Front-end obstacle avoidance sensor suspension mechanism for AGV

Abstract

The application relates to the technical field of carrying robots, and discloses a front-end obstacle avoidance sensor suspension mechanism for AGV, which is used to solve the problem that a fork arm collides with a front-end obstacle or a shelf beam when manual measurement data is wrong, the suspension mechanism is arranged on a fork frame, the suspension mechanism comprises a suspension fixing support, a guide rail sliding block, a linear guide rail, a suspension frame plate, an obstacle avoidance mounting rack and an obstacle avoidance sensor, the obstacle avoidance sensor is used for monitoring the position of the front-end obstacle in real time, when goods are lifted, the obstacle avoidance sensor automatically descends, the position of the shelf beam is monitored, and the fork arm is prevented from colliding with the obstacle or the beam; a sealing block, a reset spring and an extrusion block are arranged in the linear guide rail, an electromagnetic block and a conductor block are arranged on the guide rail sliding block, the electromagnetic block is electrified when the guide rail sliding block moves to the uppermost end of the linear guide rail, the linear guide rail and the connecting structure are fixed, the obstacle avoidance sensor is prevented from shaking during subsequent operation, and the beam position scanned by the shaking obstacle avoidance sensor is prevented from being inaccurate.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of carrying robots, in particular to a front-end obstacle avoidance sensor suspension mechanism for AGV. BACKGROUND

[0002] AGV is the abbreviation of Automated Guided Vehicle, and the most common current applications are AGV carrying robots or AGV trolleys, which mainly serve automatic logistics transfer. The AGV carrying robot is automatically transported to a designated location through special landmark navigation, and the most common guiding methods are magnetic strip guiding, laser guiding, RFID guiding and the like. The AGV trolley is a product with high requirements for driving and stopping precision, and the higher the precision, the better the product performance. At the same time, the safety performance is also the most important.

[0003] With the rapid development of the logistics industry, the demand for the logistics warehouse environment is getting higher and higher, the types of goods are getting more and more, and the structure of the goods shelves is also more complex, and the heights are different. For the stacking of goods on different height shelves, manual measurement of various height data is required, which is uploaded to the software system for identification, and then the AGV vehicle is set to take and place goods at different heights, which is relatively cumbersome. If the data measurement is wrong, safety hazards may occur. SUMMARY

[0004] The application provides a front-end obstacle avoidance sensor suspension mechanism for AGV, which has the advantages of being capable of automatically sensing front-end obstacles and preventing the fork arm from colliding with the front-end obstacles or the shelf cross beams, so as to solve the problem that the fork wall collides with the front-end obstacles or the shelf cross beams when manual measurement data is wrong.

[0005] To achieve the above-mentioned purpose, the application adopts the following technical scheme: a front-end obstacle avoidance sensor suspension mechanism for AGV, comprising an AGV trolley main body, a fork frame and a fork arm, a baffle is fixedly installed at the bottom end of the AGV trolley main body close to the fork frame, a suspension mechanism is fixedly connected to the rear end of the fork frame, the suspension mechanism comprises a suspension fixed support, a guide rail sliding block, a linear guide rail, a suspension rack plate, an obstacle avoidance mounting rack and an obstacle avoidance sensor, the suspension fixed support is fixedly installed at the middle position of the rear end of the fork frame; the guide rail sliding block is fixedly installed at the rear end of the suspension fixed support; the linear guide rail is slidingly installed in the sliding groove of the guide rail sliding block; the suspension rack plate is fixedly installed at the side of the linear guide rail close to the AGV trolley main body, a baffle is fixedly installed at the bottom end of the other side of the suspension rack plate, one side of the baffle is arranged on the upper end of the baffle, and a limiting block is fixedly installed at the top end of the side of the suspension rack plate where the linear guide rail is installed; the obstacle avoidance mounting rack is fixedly installed at one side of the suspension rack plate and is located directly below the guide rail sliding block and the suspension fixed support; and the obstacle avoidance sensor is fixedly installed at the middle position of the obstacle avoidance mounting rack.

[0006] Further, the barrier-avoiding mounting frame is made into a waist hole matched with the hole of the suspension frame plate.

[0007] Further, the barrier-avoiding mounting frame is made into a three-side unobstructed shape.

[0008] Further, the top end of the linear guide rail is provided with a liquid storage groove, and the liquid storage groove is provided with a sealing block, a supporting plate, a reset spring and an extrusion block; the sealing block is fixedly and sealingly arranged at the top end of the inner wall of the liquid storage groove; the supporting plate is fixedly arranged at the side wall of the liquid storage groove and below the sealing block; the reset spring is fixedly arranged at the upper end of the supporting plate and close to the side wall of the liquid storage groove close to the suspension frame plate; the extrusion block is fixedly connected to the other end of the reset spring and at the upper end surface of the supporting plate; the guide rail slider is provided with an electromagnetic block and a conductor block; the electromagnetic block is embeddedly arranged at the top end and the bottom end of the sliding groove of the guide rail slider; the conductor block is fixedly arranged at the two sides of the upper end of the guide rail slider; the conductor block is fixedly arranged at the bottom end of the limiting block at the two sides of the suspension frame plate; the sealing block and the extrusion block are both permanent magnets; the electromagnetic block, the conductor block on the guide rail slider and the conductor block on the suspension frame plate are electrically connected; the electromagnetic block generates magnetic force attracting the sealing block and the extrusion block when electrified.

[0009] Further, the distance between the sealing block and the supporting plate is less than the length of the guide rail slider.

[0010] Further, the reset spring is in a normal state when not in operation.

[0011] Further, the liquid storage groove is further provided with a hand pump and a conduit; the top end of the hand pump is fixedly connected to the bottom end of the sealing block, the liquid outlet end penetrates through the side wall of the liquid storage groove and is flush with the outer surface of the linear guide rail; the lower end surface of the hand pump and the upper end surfaces of the two extrusion blocks are inclined surfaces; the lower end surface of the hand pump is in sliding contact with the upper end surfaces of the extrusion blocks; the conduit is fixedly and communicatively arranged at the middle position of the bottom end of the hand pump; the bottom end of the conduit extends into the bottom end of the liquid storage groove; the liquid storage groove at the bottom end of the supporting plate is filled with lubricating oil; the guide rail slider is further provided with a sponge groove and a sponge body; the sponge groove is arranged at the middle position of the inner wall of the guide rail slider; and the sponge body is fixedly arranged in the sponge groove.

[0012] Further, the inclined surfaces of the lower end of the hand pump and the upper end of the two extrusion blocks are lowest at the positions close to the guide rail slider and highest at the positions far away from the guide rail slider.

[0013] The application has the following beneficial effects:

[0014] 1. The AGV front-end obstacle avoidance sensor suspension mechanism provided by the application is characterized in that a suspension mechanism is arranged on the fork frame of the AGV main body, the suspension frame plate, the linear guide rail and the guide rail slider of the suspension mechanism, the linear guide rail is fixedly installed on the suspension frame plate, the guide rail slider is slidingly installed on the linear guide rail, the suspension fixed support is fixedly installed on one side of the guide rail slider, the suspension fixed support is fixedly installed on the fork frame, the bottom end of the suspension frame plate is provided with an obstacle avoidance mounting rack, the middle of the obstacle avoidance mounting rack is provided with an obstacle avoidance sensor, during installation, the stop block of the suspension frame plate is tightly attached to the stop plate of the AGV main body, the obstacle avoidance sensor is located at the position between the two fork arms and is in the same horizontal plane as the fork arms, during AGV operation, the obstacle avoidance sensor automatically senses the front-end obstacle, the obstacle avoidance sensor transmits information to the system, and the front-end obstacle position is monitored in real time; during the forking of the goods stack, the linear guide rail, the suspension frame plate, the obstacle avoidance mounting rack and the obstacle avoidance sensor slide downward under the action of their own gravity, the obstacle avoidance sensor is located at the lower end of the fork arm, the obstacle avoidance sensor is prevented from being blocked by the goods, the obstacle avoidance sensor scans the beam position of the goods shelf, the height of the beam is determined in real time, the fork arm of the AGV is prevented from colliding with the beam, and this helps to improve the precision and safety of the AGV when taking and placing goods.

[0015] 2. The AGV front-end obstacle avoidance sensor suspension mechanism provided by the application is characterized in that a liquid storage groove is arranged in the linear guide rail, the top end of the liquid storage groove is provided with a sealing block, the side wall of the liquid storage groove is fixedly installed with a support plate, the support plate is provided with a return spring and an extrusion block, the sealing block and the extrusion block are both permanent magnets, the top end and the bottom end of the inner side of the guide rail slider are embedded with electromagnetic blocks, the side surface of the top end of the guide rail slider is provided with a conductor block, the bottom end of the limiting block is provided with a conductor block, the electromagnetic blocks and the conductor blocks are electrically connected, during the forking of the goods stack, the fork frame drives the suspension fixed support and the guide rail slider to move upward until the conductor block at the top end of the guide rail slider contacts the conductor block at the lower end of the limiting block, at this time, the electromagnetic blocks are electrified, the electromagnetic blocks on the upper and lower sides of the guide rail slider generate magnetic force for attracting the sealing block and the extrusion block, so that the sealing block and the extrusion block extrude the linear guide rail, the side wall of the linear guide rail is tightly attached to the inner wall of the guide rail slider, the linear guide rail is fixed, and at the same time, the suspension frame plate, the obstacle avoidance mounting rack and the obstacle avoidance sensor connected with the linear guide rail are fixed, the obstacle avoidance sensor is prevented from shaking during the continuous upward movement or movement of the forking of the goods, and the position of the beam scanned by the shaking obstacle avoidance sensor is prevented from being inaccurate.

[0016] 3. The front-end obstacle avoidance sensor suspension mechanism for AGV provided by the application, a hand pump is arranged in the liquid storage groove at the upper end of the support plate, the top end of the hand pump is fixedly installed on the sealing block, the bottom end of the hand pump and the top end of the extrusion block are provided with inclined surfaces, the inclined surface of the hand pump is in sliding contact with the inclined surface of the top end of the extrusion block, the sidewall of the extrusion block is fixedly installed with a reset spring for resetting, the middle position of the bottom end of the hand pump is communicated with a conduit, the conduit penetrates through the support plate and extends into the bottom end of the liquid storage groove, lubricating oil is arranged in the liquid storage groove, a sponge groove is formed in the middle position of the inner wall of the guide rail sliding block, and a sponge body is arranged in the sponge groove. When the goods are picked up from the stack, the fork frame drives the suspension fixing support and the guide rail sliding block to move upwards until the conductor block at the top end of the guide rail sliding block contacts the conductor block at the lower end of the limiting block. At this time, the electromagnetic block is electrified, the electromagnetic blocks on the upper and lower sides of the guide rail sliding block generate magnetic force to attract the sealing block and the extrusion block. In the process that the extrusion block moves towards the electromagnetic block, the inclined surface of the extrusion block slides relative to the inclined surface of the hand pump, so that the lower end of the hand pump moves upwards, the hand pump is extruded, the lubricating oil in the liquid storage groove is discharged to the sponge body of the guide rail sliding block through the conduit and the hand pump, the sponge body of the guide rail sliding block is used for oiling the surface of the linear guide rail when the guide rail sliding block and the suspension fixing support are reset, the linear guide rail and the guide rail sliding block are prevented from being dry during long-time sliding, so that the jamming phenomenon of the linear guide rail and the guide rail sliding block during mutual sliding is avoided, and the problem of increased friction caused by the dryness of the linear guide rail and the guide rail sliding block is avoided, thereby avoiding the problem that the linear guide rail, the suspension frame plate, the obstacle avoidance mounting frame and the obstacle avoidance sensor cannot slide downwards under the action of their own gravity. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which constitute a part of this specification, illustrate embodiments of the present disclosure and serve to explain the principles of the present disclosure.

[0018] The present disclosure can be more clearly understood and appreciated from the following detailed description, taken in conjunction with the following drawings, in which:

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the AGV car of the present application;

[0020] Figure 2 It is a side view of the AGV car of the present application;

[0021] Figure 3 It is a schematic diagram of the suspension mechanism of the present application;

[0022] Figure 4 It is a schematic diagram of the suspension frame plate, linear guide rail and guide rail sliding block structure of the present application;

[0023] Figure 5 It is a sectional view of the suspension frame plate, linear guide rail and guide rail sliding block of the present application;

[0024] Figure 6 For the application Figure 5 Enlarged view of the local structure at A in the application

[0025] Figure 7 For the application guide rail slider sectional view.

[0026] In the figure: 1, AGV car body; 101, baffle; 2, fork frame; 3, fork arm; 4, suspension mechanism; 5, suspension frame plate; 501, stop block; 502, limit block; 6, linear guide rail; 601, liquid storage tank; 602, sealing block; 603, hand pump; 604, conduit; 605, return spring; 606, support plate; 607, extrusion block; 7, guide rail slider; 701, electromagnetic block; 702, conductor block; 703, sponge groove; 704, sponge body; 8, suspension fixed support; 9, obstacle avoidance mounting frame; 10, obstacle avoidance sensor; 11, plastic drag chain. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0028] Embodiment one

[0029] Please refer to Figure 1 , Figure 2 and Figure 3 , a front-end obstacle avoidance sensor suspension mechanism for AGV, comprising an AGV car body 1, a fork frame 2 and a fork arm 3, the driving part of the AGV car body 1 is provided with the fork frame 2, the two sides of the front end of the fork frame 2 are fixedly provided with the fork arm 3, the fork arm 3 is at the bottom end of the side wall of the fork frame 2, the bottom end of the side of the AGV car body 1 close to the fork frame 2 is fixedly provided with a baffle 101, and the rear end of the fork frame 2 is fixedly connected with a suspension mechanism 4.

[0030] Please refer to Figure 1 , Figure 2 and Figure 3The suspension mechanism 4 comprises a suspension frame plate 5, a linear guide rail 6, a guide rail slider 7, a suspension fixing support 8 and an obstacle avoidance sensor 10. The suspension fixing support 8 is fixedly installed at the middle position of the rear end of the fork frame 2 and is located at the upper position between the two fork arms 3. The guide rail slider 7 is fixedly installed at the rear end of the suspension fixing support 8. The linear guide rail 6 is slidingly installed in the sliding groove of the guide rail slider 7. The linear guide rail 6 and the guide rail slider 7 are combined into a linear reciprocating mechanism. The linear guide rail 6 is fixedly installed at one side of the suspension frame plate 5. The bottom end of the other side of the suspension frame plate 5 is fixedly installed with a stop block 501. One side of the stop block 501 is lapped on the upper end of a baffle plate 101. The baffle plate 101 prevents the suspension frame plate 5 from moving downward. The top end of the one side of the suspension frame plate 5, where the linear guide rail 6 is installed, is fixedly installed with a limiting block 502. The one side of the suspension frame plate 5 is fixedly installed with an obstacle avoidance mounting bracket 9 by using bolts. The obstacle avoidance mounting bracket 9 is located directly below the guide rail slider 7 and the suspension fixing support 8. The obstacle avoidance sensor 10 is fixedly installed at the middle position of the obstacle avoidance mounting bracket 9 and is in the same horizontal plane with the fork arms 3. The obstacle avoidance mounting bracket 9 is made into a three-side unobstructed shape to prevent the obstacle avoidance sensor 10 from being scanned. A hole for the power supply line is formed in the side of the obstacle avoidance mounting bracket 9 close to the fork frame 2. The upper end of the stop block 501 is fixedly connected with one end of a plastic drag chain 11. The other end of the plastic drag chain 11 is fixedly connected to the suspension fixing support 8. The power supply line of the obstacle avoidance sensor 10 passes through the hole at the rear side of the obstacle avoidance mounting bracket 9 and enters the plastic drag chain 11 at the same time to prevent the power supply line from being pulled off during reciprocating operation.

[0031] The hole for fixing the obstacle avoidance mounting bracket 9 and the suspension frame plate 5 is made into a waist hole to finely adjust the position of the obstacle avoidance mounting bracket 9 and reduce the size deviation.

[0032] The working principle of the embodiment one of the application is as follows:

[0033] Please refer to Figure 1 , Figure 2 and Figure 3 When the AGV trolley moves, the obstacle avoidance sensor 10 located between the two fork arms 3 scans the situation in front of the AGV trolley and transmits the scanning data to the system to determine whether there is an obstacle in front of the fork arms 3, so as to avoid the AGV trolley from colliding with the obstacle.

[0034] When the fork arm 3 forks the goods stack, the driving part of the AGV drives the fork frame 2 to move upward, the fork frame 2 drives the fork arm 3 and the goods to move upward, at the same time, the fork frame 2 drives the suspension fixing support 8 and the guide rail sliding block 7 of the suspension mechanism 4 to move upward, in the process of moving upward of the suspension fixing support 8 and the guide rail sliding block 7, the suspension frame plate 5, the linear guide rail 6, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 are not moved under the action of their own gravity, the stop block 501 of the suspension frame plate 5 is always on the stop plate 101, at this time, the height of the obstacle avoidance sensor 10 will be lower than the fork arm 3, so that the obstacle avoidance sensor 10 can scan the front end, preventing the goods from blocking the obstacle avoidance sensor 10 and causing the scanning failure of the obstacle avoidance sensor 10.

[0035] And when the fork frame 2 continues to drive the suspension fixing support 8 and the guide rail sliding block 7 to move upward, the top end of the guide rail sliding block 7 abuts against the lower end of the limiting block 502, in the subsequent upward movement process, the suspension frame plate 5, the linear guide rail 6, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 move with the suspension fixing support 8, when the fork arm 3 forks the goods stack, the obstacle avoidance sensor 10 below the fork arm 3 can scan the position of the rack upper beam, determine the height of the beam in real time, prevent the fork arm 3 and the goods from colliding with the beam of the rack, which helps to improve the precision and safety of the AGV when taking and placing goods.

[0036] Embodiment two

[0037] In embodiment one, since the linear guide rail 6 and the guide rail sliding block 7 are slidingly installed, there is a certain gap between the linear guide rail 6 and the guide rail sliding block 7, in the process of continuing to lift, since there is a gap between the linear guide rail 6 and the guide rail sliding block 7, the linear guide rail 6 may cause a certain shaking of the suspension frame plate 5, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10, so that the scanning picture of the obstacle avoidance sensor 10 is inaccurate.

[0038] Embodiment two is further improved on the basis of embodiment one.

[0039] Different from embodiment one, please refer to Figure 4 、 Figure 5 、 Figure 6 and Figure 7The top end of the linear guide rail 6 is provided with a liquid storage groove 601, the top end of the inner wall of the liquid storage groove 601 is sealingly fixed with a sealing block 602, the side wall of the liquid storage groove 601 is fixedly installed with a supporting plate 606, the supporting plate 606 is below the sealing block 602, the upper end of the supporting plate 606 is fixedly installed with a return spring 605, the other end of the return spring 605 is fixedly connected with a pressing block 607, the pressing block 607 is on the upper end surface of the supporting plate 606, and the sealing block 602 and the pressing block 607 are permanent magnets; the top end and the bottom end of the sliding groove of the guide rail sliding block 7 are embeddedly installed with electromagnetic blocks 701, the two sides of the upper end of the guide rail sliding block 7 are fixedly installed with conductor blocks 702, the bottom end of the limiting block 502 on the two sides of the suspension frame plate 5 is fixedly installed with the conductor blocks 702, the conductor blocks 702 are insulatively installed, the electromagnetic blocks 701, the conductor blocks 702 on the guide rail sliding block 7 and the conductor blocks 702 on the suspension frame plate 5 are electrically connected, and the electromagnetic blocks 701 generate magnetic force that is attracted to the sealing block 602 and the pressing block 607 when the electromagnetic blocks 701 are electrified.

[0040] The distance between the sealing block 602 and the supporting plate 606 is less than the length of the guide rail sliding block 7. When the sealing block 602 and the pressing block 607 are opposite to the guide rail sliding block 7, the electromagnetic blocks 701 on the upper and lower sides of the guide rail sliding block 7 can simultaneously generate magnetic attraction force on the sealing block 602 and the pressing block 607.

[0041] When not working, the return spring 605 is in a normal state. The pressing block 607 is away from the inner wall of the liquid storage groove 601, so that the pressing block 607 does not attract the guide rail sliding block 7 on the outside, and the friction force is increased.

[0042] Please refer to Figure 4 、 Figure 5 、 Figure 6 and Figure 7 , the liquid storage groove 601 on the upper end of the supporting plate 606 is provided with a hand pump 603, the top end of the hand pump 603 is fixedly connected to the bottom end of the sealing block 602, the liquid outlet end of the hand pump 603 penetrates through the side wall of the liquid storage groove 601, the liquid outlet end of the hand pump 603 is flush with the outer surface of the linear guide rail 6, the lower end surface of the hand pump 603 and the upper end surfaces of the two pressing blocks 607 are inclined surfaces, the lower end surface of the hand pump 603 is in sliding contact with the upper end surface of the pressing block 607, the middle position of the bottom end of the hand pump 603 is fixedly connected with a conduit 604, the bottom end of the conduit 604 extends into the bottom end of the liquid storage groove 601, and the liquid storage groove 601 at the bottom end of the supporting plate 606 is filled with lubricating oil; the middle position of the inner wall of the guide rail sliding block 7 is provided with a sponge groove 703, the shape of the sponge groove 703 is the same as that of the inner wall of the sponge groove 703, and the sponge groove 703 is fixedly installed with a sponge body 704 for storing lubricating oil.

[0043] When the guide rail slider 7 slides to the top of the linear guide rail 6, the sponge 704 and the liquid outlet of the hand pump 603 are at the same level, ensuring that the lubricating oil discharged from the liquid outlet of the hand pump 603 can be absorbed by the sponge 704.

[0044] The lowest point of the inclined surface at the lower end of the hand pump 603 and the highest point of the inclined surfaces at the upper ends of the two extrusion blocks 607 are located near the guide rail slider 7, and the highest point is located away from the guide rail slider 7. When the hand pump 603 and the extrusion blocks 607 slide relative to each other, the extrusion blocks 607 are able to extrude the lower end of the hand pump 603, causing the lower end of the hand pump 603 to move upward, thereby enabling the hand pump 603 to complete the extrusion.

[0045] The working principle of Embodiment 2 of the present invention is as follows:

[0046] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 When the fork arm 3 of the AGV trolley picks up the goods and moves upward, the drive unit of the AGV trolley drives the fork carriage 2 to move upward. The fork carriage 2 drives the fork arm 3 and the goods to move upward. At the same time, the fork carriage 2 drives the suspension fixing bracket 8 and the guide rail slider 7 of the suspension mechanism 4 to move upward. When the guide rail slider 7 slides to the top of the linear guide rail 6, the conductor block 702 at the upper end of the guide rail slider 7 contacts the conductor block 702 at the lower end of the limit block 502, thereby energizing the electromagnetic block 701 of the guide rail slider 7. The electromagnetic block 701 generates a magnetic force that attracts the sealing block 602 and the pressing block 607, thereby causing the sealing block 602 and the pressing block 607 to move toward the electromagnetic block 701 until the sealing block 602 and the pressing block 607 move toward the electromagnetic block 701. 07. The linear guide rail 6 and the guide rail slider 7 are fixed to the inner wall of the liquid storage tank 601. At this time, the sealing block 602, the squeezing block 607 and the electromagnetic block 701 fix the linear guide rail 6 and the guide rail slider 7. Since the linear guide rail 6 is fixedly connected to the suspension frame plate 5, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 in sequence, the suspension frame plate 5, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 are also fixed. During the subsequent rising process, the suspension frame plate 5, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 are fixed to the AGV, thereby avoiding the phenomenon of the obstacle avoidance sensor 10 shaking due to the gap between the linear guide rail 6 and the guide rail slider 7, and avoiding the phenomenon of inaccurate scanning of the obstacle avoidance sensor 10.

[0047] When the extrusion block 607 moves towards the electromagnetic block 701, the slope at the top end of the extrusion block 607 slides relative to the slope at the bottom end of the hand pump 603, at this time, the lower end of the hand pump 603 is extruded by the extrusion block 607, the lower end of the hand pump 603 moves upwards, realizing the extrusion of the hand pump 603, the lubricating oil in the liquid storage tank 601 is discharged from the hand pump 603 through the conduit 604 and the hand pump 603, and the lubricating oil discharged from the hand pump 603 enters the sponge body 704. When the fork carriage 2 and the fork arm 3 are reset, the fork carriage 2 drives the fork arm 3 to move downwards, at the same time, the fork carriage 2 drives the suspension mechanism 4 to move downwards, when the stop block 501 of the suspension mechanism 4 contacts the baffle 101, the suspension baffle 5, the linear guide rail 6, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 stop moving, the fork carriage 2 continues to drive the suspension fixed support 8 and the guide rail sliding block 7 to move downwards, the guide rail sliding block 7 slides on the linear guide rail 6, in the process of sliding of the guide rail sliding block 7, the sponge body 704 in the guide rail sliding block 7 evenly spreads the lubricating oil in the sponge body 704 on the outer surface of the linear guide rail 6, thereby supplementing the lubricating oil on the linear guide rail 6, preventing the contact surface between the linear guide rail 6 and the guide rail sliding block 7 from drying, thereby avoiding the phenomenon of jamming of the linear guide rail 6 and the guide rail sliding block 7 when they slide relative to each other, and avoiding the problem of increased friction caused by the dry contact surface between the linear guide rail 6 and the guide rail sliding block 7, thereby avoiding the problem that the linear guide rail 6, the suspension baffle 5, the obstacle avoidance mounting frame 9 and the obstacle avoidance sensor 10 cannot slide downwards under the action of their own gravity.

Claims

1. A suspension mechanism for a front-end obstacle avoidance sensor for an AGV, comprising an AGV trolley body (1), a fork carriage (2), and a fork arm (3), characterized in that: A baffle (101) is fixedly installed at the bottom end of the AGV body (1) near the fork carriage (2), and a suspension mechanism (4) is fixedly connected to the rear end of the fork carriage (2). The suspension mechanism (4) includes: The suspension bracket (8) is fixedly installed at the middle of the rear end of the fork carriage (2); The guide rail slider (7) is fixedly installed at the rear end of the suspension fixing bracket (8); The linear guide (6) is slidably installed in the groove of the guide slider (7); A suspension frame plate (5) is fixedly installed on one side of the linear guide rail (6) near the AGV trolley body (1). A stop block (501) is fixedly installed at the bottom of the other side of the suspension frame plate (5). One side of the stop block (501) rests on the upper end of the baffle plate (101). A limit block (502) is fixedly installed at the top of the side of the suspension frame plate (5) where the linear guide rail (6) is installed. The obstacle avoidance mounting bracket (9) is fixedly installed on one side of the suspension frame plate (5) and is located directly below the guide rail slider (7) and the suspension fixing bracket (8); The obstacle avoidance sensor (10) is fixedly installed in the middle position of the obstacle avoidance mounting bracket (9); The top of the linear guide (6) is provided with a liquid storage tank (601), and the liquid storage tank (601) is provided with: A sealing block (602) is fixedly and sealed at the top of the inner wall of the liquid storage tank (601); The support plate (606) is fixedly installed on the side wall of the liquid storage tank (601) and is located below the sealing block (602); The reset spring (605) is fixedly installed on the side wall of the upper liquid storage tank (601) of the support plate (606) near the suspension frame plate (5); The compression block (607) is fixedly connected to the other end of the return spring (605) and is located on the upper end face of the support plate (606); The guide rail slider (7) is provided with: Electromagnetic block (701) is embedded in the top and bottom of the groove of the guide rail slider (7); Conductor blocks (702) are fixedly installed on both sides of the upper end of the guide rail slider (7); Conductor blocks (702) are fixedly installed at the bottom of the limiting blocks (502) on both sides of the suspension frame (5). The sealing block (602) and the squeezing block (607) are both permanent magnets. The electromagnetic block (701), the conductor block (702) on the guide rail slider (7) and the conductor block (702) on the suspension frame (5) are electrically connected. When the electromagnetic block (701) is energized, it generates a magnetic force that attracts the sealing block (602) and the squeezing block (607).

2. The levitation mechanism for a front-end obstacle avoidance sensor in an AGV according to claim 1, characterized in that, The holes for fixing the obstacle avoidance mounting bracket (9) and the suspension plate (5) are made into waist holes.

3. The levitation mechanism for a front-end obstacle avoidance sensor of an AGV according to claim 1, characterized in that, The obstacle avoidance mounting frame (9) is designed to be unobstructed on three sides.

4. The levitation mechanism for a front-end obstacle avoidance sensor in an AGV according to claim 1, characterized in that, The distance between the sealing block (602) and the support plate (606) is less than the length of the guide rail slider (7).

5. The levitation mechanism for a front-end obstacle avoidance sensor in an AGV according to claim 1, characterized in that, When not in operation, the return spring (605) is in normal condition.

6. The levitation mechanism for a front-end obstacle avoidance sensor of an AGV according to claim 1, characterized in that, The liquid storage tank (601) is also equipped with: The hand pump (603) is fixedly connected to the bottom of the sealing block (602) at its top end. The liquid outlet end penetrates the side wall of the liquid storage tank (601) and is flush with the outer surface of the linear guide rail (6). The lower end face of the hand pump (603) and the upper end face of the two side extrusion blocks (607) are inclined surfaces. The lower end face of the hand pump (603) and the upper end face of the extrusion block (607) are in sliding contact. The conduit (604) is fixedly connected to the middle position of the bottom end of the hand pump (603), and the bottom end of the conduit (604) extends into the bottom end of the liquid storage tank (601); The liquid storage tank (601) at the bottom of the support plate (606) is filled with lubricating oil; The guide rail slider (7) is also equipped with: The sponge groove (703) is located in the middle of the inner wall of the guide rail slider (7); The sponge body (704) is fixedly installed in the sponge groove (703).

7. The levitation mechanism for a front-end obstacle avoidance sensor in an AGV according to claim 6, characterized in that, The lowest point is located near the guide rail slider (7) on the inclined surface at the lower end of the hand pump (603) and the highest point is located away from the guide rail slider (7) on the inclined surface at the upper end of the two side extrusion blocks (607).

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