Obstacle-avoidance logistics equipment with intelligent sensing equipment
By designing anti-collision mechanisms and obstacle avoidance mechanisms in logistics equipment, the problem of detecting and avoiding low obstacles is solved, and the stability and efficiency of cargo transportation are improved, and equipment damage and labor costs are avoided.
Patent Information
- Application Number
- CN202411323799.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2024-12-20
AI Technical Summary
The existing obstacle avoidance logistics equipment is difficult to detect and avoid low-short wooden pallets and vacant shelves, resulting in unstable transportation of goods. The existing obstacle avoidance method is inefficient, requiring complex path adjustments and manual intervention.
A barrier-avoiding logistics equipment with intelligent sensing equipment is designed, using anti-collision mechanism and obstacle-avoiding mechanism, and the buffering of low obstacles is achieved through components such as limit columns, inclined plates, sliding frames and dual-axis motors. and path planning to avoid collisions, and control the motor with a central controller for reverse rotation and path adjustment.
It effectively avoids collisions and offsets in cargo transportation, improves transportation efficiency, reduces labor costs, and avoids equipment damage due to overload and inefficiency in path adjustment.
Smart Images
Figure CN119160117A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of logistics equipment, and in particular to an obstacle-avoiding logistics equipment with intelligent sensing equipment. Background Art
[0002] Obstacle-avoiding logistics equipment plays an important role in the modern logistics industry. This type of equipment is usually equipped with advanced sensor technology, such as lidar, ultrasonic sensors, etc., which can perceive the surrounding environment in real time. When encountering obstacles, obstacle-avoiding logistics equipment can respond quickly and adjust the route to ensure the safety and efficiency of logistics transportation. Its advantages are obvious. On the one hand, it improves the safety of logistics operations and reduces equipment damage and cargo losses caused by collisions. On the other hand, it greatly improves logistics efficiency. Without manual intervention in the obstacle avoidance process, the equipment can operate continuously and stably, speeding up the handling and delivery of goods. In practical applications, obstacle-avoiding logistics equipment is widely used in warehouses, factories, distribution centers and other places. For example, in an automated warehouse, it can accurately shuttle between shelves, carry goods, and improve the utilization rate of storage space. In short, obstacle-avoiding logistics equipment provides strong support for the intelligent development of the logistics industry;
[0003] In the process of logistics transportation, there are wooden pallets for supporting goods at the cargo stacking place. Due to the need of forklifts, most of the wooden pallets are not high. Most of the intelligent sensing devices can detect and avoid obstacles of conventional height, but they cannot avoid obstacles close to the ground such as wooden pallets. In addition, for empty shelves, since the shelves are assembled with thinner connecting rods, they are difficult to be detected by intelligent sensing devices when there are no goods. When encountering such obstacles, the existing obstacle-avoiding logistics equipment is prone to rigid collision with the obstacles, causing the transported goods to lose stability, deflect or tip over. If the equipment is not controlled to stop moving forward in time, the equipment may push the obstacle to move together or the wheels may slip, affecting the normal transportation of goods. In the above situation, even if the use of Even with stronger recognition capability, sensing equipment may not be able to plan the movement path in advance due to the shorter recognition distance compared to conventional equipment. This may cause the logistics equipment to repeatedly adjust the path by moving backwards and forwards, thus reducing the efficiency of logistics transportation. In addition, if the logistics equipment is directly controlled to move in the opposite direction to avoid the obstacle after encountering it, although this can solve the problem of obstacle avoidance, logistics cargo transportation usually has certain restrictions on the placement and orientation of the goods. For example, the identification code of the goods usually needs to be placed forward for easy identification. If the logistics equipment is transported in the opposite direction, the orientation of the goods must also be opposite. In the next process, the direction of the goods needs to be manually turned or a special steering device needs to be set up to turn the direction of the goods. This increases labor costs and affects the efficiency of logistics transportation. Summary of the invention
[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: an obstacle avoidance logistics equipment with intelligent sensing equipment, comprising a frame, a first fixing plate is fixedly connected to the inner wall of the frame, a limiting groove is provided on the inner wall of the frame close to the first fixing plate, a second fixing plate is fixedly connected to the inner wall of the frame, a driving mechanism is arranged on the lower surface of the first fixing plate, the driving mechanism comprises two double-axis motors, the double-axis motors are located directly below the first fixing plate, a first driving shaft of the double-axis motor is installed with a wheel axle through a coupling, and the end of the wheel axle A roller is fixedly connected to the frame, and the outer surface of the roller is provided with evenly distributed slots; an anti-collision mechanism is provided at the front end of the frame, and the anti-collision mechanism includes a limit column, and the limit column is fixedly connected to the outer surface of the frame; an obstacle avoidance mechanism is provided at the inner cavity of the frame, and the obstacle avoidance mechanism includes a connecting frame and a central controller, the connecting frame is fixedly connected to a side of the limit column away from the frame, the side of the connecting frame away from the limit column is fixedly connected to a radar sensor, the central controller is fixedly connected to one side of the second fixed plate, and the central controller is connected to the radar sensor through a wire.
[0005] Preferably, a bearing plate is fixedly connected to the upper surface of the frame, a track ring is fixedly connected to the upper surface of the bearing plate, a sliding sleeve is slidably connected to the outer surface of the track ring, a placement plate is fixedly connected to the upper surface of the sliding sleeve, an anti-slip strip is fixedly connected to the upper surface of the placement plate, and a blocking frame is fixedly connected to the side of the upper surface of the placement plate.
[0006] Preferably, a fixing frame is fixedly connected to the outer surface of the dual-axis motor, the upper surface of the fixing frame is fixedly connected to the lower surface of the first fixing plate, and a second driving shaft of the dual-axis motor away from the wheel axle is fixedly connected to a special-shaped face gear.
[0007] Preferably, an extrusion plate is fixedly connected to the inner wall of the special-shaped face gear, and the driving mechanism also includes a sliding bearing, the outer ring of the sliding bearing is fixedly connected to the lower surface of the first fixed plate, the inner ring of the sliding bearing is fixedly connected to a rotating column, the top end of the rotating column is fixedly connected to the lower surface of the placement plate, and the bottom end of the rotating column is fixedly connected to a special-shaped spur gear, the special-shaped spur gear includes a disk fixedly connected to the lower end of the rotating column and two sections of gear teeth symmetrically arranged on both sides of the disk, the special-shaped face gear is provided with tooth grooves that selectively cooperate with the two sections of gear teeth, and the lower surface of the special-shaped spur gear is fixedly connected to an extrusion rod, and the extrusion rod is extruded and adapted to the extrusion plate.
[0008] Preferably, the driving mechanism further comprises a fixing frame, the fixing frame is fixedly connected to the lower surface of the second fixing plate, the bottom end of the fixing frame is fixedly connected to a limiting ring, and a rotating ball is rotatably connected to the inner cavity of the limiting ring.
[0009] Preferably, the outer surface of the limit column is rotatably connected to a rotating ring via a torsion spring, the outer surface of the rotating ring is fixedly connected to a connecting rod, the side of the connecting rod away from the frame is fixedly connected to a fixed rod, the end of the fixed rod is fixedly connected to a first inclined plate, the outer surface of the fixed rod is fixedly connected to a first support rod, and the end of the first support rod is fixedly connected to a second inclined plate.
[0010] Preferably, the anti-collision mechanism also includes a sliding frame, which is slidably connected to a limiting groove opened on the outer surface of the frame, the upper surface of the sliding frame is fixedly connected to a fixing tube, the top surface of the fixing tube is fixedly connected to a piston rod, one end of the sliding frame located in the inner cavity of the frame is fixedly connected to a sliding plate, the sliding plate passes through the first fixing plate, the bottom end of the sliding plate is fixedly connected to a connecting plate, the end of the connecting plate is fixedly connected to an extrusion sleeve, and the extrusion sleeve is extruded and adapted to the ratchet on the outer surface of the roller.
[0011] Preferably, the end of the connecting rod away from the rotating ring is fixedly connected to a bent rod, the end of the bent rod away from the connecting rod is fixedly connected to an arc-shaped sealing tube, the outer surface of the arc-shaped sealing tube is fixedly connected to a support frame, the end of the bent rod is fixedly connected to a piston block, the piston block is frictionally fitted with the inner wall of the arc-shaped sealing tube, the bottom end of the arc-shaped sealing tube is fixedly connected to a hydraulic pipe, and the bottom end of the piston rod is frictionally fitted with the inner wall of the hydraulic pipe.
[0012] The present invention provides an obstacle avoidance logistics device with intelligent sensing equipment. It has the following beneficial effects:
[0013] By setting up an obstacle avoidance mechanism, conventional obstacles can be detected and turning paths can be planned in advance. By setting up an anti-collision mechanism, when the goods are transported and an obstacle that is difficult to detect is touched, the first inclined plate and the second inclined plate can be elastically moved downward, and the equipment can be buffered to avoid a rigid collision between the equipment and the obstacle, which would cause instability in the transported goods. At the same time, the downward movement of the first inclined plate and the second inclined plate can be used to drive the bent rod at the end of the connecting rod to move downward, and the piston block can be moved downward in the inner cavity of the arc-shaped sealing tube, thereby squeezing the piston rod downward, and finally causing the card block on the extrusion sleeve to be stuck in the card groove on the upper surface of the roller, preventing the roller from rotating, preventing the equipment from pushing the obstacle to continue moving forward or the wheel from slipping and affecting normal cargo transportation. The central controller can determine whether the equipment is blocked by an obstacle through the received motor blocking change data, and can promptly The motor is controlled to stop working to avoid motor burning due to overload, which solves the problem that radar sensors in the prior art are difficult to detect low wooden pallets and empty shelves. In addition, after the equipment stops moving forward, the buffering restoring force of the anti-collision mechanism will push the equipment to move backward slightly, so that the extrusion sleeve releases the rotation lock. At the same time, the central controller is used to control the second driving end of the dual-axis motor to rotate in the opposite direction, which can drive the placement plate and the goods carried on it to rotate 180° to complete the U-turn operation. In this way, the first driving ends of the two dual-axis motors are continued to be controlled to reverse, and the transportation process of the goods can be continued. Compared with the existing obstacle avoidance method, there is no need to control the equipment to retreat first, and then control the complex path planning of moving forward and turning. It also avoids the equipment being blocked by other difficult-to-detect obstacles in front again, causing the equipment to fall into the path adjustment of retreating and moving forward again. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 This is a schematic diagram of the external structure of an obstacle avoidance logistics device with an intelligent sensor device according to the present invention;
[0015] Figure 2 This is a schematic diagram of the disassembled structure of an obstacle avoidance logistics device with an intelligent sensor device according to the present invention;
[0016] Figure 3 It is a schematic diagram of the structure of the driving mechanism of the present invention;
[0017] Figure 4 It is a schematic diagram of the cross-sectional structure of the driving mechanism of the present invention;
[0018] Figure 5 It is a schematic diagram of the local structure of the driving mechanism of the present invention;
[0019] Figure 6 It is a schematic diagram of the structure of the anti-collision mechanism of the present invention;
[0020] Figure 7 It is a schematic diagram of the partial structure of the anti-collision mechanism of the present invention;
[0021] Figure 8 It is a schematic diagram of a partial cross-section structure of the anti-collision mechanism of the present invention;
[0022] Fig. 9 It is a schematic diagram of the structure of the obstacle avoidance mechanism of the present invention.
[0023] In the figure: 1, frame; 2, first fixing plate; 3, second fixing plate; 4, limiting groove; 5, driving mechanism; 6, anti-collision mechanism; 7, obstacle avoidance mechanism; 8, placement plate; 9, anti-slip strip; 10, blocking frame; 11, bearing plate; 12, track ring; 13, sliding sleeve; 51, fixing frame; 52, limiting ring; 53, rotating ball; 54, fixing frame; 55, dual-axis motor; 56, wheel axle; 57, roller; 58, ratchet; 59, extrusion rod; 510, special-shaped face gear; 511, extrusion plate; 512, sliding bearing; 513, rotating Column; 514, special-shaped spur gear; 61, limit column; 62, rotating ring; 63, connecting rod; 64, fixed rod; 65, first inclined plate; 66, first support rod; 67, second inclined plate; 68, bent rod; 69, sliding plate; 610, sliding frame; 611, connecting plate; 612, extrusion sleeve; 613, support frame; 614, arc sealing tube; 615, piston block; 616, hydraulic pipe; 617, piston rod; 618, fixed pipe; 71, connecting frame; 72, radar sensor; 73, wire; 74, central controller. DETAILED DESCRIPTION
[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.
[0025] like Figure 1-Figure 9As shown, the present invention provides a technical solution: an obstacle avoidance logistics equipment with intelligent sensing equipment, comprising a frame 1, a first fixed plate 2 is fixedly connected to the inner wall of the frame 1, a limiting groove 4 is provided on the inner wall of the frame 1 close to the first fixed plate 2, a second fixed plate 3 is fixedly connected to the inner wall of the frame 1, a driving mechanism 5 is arranged on the lower surface of the first fixed plate 2, the driving mechanism 5 comprises two double-axis motors 55, the double-axis motor 55 is located directly below the first fixed plate 2, a first driving shaft of the double-axis motor 55 is installed with a wheel shaft 56 through a coupling, a roller 57 is fixedly connected to the end of the wheel shaft 56, and a uniformly distributed card groove 58 is arranged on the outer surface of the roller 57, by setting the driving mechanism 5, the whole device can be controlled to produce a moving effect, thereby achieving the effect of enabling the goods to be transported, by setting the double-axis motor 55, after the power supply is connected and the switch is controlled, a rotation effect can be produced, and the wheel shaft 56 drives the roller 57 to rotate; an anti-collision mechanism 6 is arranged at the front end of the frame 1, and the anti-collision mechanism 6 comprises a limiting column 61, a limiting column 62, a limiting column 63, a limiting column 64, a limiting column 65, a limiting column 66, a limiting column 67, a limiting column 68, a limiting column 69, a limiting column 61, a limiting column 64, a limiting column 65, a limiting column 66, a limiting column 67, a limiting column 68, a limiting column 69, a limiting column 69, a limiting column 69, a limiting column 60, a limiting column 61, a limiting column 61, a limiting column 62, a limiting column 63, a limiting column 64, a limiting column 65, a limiting column 66, a limiting The limiting column 61 is fixedly connected to the outer surface of the frame 1. By setting the anti-collision mechanism 6, when the goods are transported and touch an obstacle, the rotation state of the rollers 57 at both ends of the dual-axis motor 55 can be changed, thereby changing the travel direction of the device to achieve the effect of preventing the goods from colliding with obstacles. An obstacle avoidance mechanism 7 is provided in the inner cavity of the frame 1. The obstacle avoidance mechanism 7 includes a connecting frame 71 and a central controller 74. The connecting frame 71 is fixedly connected to the side of the limiting column 61 away from the frame 1. The side of the connecting frame 71 away from the limiting column 61 is fixedly connected to a radar sensor 72. The central controller 74 is fixedly connected to one side of the second fixed plate 3. The central controller 74 is connected to the radar sensor 72 through a wire 73. By setting the radar sensor 72, obstacles in the forward direction can be detected, and the detected data can be transmitted to the central controller 74 through the wire 73. The central controller 74 is connected to the dual-axis motor 55 through an electrical signal, so that the processed signal can be transmitted to the dual-axis motor 55, and finally the dual-axis motor 55 is controlled to work.
[0026] A load-bearing plate 11 is fixedly connected to the upper surface of the frame 1, a track ring 12 is fixedly connected to the upper surface of the load-bearing plate 11, a sliding sleeve 13 is slidably connected to the outer surface of the track ring 12, a placement plate 8 is fixedly connected to the upper surface of the sliding sleeve 13, an anti-slip strip 9 is fixedly connected to the upper surface of the placement plate 8, a blocking frame 10 is fixedly connected to the side of the upper surface of the placement plate 8, and by arranging the placement plate 8, the anti-slip strip 9 and the blocking frame 10, the goods to be transported can be placed, and the anti-slip strip 9 can increase the friction between the goods and the placement plate 8, and by arranging the track ring 12, the sliding sleeve 13 can be limited, so that the sliding sleeve 13 can slide on the outer surface of the track ring 12, thereby causing the placement plate 8 and the frame 1 to rotate relative to each other, and the dual-axis motor 55 The outer surface is fixedly connected with a fixing frame 54, the upper surface of the fixing frame 54 is fixedly connected to the lower surface of the first fixing plate 2, the second driving shaft of the dual-axis motor 55 away from the wheel shaft 56 is fixedly connected with a profiled face gear 510, the inner wall of the profiled face gear 510 is fixedly connected with an extrusion plate 511, the driving mechanism 5 also includes a sliding bearing 512, the outer ring of the sliding bearing 512 is fixedly connected to the lower surface of the first fixing plate 2, the inner ring of the sliding bearing 512 is fixedly connected with a rotating column 513, the top of the rotating column 513 is fixedly connected to the lower surface of the placement plate 8, the bottom end of the rotating column 513 is fixedly connected with a profiled spur gear 514, the profiled spur gear 514 is fixedly connected to the lower end of the rotating column 513 and a disc and two sections of gear teeth symmetrically arranged on both sides of the disc, The face gear 510 is provided with tooth grooves that selectively cooperate with the two sections of gear teeth. The lower surface of the special-shaped spur gear 514 is fixedly connected with an extrusion rod 515, and the extrusion rod 515 is extruded and adapted to the extrusion plate 511. By arranging the sliding bearing 512, the rotating column 513 can be limited so that the rotating column 513 can produce stable rotation. By arranging the special-shaped face gear 510 and the special-shaped spur gear 514, when the second driving shaft of the dual-axis motor 55 drives the special-shaped face gear 510 to rotate 180°, the special-shaped spur gear 514 can be driven to rotate 180°, so that the placement plate 8 is rotated 180°, and then the direction of the goods on the placement plate 8 is reversed. When the equipment moves in the reverse direction, the correct direction of the goods is maintained. In addition, the transmission of the special-shaped face gear 510 and the special-shaped spur gear 514 The dynamic design reduces the requirement for the precise rotation angle of the motor compared to the transmission design using two bevel gears, and avoids the situation where the goods are not turned into place due to insufficient rotation angle when the load is large. By setting the extrusion plate 511, the extrusion rod 515 can be squeezed when the special-shaped face gear 510 rotates. The movement of the extrusion rod 515 provides an initial rotation amount for the special-shaped spur gear 514, so that the special-shaped face gear 510 and the special-shaped spur gear 514 can enter a meshing state. The driving mechanism 5 also includes a fixed frame 51, which is fixedly connected to the lower surface of the second fixed plate 3. The bottom end of the fixed frame 51 is fixedly connected to the limiting ring 52. The inner cavity of the limiting ring 52 is rotatably connected with a rotating ball 53. By setting the limiting ring 52,The rotating ball 53 can be limited so that the rotating ball 53 can be generated in the inner cavity of the limiting ring 52, thereby making the device move more stably when the device moves.
[0027] The outer surface of the limiting column 61 is rotatably connected to a rotating ring 62 through a torsion spring, and the outer surface of the rotating ring 62 is fixedly connected to a connecting rod 63, and the connecting rod 63 is fixedly connected to a fixed rod 64 on the side away from the frame 1, and the end of the fixed rod 64 is fixedly connected to a first inclined plate 65, and the outer surface of the fixed rod 64 is fixedly connected to a first support rod 66, and the end of the first support rod 66 is fixedly connected to a second inclined plate 67. By setting the limiting column 61, the rotating ring 62 can be limited, so that the rotating ring 62 can generate stable rotation on the outer surface of the limiting column 61, thereby changing the angle of the connecting rod 63, and by setting the first inclined plate 65 and the second inclined plate 67, it can be squeezed with obstacles during the forward movement of the device. Since it is difficult for radar sensors to detect low For short wooden pallets and empty shelves, the pointed parts of the first inclined plate 65 and the second inclined plate 67 will be inserted into the bottom overhead area of the wooden pallet or the shelf, so that the inclined wooden pallets or shelves of the two are in contact, and play a buffering role for the entire device during the contact and extrusion process. At the same time, the first inclined plate 65 and the second inclined plate 67 will move downward under the extrusion force, thereby causing the connecting rod 63 to tilt. The anti-collision mechanism 6 also includes a sliding frame 610, which is slidably connected to the limiting groove 4 opened on the outer surface of the frame 1. The upper surface of the sliding frame 610 is fixedly connected to a fixed tube 618, and the top surface of the fixed tube 618 is fixedly connected to a piston rod 617. One end of the sliding frame 610 located in the inner cavity of the frame 1 is fixedly connected to a sliding plate 69, and the sliding plate 69 penetrates The first fixed plate 2 is passed through, and the bottom end of the sliding plate 69 is fixedly connected with a connecting plate 611, and the end of the connecting plate 611 is fixedly connected with an extrusion sleeve 612. The extrusion sleeve 612 includes an arc-shaped plate and a block arranged on the lower surface of the arc-shaped plate. The block on the extrusion sleeve 612 is extruded and adapted with the groove 58 on the outer surface of the roller 57. It should be noted that the width of the groove 58 along the circumference of the roller 57 is greater than the width of the block, so that after the block is inserted into the groove 58, it can not only prevent the roller 57 from moving forward, but also leave a margin for the reversal of the roller 57. The end of the connecting rod 63 away from the rotating ring 62 is fixedly connected with a bent rod 68, and the end of the bent rod 68 away from the connecting rod 63 is fixedly connected with an arc-shaped sealing tube 614, and the outer surface of the arc-shaped sealing tube 614 is fixedly connected with The support frame 613 and the end of the bent rod 68 are fixedly connected with a piston block 615, and the piston block 615 is frictionally matched with the inner wall of the arc-shaped sealing tube 614. The bottom end of the arc-shaped sealing tube 614 is fixedly connected with a hydraulic tube 616, and the bottom end of the piston rod 617 is frictionally matched with the inner wall of the hydraulic tube 616. By setting the piston block 615, when the end of the connecting rod 63 moves, the pressure in the inner cavity of the hydraulic tube 616 becomes larger, thereby squeezing the piston rod 617 downward, and finally moving the sliding frame 610 downward. By setting the sliding frame 610, the effect of vertical up and down movement can be generated at the limit groove 4. By setting the extrusion sleeve 612, when the sliding plate 69 moves downward, the block on the lower surface of the extrusion sleeve 612 can be inserted into the card groove 58.The roller 57 is prevented from moving forward further, and the device is prevented from pushing the obstacle to move together.
[0028] Working principle: When in use, the operator places the goods on the upper surface of the placement plate 8, and then controls the first driving shaft of the dual-axis motor 55 to start working, and the wheel shaft 56 drives the roller 57 to rotate, thereby driving the device to move; when the device encounters a conventional obstacle in the process of moving forward, it will be detected by the radar sensor 72 at the front end of the device, and then the central controller controls the device to turn to avoid the obstacle. When the device encounters an obstacle that is difficult to detect, such as a wooden pallet or an empty shelf, the first inclined plate 65 and the second inclined plate 67 at the front end of the device will first contact the obstacle. Since there is an overhead space at the bottom of the wooden pallet and the shelf, and since the device cannot stop moving autonomously at this time, the first inclined plate 65 and the second inclined plate 67 at the front end of the device will first contact the obstacle. In the process of the inclined plate 65 and the second inclined plate 67 contacting and squeezing the obstacle, the lower ends of the inclined surfaces of the first inclined plate 65 and the second inclined plate 67 will first be squeezed with the edge of the obstacle, and then under the action of the inclined surface, the first inclined plate 65 and the second inclined plate 67 will move downward, thereby causing the connecting rod 63 to tilt, and buffer the equipment to prevent the equipment from rigidly colliding with the obstacle, causing the transported goods to lose stability, deflect or tip over. The inclination of the connecting rod will drive the bent rod 68 at the end of the connecting rod 63 to move downward, and cause the piston block 615 to move downward in the inner cavity of the arc-shaped sealing tube 614, thereby increasing the pressure of the hydraulic oil in the inner cavity of the hydraulic tube 616, thereby causing the piston rod 617 to squeeze downward. The pressure finally moves the sliding frame 610 downward, and squeezes the limiting tube 613 and the sliding frame 610 downward, and finally makes the block on the extrusion sleeve 612 get stuck in the slot 58 on the upper surface of the roller 57 to prevent the roller 57 from rotating, and prevent the equipment from pushing the obstacle to move or the wheel from slipping and affecting the normal transportation of goods. When the roller 57 is positively stuck, the central controller 74 detects that the resistance of the dual-axis motor 55 increases, and then controls the first driving shaft of the dual-axis motor 55 to stop rotating. At this time, since the first inclined plate 65 and the second inclined plate 67 want to restore their original state, under the action of the restoring force of the two, the device will be pushed back slightly, and at the same time, through hydraulic transmission, the block on the extrusion sleeve 612 is removed from the roller 57. The card slot 58 on the upper surface moves to the center, unlocking the roller 57; thereafter, the central controller 74 controls the second driving end of the dual-axis motor 55 on the corresponding side to rotate 180°, and under the action of the special-shaped face gear 510 and the special-shaped spur gear 514, drives the rotating column and the placement plate 8 to rotate 180°, thereby changing the direction of the transported goods. Then, the central controller 74 controls the dual-axis motors 55 on both sides to reverse at the same time, so that the equipment drives away from the obstacle and continues to transport the goods. Compared with the existing obstacle avoidance method, there is no need to control the equipment to reverse first and then control the complex path planning of moving forward and turning. It also avoids the equipment being blocked by other difficult-to-detect obstacles in front again, causing the equipment to fall into the path adjustment of moving backward and moving forward again.
[0029] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.
Claims
1. An obstacle avoidance logistics device with intelligent sensing equipment, comprising a frame (1), wherein a first fixing plate (2) is fixedly connected to the inner wall of the frame (1), characterized in that: A limiting groove (4) is provided on one side of the inner wall of the vehicle frame (1) close to the first fixing plate (2); a second fixing plate (3) is fixedly connected to the inner wall of the vehicle frame (1); a driving mechanism (5) is provided on the lower surface of the first fixing plate (2); the driving mechanism (5) comprises two double-axis motors (55); the double-axis motors (55) are located directly below the first fixing plate (2); a wheel axle (56) is installed on the first driving shaft of the double-axis motor (55) via a coupling; a roller (57) is fixedly connected to the end of the wheel axle (56); and a uniformly distributed slot (58) is provided on the outer surface of the roller (57); the limiting column (61) is fixed The vehicle frame (1) is connected to the outer surface of the vehicle frame (1); an obstacle avoidance mechanism (7) is arranged in the inner cavity of the vehicle frame (1); the obstacle avoidance mechanism (7) comprises a connecting frame (71) and a central controller (74); the connecting frame (71) is fixedly connected to the side of the limiting column (61) away from the vehicle frame (1); the side of the connecting frame (71) away from the limiting column (61) is fixedly connected to a radar sensor (72); the central controller (74) is fixedly connected to one side of the second fixing plate (3); the central controller (74) is connected to the radar sensor (72) via a wire (73); and the central controller (74) is electrically connected to two dual-axis motors (55).
2. The obstacle avoidance logistics equipment with intelligent sensing equipment according to claim 1, characterized in that: The upper surface of the vehicle frame (1) is fixedly connected to a bearing plate (11), the upper surface of the bearing plate (11) is fixedly connected to a track ring (12), the outer surface of the track ring (12) is slidably connected to a sliding sleeve (13), the upper surface of the sliding sleeve (13) is fixedly connected to a placement plate (8), the upper surface of the placement plate (8) is fixedly connected to an anti-slip strip (9), and the side of the upper surface of the placement plate (8) is fixedly connected to a blocking frame (10).
3. The obstacle avoidance logistics equipment with intelligent sensing equipment according to claim 2, characterized in that: The outer surface of the dual-axis motor (55) is fixedly connected to a fixing frame (54), the upper surface of the fixing frame (54) is fixedly connected to the lower surface of the first fixing plate (2), and the second driving shaft of the dual-axis motor (55) away from the wheel shaft (56) is fixedly connected to a special-shaped face gear (510).
4. The obstacle avoidance logistics equipment with intelligent sensor equipment according to claim 3 is characterized by: The inner wall of the profiled face gear (510) is fixedly connected to an extrusion plate (511), and the driving mechanism (5) further comprises a sliding bearing (512), the outer ring of the sliding bearing (512) is fixedly connected to the lower surface of the first fixed plate (2), the inner ring of the sliding bearing (512) is fixedly connected to a rotating column (513), the top end of the rotating column (513) is fixedly connected to the lower surface of the placement plate (8), the bottom end of the rotating column (513) is fixedly connected to a profiled spur gear (514), the profiled spur gear (514) comprises a disk fixedly connected to the lower end of the rotating column (513) and two sections of gear teeth symmetrically arranged on both sides of the disk, the profiled face gear (510) is provided with tooth grooves selectively matched with the two sections of gear teeth, and the lower surface of the profiled spur gear (514) is fixedly connected to an extrusion rod (515), and the extrusion rod (515) is extruded and adapted to the extrusion plate (511).
5. The obstacle avoidance logistics equipment with intelligent sensor equipment according to claim 4, characterized in that: The driving mechanism (5) further comprises a fixing frame (51), wherein the fixing frame (51) is fixedly connected to the lower surface of the second fixing plate (3), the bottom end of the fixing frame (51) is fixedly connected to a limiting ring (52), and a rotating ball (53) is rotatably connected to the inner cavity of the limiting ring (52).
6. The obstacle avoidance logistics equipment with intelligent sensor equipment according to claim 5, characterized in that: The outer surface of the limiting column (61) is rotatably connected to a rotating ring (62) via a torsion spring, the outer surface of the rotating ring (62) is fixedly connected to a connecting rod (63), the side of the connecting rod (63) away from the vehicle frame (1) is fixedly connected to a fixing rod (64), the end of the fixing rod (64) is fixedly connected to a first inclined plate (65), the outer surface of the fixing rod (64) is fixedly connected to a first supporting rod (66), and the end of the first supporting rod (66) is fixedly connected to a second inclined plate (67).
7. The obstacle avoidance logistics equipment with intelligent sensor equipment according to claim 6, characterized in that: The front end of the frame (1) is provided with an anti-collision mechanism (6), the anti-collision mechanism (6) comprises a limiting column (61) and a sliding frame (610), the sliding frame (610) is slidably connected to a limiting groove (4) provided on the outer surface of the frame (1), the upper surface of the sliding frame (610) is fixedly connected to a fixing tube (618), the top surface of the fixing tube (618) is fixedly connected to a piston rod (617), one end of the sliding frame (610) located in the inner cavity of the frame (1) is fixedly connected to a sliding plate (69), the sliding plate (69) passes through the first fixing plate (2), the bottom end of the sliding plate (69) is fixedly connected to a connecting plate (611), and the end of the connecting plate (611) is fixedly connected to an extrusion sleeve (612).
8. The obstacle avoidance logistics equipment with intelligent sensor equipment according to claim 7, characterized in that: One end of the connecting rod (63) away from the rotating ring (62) is fixedly connected to a bent rod (68), and one end of the bent rod (68) away from the connecting rod (63) is fixedly connected to an arc-shaped sealing tube (614). The outer surface of the arc-shaped sealing tube (614) is fixedly connected to a support frame (613). The end of the bent rod (68) is fixedly connected to a piston block (615), and the piston block (615) is frictionally matched with the inner wall of the arc-shaped sealing tube (614). The bottom end of the arc-shaped sealing tube (614) is fixedly connected to a hydraulic tube (616), and the bottom end of the piston rod (617) is frictionally matched with the inner wall of the hydraulic tube (616).