5, so that the pressure received between four groups of universal driven wheels 7 and driving differential wheels 8 is the same, then the guided vehicle is started to transport the goods, meanwhile, the motion direction of the guided vehicle is controlled through the difference of the rotating speed and the steering of the two groups of driving wheels by utilizing the principle of differential driving of the driving differential wheels 8, when the ground environment for running of the guided vehicle is poor or the guided vehicle needs to run on a slope, the pressure received by the four groups of hydraulic cylinders I6 or the driving differential wheels 8 is changed due to the change of the ground environment, but under the action of the main hydraulic device 3 and the pressure control device 5, the four groups of universal driven wheels 7 or the driving differential wheels 8 are driven by extrusion output of hydraulic oil to produce different degrees of the extrusion of the four groups of universal driven The telescopic change automatically balances the pressure of the four groups of universal driven wheels 7 and the driving differential wheels 8, thereby ensuring that the pressure between the four groups of universal driven wheels 7 and the driving differential wheels 8 is the same as that between the ground, further ensuring that the guided vehicle and goods thereon can be in a relatively stable state even if the guided vehicle runs in a pothole or on a ramp, avoiding the influence on the running stability of the guided vehicle due to the change of the ground environment, and effectively improving the safety of the guided vehicle in the process of conveying the goods;

meanwhile, when large-size and heavy-weight goods are conveyed and a single guide vehicle cannot stably support the goods, four or more groups of guide vehicles can form a vehicle array, each group of guide vehicle is firstly guided to a position corresponding to the bottom of the goods, then a control system is used for simultaneously controlling hydraulic cylinders II 10 on a plurality of groups of guide vehicles to drive a support pressure plate 9 and a support platform 11 to move upwards and lift the goods off the ground, and then a plurality of groups of guide vehicles are simultaneously controlled to operate together, the operation process of the vehicle array is the same as the mode, when the guide vehicle array needs to turn, under the action of the support pressure plate 9 and the support platform 11, the support pressure plate 9 and the support platform 11 can rotate relatively, the turning action can be flexibly carried out, the goods can be directly put into a garage at a right angle, and the use is flexible and convenient, is safe and reliable.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.