Explosion-proof laser navigation stacking agv

Abstract

The application relates to the technical field of warehouse equipment, and discloses an anti-explosion laser navigation stacking type AGV, a placing plate can slide forwards and backwards relative to a lifting plate, a pressure sensor is arranged on a supporting piece, a moving block is fixedly connected to the bottom of the placing plate, a liquid storage cavity is communicated with a telescopic cylinder through an open-adjustable throttling piece, so that all goods can move to the maximum displacement during starting and stopping. The anti-explosion laser navigation stacking type AGV can determine the pushing force on the goods according to the mass of the goods during loading and unloading, a smaller hindering force can make the lifting plate and the placing plate move out of synchronization, the goods can be found and stopped in time before falling, a buffer effect is generated during starting and stopping, and under the control of the throttling piece, the buffer effect is maximized by adaptively adapting to the mass of the goods, the limitation on the starting and stopping speed and space is reduced, the AGV runs faster, meanwhile, the goods are prevented from generating excessive shaking, and the occurrence of accidents is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehousing equipment, in particular to an anti-explosion laser navigation stacking type AGV. BACKGROUND

[0002] The anti-explosion AGV product is used in a warehouse for storing flammable and explosive dangerous goods, and can solve the safety problems of operators and equipment in a dangerous environment. Laser navigation is the most commonly used navigation mode for AGV products. The navigation system plans the moving route of the AGV. When the AGV moves, the laser scanner performs positioning and correction on the AGV through the emitted and received laser information.

[0003] However, due to many factors involved in the entry and exit of goods from the warehouse, sometimes there are some errors, for example, due to packaging or label recognition errors, the actual goods are inconsistent with the goods to be transported, the actual goods are too large in size, or due to data errors, the goods exist in the empty shelves, and these errors will cause the goods to be knocked during the transportation process. For dangerous goods warehouses, these bumps are dangerous and may cause safety accidents.

[0004] For large warehouses, a large number of AGVs will be running at the same time, and the planned routes of the AGVs are relatively independent and will frequently intersect with each other. When two AGVs run and intersect, the passing order will be determined according to certain rules, that is, the AGVs will frequently start and stop during operation. For dangerous goods, there is a high requirement for the smoothness of operation, and the existing AGVs may not meet the requirements for the smoothness of start and stop, or due to the pursuit of smoothness, the start and stop are too slow, affecting the transportation efficiency. SUMMARY

[0005] In view of the deficiencies of the above background technology, the present application provides a technical scheme of an anti-explosion laser navigation stacking type AGV. The pushing force on the goods is determined according to the mass of the goods. When the goods are hindered due to size or shelf errors, a smaller hindering force can cause the lifting plate and the placing plate to move out of synchronization, so that the goods are discovered and stopped in time before falling, and the knocking of the goods is reduced. Secondly, the placing plate moves relative to the lifting plate, and a buffer effect is generated during start and stop, thereby solving the problems raised in the background technology.

[0006] The present application provides the following technical scheme: an anti-explosion laser navigation stacking type AGV, comprising a vehicle body with a walking mechanism, the vehicle body is movably connected with a lifting plate through a lifting structure;

[0007] The lifting plate is movably connected with a placing plate through a support, the placing plate can slide forward and backward relative to the lifting plate, a pressure sensor is arranged on the support, a moving block is fixedly connected to the bottom of the placing plate, springs are arranged on the two sides of the moving block, a telescopic cylinder with the same direction as the vehicle body advancing direction is arranged between the moving block and the support, a liquid storage cavity is arranged in the lifting plate, the liquid storage cavity is communicated with the telescopic cylinder through an opening-adjustable throttling piece, the pressure sensor is connected with a controller, the controller determines the opening of the throttling piece according to the measured pressure and the vehicle speed, so that all goods can move to the maximum displacement when starting and stopping.

[0008] Preferably, the lifting plate is provided with a first position detection sensor corresponding to the initial position of the moving block, the first position detection sensor is used for detecting whether the moving block is at the original position, when the first position detection sensor detects that the moving block leaves the original position during loading and unloading, the lifting plate is triggered to stop and an alarm is triggered.

[0009] Preferably, the liquid storage cavity and the telescopic cylinder are filled with a magneto-rheological fluid, and an electromagnet is arranged near the throttling piece.

[0010] Preferably, the support comprises a support head fixedly connected with the placing plate, rollers are arranged between the support head and the lifting plate, a magnetic stripe is arranged on the bottom of the lifting plate, a magnet is arranged on the bottom of the support head, and repulsion is generated between the support head and the magnet.

[0011] Preferably, the maximum repulsion between the magnetic stripe and the magnet is half of the maximum load, a pressing plate is fixedly connected to the top of the lifting plate, and rollers are arranged between the pressing plate and the top of the support head.

[0012] Preferably, the telescopic cylinder is a two-stage telescopic cylinder, and initially, the first stage telescopic cylinder of the telescopic cylinder is in a fully extended state.

[0013] Preferably, the second position detection sensor is arranged on the two sides of the lifting plate corresponding to the maximum moving position of the moving block, when the second position detection sensor detects that the moving block is in place during deceleration or stopping, the throttling piece is controlled to switch to a fully connected state, when the second position detection sensor detects that the moving block is in place during starting, the vehicle body is controlled to decelerate, the throttling piece opening is adjusted to the maximum, and until the first position detection sensor detects that the moving block returns to the original position.

[0014] Preferably, the extension distance of the second stage of the telescopic cylinder is greater than the contraction distance of the first stage.

[0015] Preferably, when the vehicle is running at a constant speed, the first position detection sensor detects that the moving block leaves the initial position, and a pre-warning is triggered.

[0016] The present application has the following advantages:

[0017] 1. This explosion-proof laser-guided stacking AGV determines the pushing force on the goods based on their weight during loading and unloading. When the goods are obstructed due to size or shelf errors, a small obstruction force can cause the lifting plate and the placement plate to move asynchronously, which can detect and stop the goods from falling before they fall, thus reducing the risk of goods being bumped or knocked.

[0018] 2. This explosion-proof laser-guided stacking AGV features a placement plate that moves relative to the lifting plate, creating a buffering effect during start-up and stop. Under the control of the throttling device, it adaptively adapts to the weight of the goods, maximizing the buffering effect. On the one hand, this reduces restrictions on start-up and stop speeds and space, allowing the AGV to run faster. On the other hand, it prevents excessive shaking of the goods, reducing the occurrence of accidents. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a side view of the lifting plate in this invention;

[0021] Figure 3 This is a top view of the lifting plate in this invention;

[0022] Figure 4 This is a front view of the lifting plate in this invention;

[0023] Figure 5 This is a schematic diagram of the telescopic cylinder in this invention.

[0024] In the diagram: 1. Vehicle body; 2. Lifting plate; 3. Placement plate; 4. Support component; 41. Support head; 42. Magnet; 43. Magnetic strip; 44. Pressure plate; 5. Moving block; 6. Spring; 7. Telescopic cylinder; 8. Throttling component; 9. Liquid storage chamber; 10. First position detection sensor; 11. Second position detection sensor. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1-3 An explosion-proof laser-guided stacking AGV includes a vehicle body 1 with a walking mechanism, a laser navigation device on the top of the vehicle body 1, and a lifting plate 2 movably connected to the vehicle body 1 through a lifting structure, the lifting plate 2 being able to move up and down.

[0027] The lifting plate 2 is movably connected with the placing plate 3 through the support 4, the placing plate 3 can slide forward and backward relative to the lifting plate 2, the top of the support 4 is fixedly connected with the placing plate 3, the support 4 is slidably connected with the lifting plate 2, the bottom of the support 4 is provided with a roller or the surface of the lifting plate 2 is smooth, the support 4 is provided with a pressure sensor, which is used for measuring the bearing weight of the placing plate 3, judging whether the quality of the goods is correct, the bottom of the placing plate 3 is fixedly connected with the moving block 5, the moving block 5 is provided with the spring 6 on both sides, when the moving block 5 is in the middle, the springs 6 on both sides are in the state of not being stressed, the goods can be moved by the placing plate 3 under the action of a small force, the spring 6 has low elastic stiffness, the spring force increases a small amount when the spring 6 is compressed, the spring 6 only plays a role of resetting the moving block 5 in the application, the moving block 5 and the support 4 are provided with the telescopic cylinder 7 which is the same as the forward direction of the vehicle body 1, the lifting plate 2 is provided with the liquid storage cavity 9, the liquid storage cavity 9 is communicated with the telescopic cylinder 7 through the throttling piece 8, the pressure in the liquid storage cavity 9 is communicated with the atmosphere, so that the pressure is limited to avoid the liquid in and out, the throttling piece 8 controls the resistance of the liquid flowing, the resistance acts on the moving block 5, and the actual acceleration of the goods is determined, the pressure sensor is connected with the controller, the controller determines the opening of the throttling piece 8 according to the measured pressure and the vehicle speed, the greater the pressure, the greater the opening, and the smaller the pressure, the smaller the opening, so that all the goods can move to the maximum displacement at the start, and the actual acceleration of the goods is reduced, two groups of supports 4 are arranged between each lifting plate 2 and the placing plate 3, and are arranged on the front and rear sides of the placing plate 3, the moving block 5 is arranged in the middle of the placing plate 3, and the lifting plate 2 is provided with a containing groove for containing the moving block 5 and the support 4.

[0028] The lifting plate 2 is provided with the first position detection sensor 10 corresponding to the initial position of the moving block 5, the first position detection sensor 10 is used for detecting whether the moving block 5 is at the original position, the throttling piece 8 determines the opening according to the pressure detected by the sensor when moving, at this time, the resistance provided by the throttling piece 8 and the spring 6 makes the moving block 5 move to the maximum distance or move at the set maximum acceleration, when loading and unloading, the resistance provided by the throttling piece 8 and the spring 6 makes the moving block 5 move synchronously with the lifting plate 2, when the movement is hindered, the moving block 5 is relatively displaced, when the first position detection sensor 10 detects that the moving block 5 deviates from the original position, the lifting plate 2 is triggered to stop and alarm.

[0029] The liquid storage cavity 9 and the telescopic cylinder 7 are filled with magneto-rheological fluid, and the throttling piece 8 is provided with an electromagnet, the movement resistance of the throttling piece 8 is adjusted by the magnetic force of the electromagnet, and the adjustment is more accurate and fast.

[0030] Please refer to Figure 4The support 4 comprises a support head 41 fixedly connected with the placing plate 3, and a roller is arranged between the support head 41 and the lifting plate 2 to reduce the friction resistance of relative movement between the support head 41 and the lifting plate 2; the bottom of the lifting plate 2 is provided with a magnetic strip 43, and the bottom of the support head 41 is provided with a magnet 42; the support head 41 and the magnet 42 repel each other, and the repulsion force serves as a support and further reduces the friction resistance between the support head 41 and the magnetic strip 43.

[0031] The maximum repulsion force between the magnetic strip 43 and the magnet 42 is half of the maximum load; the top of the lifting plate 2 is fixedly connected with a pressing plate 44, and a roller is arranged between the pressing plate 44 and the top of the support head 41; the pressing plate 44 presses the upper end of the support head 41 through the roller to avoid the placing plate 3 from bouncing up under the action of the elastic force; the pressing plate 44 is divided into two halves and is fixed to the lifting plate 2 through bolts.

[0032] Please refer to Figure 5 The telescopic cylinder 7 is a two-stage telescopic cylinder, and initially, the first stage of the telescopic cylinder 7 is in a fully extended state; when accelerating, the first stage is compressed to drive the liquid in the telescopic cylinder 7 to flow into the liquid storage cavity 9; when decelerating or stopping, the second stage of the telescopic cylinder is elongated to draw out the liquid in the liquid storage cavity 9, thereby reducing the space occupied by the telescopic cylinder 7 and increasing the moving distance of the moving block 5, and a longer buffer distance can be arranged.

[0033] Please refer to Figure 2 The two sides of the lifting plate 2 correspond to the maximum moving position of the moving block 5 and are each provided with a second position detection sensor 11; when decelerating or stopping, after the second position detection sensor 11 detects that the moving block 5 is in place, the control throttle 8 is switched to a fully open state to not generate resistance to the flow of liquid; the moving block 5 is slowly reset under the action of the spring 6; when starting, after the second position detection sensor 11 detects that the moving block 5 is in place, the vehicle body 1 is controlled to decelerate, the opening degree of the throttle 8 is adjusted to the maximum, and until the first position detection sensor 10 detects that the moving block 5 returns to the original position, the acceleration and throttling are restarted; at this time, the opening degree of the throttle 8 is determined by the mass of the goods and the preset maximum acceleration; the resistance of the throttle 8 and the elastic force of the spring 6 make the goods accelerate at the maximum acceleration.

[0034] The elongation distance of the second stage of the telescopic cylinder 7 is greater than the contraction distance of the first stage; when suddenly stopping, there is more buffer distance to reduce the vibration caused by sudden stopping.

[0035] When driving at a constant speed, i.e., not in the starting or stopping stage, the first position detection sensor 10 detects that the moving block 5 moves away from the initial position to trigger a warning; the warning is sent to the control terminal of the operator; when the moving block 5 moves, i.e., the AGV moves and vibrates, it indicates that there may be an obstacle on the road surface that cannot be detected by the radar, and it is necessary to check and eliminate the obstacle.

[0036] The working principle and working process of the present application are as follows:

[0037] After the AGV is loaded with the goods, the pressure sensor detects the weight of the goods to obtain the mass of the goods, and according to the information, it is preliminarily judged whether the goods are correct, and the maximum acceleration of the moving goods is obtained. When the AGV starts, if the starting acceleration is greater than the maximum acceleration of the goods running smoothly, the placing plate 3 moves relative to the AGV, and under the action of hydraulic resistance and the elastic force of the spring 6, the goods complete acceleration at the maximum acceleration; when the AGV stops decelerating, it is similar to the acceleration process, and when it stops suddenly when encountering obstacles, the resistance of the throttle 8 makes the goods have a certain buffer distance, reducing the probability of damage to the goods.

[0038] When loading and unloading the goods, if the goods are wrong, the size is too large or the goods still exist on the goods shelf, the movement of the goods will be hindered, the hindering force is greater than the resistance provided by the throttle 8, the moving block 5 moves, triggers a warning and stops running.

[0039] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or action from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or actions. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0040] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An explosion-proof laser navigation stacking AGV, comprising a vehicle body (1) with a walking mechanism, the vehicle body (1) is movably connected with a lifting plate (2) through a lifting structure, characterized in that: the lifting plate (2) is movably connected with a placing plate (3) through a support (4), the placing plate (3) can slide forward and backward relative to the lifting plate (2), a pressure sensor is arranged on the support (4), the bottom of the placing plate (3) is fixedly connected with a moving block (5), springs (6) are arranged on both sides of the moving block (5), a telescopic cylinder (7) with the same direction as the forward direction of the vehicle body (1) is arranged between the moving block (5) and the support (4), a liquid storage cavity (9) is arranged in the lifting plate (2), the liquid storage cavity (9) is communicated with the telescopic cylinder (7) through a throttling piece (8) with adjustable opening, the pressure sensor is connected with a controller, the controller determines the opening of the throttling piece (8) according to the measured pressure and the vehicle speed, so that all goods can move to the maximum displacement when starting and stopping, the lifting plate (2) is provided with a first position detection sensor (10) corresponding to the initial position of the moving block (5), the first position detection sensor (10) is used for detecting whether the moving block (5) is at the original position, when loading and unloading, the first position detection sensor (10) detects that the moving block (5) is away from the original position, triggering the lifting plate (2) to stop and alarm, the support (4) comprises a support head (41) fixedly connected with the placing plate (3), a roller is arranged between the support head (41) and the lifting plate (2), a magnetic stripe (43) is arranged on the bottom of the lifting plate (2), a magnet (42) is arranged on the bottom of the support head (41), and repulsion is generated between the support head (41) and the magnet (42).

2. The explosion-proof laser navigation stacked AGV according to claim 1, characterized in that: The liquid storage cavity (9) and the telescopic cylinder (7) are filled with magnetorheological fluid, and an electromagnet is arranged near the throttling piece (8).

3. The explosion-proof laser-guided navigation stacked AGV according to claim 2, characterized in that: The maximum repulsion between the magnetic stripe (43) and the magnet (42) is half of the maximum load, a pressing plate (44) is fixedly connected to the top of the lifting plate (2), and a roller is arranged between the pressing plate (44) and the top of the support head (41).

4. The explosion-proof laser-guided navigation stacked AGV according to claim 2, characterized in that: The telescopic cylinder (7) is a two-stage telescopic cylinder, and initially, the first stage of the telescopic cylinder (7) is in a fully extended state.

5. The explosion-proof laser-guided navigation stacked AGV according to claim 4, characterized in that: Second position detection sensors (11) are arranged on both sides of the lifting plate (2) corresponding to the maximum moving position of the moving block (5), when decelerating or stopping, the second position detection sensor (11) detects that the moving block (5) is in place, controls the throttling piece (8) to switch to a fully connected state, when starting, the second position detection sensor (11) detects that the moving block (5) is in place, controls the vehicle body (1) to decelerate, and the throttling piece (8) is adjusted to the maximum opening until the first position detection sensor (10) detects that the moving block (5) returns to the original position.

6. The explosion-proof laser-guided navigation stacked AGV according to claim 5, characterized in that: The extension distance of the second stage of the telescopic cylinder (7) is greater than the contraction distance of the first stage.

7. The explosion-proof laser-guided navigation stacked AGV according to claim 6, characterized in that: When driving at a constant speed, the first position detection sensor (10) detects that the moving block (5) is away from the initial position, triggering a warning.

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