Automatic guided vehicle suitable for stereoscopic warehouse

Abstract

The invention provides an automatic guided vehicle suitable for a stereoscopic warehouse, and particularly relates to the technical field of storage guided vehicles, the automatic guided vehicle comprises a vehicle head main body, a lifting portal frame is arranged on one side of the vehicle head main body, and a pallet fork is arranged on the side, away from the vehicle head main body, of the lifting portal frame; two obstacle avoidance sensors are symmetrically arranged on the side, away from the lifting portal frame, of the vehicle head body, an active protection mechanism is arranged on the side, close to the vehicle head body, of the lifting portal frame, the distance between the two protection plates can be automatically and conveniently adjusted through the automatic guide vehicle, manual adjustment is not needed, and the automatic guide vehicle adapts to the width of the two sides of box goods on a pallet fork; the protection plates provide external force through the servo air cylinders, the stability of attachment of the protection plates and the two sides of the goods is guaranteed, therefore, in the process that the automatic guide vehicle carries the goods to run, the blocking protection effect is achieved, the situation that the goods displace towards the two sides or topple over in the running process of the automatic guide vehicle is avoided, and the goods carrying safety of the automatic guide vehicle is guaranteed.

Description

Technical Field

[0001] The invention provides an automatic guided vehicle suitable for a stereoscopic warehouse, and particularly relates to the technical field of storage guided vehicles. Background Art

[0002] Automatic guided vehicle, also known as "AGV", is a kind of unmanned transport equipment, which is widely used in logistics, manufacturing and other fields, especially in the transportation of goods in some high-rise warehouses, to replace manpower or forklifts to carry out material handling.

[0003] The utility model with authorization announcement number CN214383677U discloses an automatic guided forklift AGV trolley. The automatic guided forklift AGV trolley is provided with a mesh plate, a baffle and a fastening threaded cylinder. When it is necessary to transport objects through the forklift AGV trolley, the position of the baffle is first adjusted according to the width of the object, so that the distance between the two baffles is slightly larger than the width of the object, and the nut is rotated to drive the cylinder to move, and then the connecting cylinder is rotated to adjust the angle of the bent plate, and then the fastening threaded cylinder is rotated to fix the connecting cylinder, and the baffle can prevent the object from tipping over, thereby ensuring the stability of the object placement. This mechanism enables the forklift AGV trolley to have an anti-tipover function for object transportation, and at the same time can improve the stability of the forklift AGV trolley transportation, thereby improving the safety and reliability of the forklift AGV trolley.

[0004] Although the forklift AGV can prevent objects from falling over by using baffles, it does not take into account the different sizes of goods. When encountering objects with larger widths, it is not possible to automatically adjust the applicable position of the baffle in a timely and convenient manner, and the baffle needs to be manually installed before use, which is cumbersome. At the same time, after the baffle is installed, it is always located on both sides of the fork. However, when the fork is actually used, it needs to be close to the shelf or in contact with the goods. If the space on the shelf for placing goods is not enough to accommodate the size of the baffle, then the fixed baffle blocks the sides of the fork, which will affect the fork picking up the goods; Therefore, the present invention proposes an automatic guided vehicle suitable for a stereoscopic warehouse to make up for and improve the deficiencies of the prior art. Summary of the invention

[0005] In view of the defects existing in the prior art, the present invention provides an automatic guided vehicle suitable for a stereoscopic warehouse, which can effectively solve the relevant technical problems raised by the background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention discloses an automatic guided vehicle suitable for a stereoscopic warehouse, comprising a vehicle head body, a lifting gantry is arranged on one side of the vehicle head body, a cargo fork is arranged on the side of the lifting gantry away from the vehicle head body, two obstacle avoidance sensors are symmetrically arranged on the side of the vehicle head body away from the lifting gantry, and an active protection mechanism is arranged on the side of the lifting gantry close to the vehicle head body; The active protection mechanism includes two supporting plates, both of which are fixedly connected to the surface of the front body away from the lifting door frame, and the upper ends of the two supporting plates away from the front body are respectively fixedly connected with electric slide rails, and one end of the electric slide rail away from the supporting plates is fixedly connected to the outer surface of the lifting door frame, an electric slider is slidably connected to the electric slide rail, and a servo cylinder is fixedly connected to the bottom of the electric slider, and a protective plate is fixedly connected to the telescopic end of the servo cylinder, and a plurality of wall panels are evenly fixedly connected to the surface of the protective plate facing the front body, and the plurality of wall panels are symmetrically arranged up and down, and a plurality of damping shafts are correspondingly connected to the wall panels for rotation.

[0007] Preferably, the protective plates are made of a hard transparent material, and are initially located on both sides of the front body of the vehicle.

[0008] Preferably, the portion where the damping shaft is rotatably connected to the wall panel is connected by a one-way bearing, and an anti-slip pad is provided on the outer ring surface of the damping shaft.

[0009] Preferably, a matching diagonal brace mechanism is provided on both sides of the lower part of the car head body, and the matching diagonal brace mechanism includes a vertical plate fixedly connected to the bottom surface of the servo cylinder, and the lower end of the vertical plate is fixedly connected to an inclined block, and the shape of the inclined block is an inverted isosceles triangle, and the two sides of the car head body near the bottom are symmetrically fixedly connected, and the upper parts of the four fixed cylinders are provided with through slots, and movable abutments are respectively inserted in the four fixed cylinders, and the upper hemispherical surface of the movable abutment rod is located on the path of horizontal movement of the inclined block. The movable abutment rod is inclined, and when the movable abutment rod is displaced downward to the final position, its bottom end can extend to the outside of the fixed cylinder, and the outer annular surface of the movable abutment rod is sleeved with a built-in spring, and the movable abutment rod is provided with four, and each two are in a group, respectively arranged on both sides of the car head body, and the upper outer wall between the two movable abutments on the same side is fixedly connected with a cross bar, and the through slot is for the cross bar to slide and move.

[0010] Preferably, the bottoms of the four fixed cylinders are provided with bristles, and the bristles are distributed in a ring shape on the bottom surface of the fixed cylinder.

[0011] Preferably, the bottom surface of the movable support rod is a horizontal plane, and a rubber sheet with anti-slip patterns is provided on the horizontal plane.

[0012] Preferably, a rectangular strip is provided on the outer annular surface of the movable stop rod located inside the fixed cylinder, a wall groove is provided at a position of the inner annular surface of the fixed cylinder corresponding to the rectangular strip, and the rectangular strip is slidably matched with the wall groove.

[0013] Preferably, a follow-up purge mechanism is provided on the side of the vehicle front body facing the obstacle avoidance sensor, and the follow-up purge mechanism includes a follow-up ring, which is fixedly connected to the vertical plate, and the outer wall of the vehicle front body close to the follow-up ring is rotatably connected to a transmission rod, and the end of the follow-up ring away from the vertical plate is sleeved on the transmission rod, and the outer ring surface of the transmission rod is provided with a threaded groove, and the inner ring surface of the follow-up ring is provided with a protrusion, and the protrusion slides with the threaded groove, and the end of the transmission rod close to the vertical plate is coaxially fixedly connected with a pulley, and the upper surface of the vehicle front body close to the transmission rod is fixedly connected with a piston cylinder, and a reciprocating screw is rotatably connected to the inner center of the piston cylinder, and a piston disk is threadedly connected to the reciprocating screw, and an air inlet hole is provided on the surface of the piston disk. A one-way valve is installed on the hole, and the end of the piston cylinder near the piston disc is open, and the end of the reciprocating screw extends to the outside of the piston cylinder toward the first pulley, and the end of the reciprocating screw extending to the outside of the piston cylinder is fixedly connected with the second pulley, and a synchronous belt is connected to the first pulley for transmission, and the piston cylinder is fixedly connected with an air outlet main pipe above the end near the second pulley, and an annular branch pipe is fixedly connected at the position of the front body corresponding to the obstacle avoidance sensor, and a plurality of nozzles are evenly fixedly connected to the side of the annular branch pipe facing the obstacle avoidance sensor, and the air outlet end of the nozzle faces the outer surface of the obstacle avoidance sensor, and one of the two annular branch pipes is fixedly connected with the air outlet main pipe, and a horizontal pipe is fixedly connected between the bottoms of the two annular branch pipes.

[0014] Preferably, one end surface of the protrusion sliding in the thread groove is an arc surface, and the thread groove and the arc surface of the protrusion are smooth surfaces.

[0015] Preferably, the number of the nozzles is no less than six and they are distributed in a ring shape around the periphery of the obstacle avoidance sensor.

[0016] Compared with the known public technology, the technical solution provided by the present invention has the following beneficial effects: When the automatic guided vehicle is automatically carrying goods, the servo cylinder is activated to drive the two protective plates to move away from or close to the two sides of the vehicle body, so as to automatically and conveniently adjust the distance between the two protective plates without manual adjustment, so as to adapt to the width of the box goods on the fork. The two symmetrical protective plates can protect the goods on both sides, and the protective plates provide external force through the servo cylinder to ensure the stability of the two sides of the goods. In this way, the protective plates provide blocking protection during the automatic guided vehicle carrying goods, and avoid the displacement or dumping of the goods to the two sides during the driving of the automatic guided vehicle, so as to ensure the safety of the automatic guided vehicle in carrying goods. At the same time, two protective plates are symmetrically arranged on both sides, which can protect the automatic guided vehicle when it is not forking goods, avoiding direct collision between the two sides of the vehicle head and objects, so as to improve its impact resistance. At the same time, the transparent protective plates are convenient for personnel to observe the driving status of the guided vehicle in real time, and when the automatic guided vehicle is forking goods, the two protective plates will not hinder the fork from forking goods. In addition, the rotation of the damping shaft is used to ensure the smoothness of the horizontal displacement of the protective plate. When the protective plate approaches the cargo, the cargo is prevented from being pushed away from the fork under the action of friction, so as to ensure the stability of the cargo being picked up on the fork. At the same time, when the automatic guided vehicle stops, the damping shaft with the anti-slip pad cannot rotate under the action of the one-way bearing, so as to increase the friction between the damping shaft and the cargo, and improve the stability of the cargo placed on the fork. During the driving process of the AGV, if the vehicle body accidentally tilts to the sides, the two corresponding movable stoppers on both sides will be in contact with the warehouse floor. The movable stoppers with anti-slip rubber sheets at the bottom can provide timely support to a certain extent, thus avoiding the serious tilt of the vehicle body and affecting the driving safety. When the movable rod moves up and down, it will contact the bristles arranged in a ring shape on the bottom surface of the fixed cylinder, so that the dust on the bottom surface of the movable rod will be swept down by the contact and friction with the bristles, reducing the dust adhesion on the bottom surface, thereby ensuring that the bottom surface of the movable rod can be kept relatively clean every time it is extended downward, and the friction between the movable rod and the ground will not be affected by dust accumulation, and has a good supporting effect; In addition, nozzles that can spray air are set around the two obstacle avoidance sensors to blow off dust and impurities attached to the obstacle avoidance sensors, so as to reduce the impact of dust and impurities on the monitoring and sensing effect of the obstacle avoidance sensors, and reduce the subsequent manual cleaning steps. This ensures that the obstacle avoidance sensors can maintain good sensing effects and ensures the effectiveness of the obstacle avoidance function of the automatic guided vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a main perspective structural diagram of the present invention; Figure 2 It is a three-dimensional structural diagram of the present invention from another viewing angle; Figure 3 It is a partial three-dimensional structural diagram of the relevant parts of the present invention when the protective plate and the wall plate are separated; Figure 4 It is a partial three-dimensional structural diagram of the relevant components of the wall plate and the damping shaft in the separated state of the present invention; Figure 5 For the present invention Figure 1 A partial enlarged three-dimensional structure diagram at center; Figure 6 It is a three-dimensional structural diagram of the relevant parts of the inclined block and the fixed cylinder of the present invention in a cut-away and separated state; Figure 7 It is a partial three-dimensional structural diagram of the relevant parts of the fixed tube of the present invention in a cut-away and separated state; Figure 8 It is a three-dimensional structural diagram of the present invention when the fixed cylinder and the movable stop rod are separated; Fig. 9 It is a partial structural diagram of relevant parts of the fixed tube of the present invention in a cut-away state; Fig.10 It is a partial three-dimensional structural diagram of the relevant parts of the transmission rod of the present invention; Fig.11 It is a partial three-dimensional structural diagram of the vertical plate and the follower ring and related parts of the present invention; Fig.12 It is a partial three-dimensional structural diagram of the relevant parts of the follower ring of the present invention in a cut-away state.

[0018] The numbers in the figure represent: 1. Vehicle body; 11. Lifting gantry; 12. Forklift; 13. Obstacle avoidance sensor; Active protection mechanism: 21. Support plate; 22. Electric slide rail; 23. Electric slider; 24. Servo cylinder; 25. Protection plate; 26. Wall plate; 27. Damping shaft; Cooperating with the diagonal support mechanism: 31, vertical plate; 32, inclined block; 33, fixed cylinder; 3301, bristles; 34, built-in spring; 35, movable support rod; 351, rectangular strip; 36, cross bar; 37, through slot; Follow-up purge mechanism: 41, follow-up ring; 42, bump; 43, transmission rod; 44, pulley one; 4401, synchronous belt; 45, piston cylinder; 46, reciprocating screw; 47, piston disc; 48, one-way valve; 49, pulley two; 410, air outlet main pipe; 411, annular branch pipe; 412, nozzle; 413, horizontal pipe. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the embodiments.

[0020] The automatic guided vehicle is mainly suitable for carrying and transporting box cargo after palletizing in a stereoscopic warehouse, or for carrying cargo on both sides of a vertical plane.

[0021] Example 1: Reference Figures 1 to 4 An automatic guided vehicle suitable for a stereoscopic warehouse includes a vehicle body 1, a lifting gantry 11 is arranged on one side of the vehicle body 1, a fork 12 is arranged on the side of the lifting gantry 11 away from the vehicle body 1, two obstacle avoidance sensors 13 are symmetrically arranged on the side of the vehicle body 1 away from the lifting gantry 11, and an active protection mechanism is arranged on the side of the lifting gantry 11 close to the vehicle body 1.

[0022] The active protection mechanism includes two supporting plates 21, and the two supporting plates 21 are fixedly connected to the surface of the front body 1 away from the lifting gantry 11. The upper ends of the two supporting plates 21 away from the front body 1 are respectively fixedly connected with electric slide rails 22, and the end of the electric slide rail 22 away from the supporting plates 21 is fixedly connected to the outer surface of the lifting gantry 11. The electric slide rail 22 is slidably connected with an electric slider 23, and the bottom of the electric slider 23 is fixedly connected with a servo cylinder 24. The telescopic end of the servo cylinder 24 is fixedly connected with a protective plate 25, and the telescopic end of the servo cylinder 24 faces the side away from the front body 1. The protective plate 25 is made of a hard transparent material, and specifically can be made of transparent acrylic material. The protective plates 25 are initially located on both sides of the front body 1, with reference to Figure 1 and Figure 2 . The surface of the protective plate 25 facing the front body 1 is evenly fixedly connected with a plurality of wall panels 26, and the plurality of wall panels 26 are symmetrically arranged in an upper and lower manner. A plurality of damping shafts 27 are correspondingly rotatably connected between the wall panels 26. The portion where the damping shaft 27 is rotatably connected to the wall panels 26 is connected by a one-way bearing, and the rotation directions restricted by the one-way bearings on the two protective plates 25 are opposite, that is, all the one-way bearings on one protective plate 25 can only rotate clockwise, and all the one-way bearings on the other protective plate 25 can only rotate counterclockwise. An anti-slip pad is arranged on the outer ring surface of the damping shaft 27 to increase the friction when it contacts the goods. Specifically, the limiting effect of the one-way bearing is to restrict the damping shaft 27 from rotating in only one direction.

[0023] Firstly, when the automatic guided vehicle is driving without forking any cargo, if an emergency occurs, such as a failure in the obstacle avoidance detection function of the guide vehicle, the vehicle body may collide with other objects. By using two protective plates 25 symmetrically arranged on both sides thereof, it can protect the vehicle body and avoid direct collision between the two sides of the vehicle body 1 and objects, so as to improve its impact resistance. Meanwhile, the transparent protective plates 25 make it easy for personnel to observe the driving status of the guide vehicle in real time. Moreover, when the automatic guided vehicle is forking cargo, the two protective plates 25 will not hinder the fork 12 from forking cargo.

[0024] Secondly, after the fork 12 of the automatic guided vehicle picks up the goods, the fork 12 and the goods picked up by the fork 12 are driven to move upward through the lifting gantry 11. Then the servo cylinder 24 is started first, and the two protective plates 25 are driven to move away from or close to the two sides of the vehicle body 1 through its telescopic end to adjust the distance between the two protective plates 25 so that the distance between the damping shafts 27 on the two protective plates 25 is equal to the width of the goods, so as to ensure that the damping shaft 27 can contact the two sides of the goods.

[0025] Then, the electric slide rail 22 and the electric slider 23 are started, and the two protective plates 25 are driven by the electric slider 23 to move horizontally toward the direction of the cargo. During this process, the damping shaft 27 will come into friction contact with the outer surface of the cargo. Figure 1 As shown, the multiple damping shafts 27 located at the front side rotate under the action of friction after contacting with the cargo, and under the action of the one-way bearing, the damping shaft 27 on one protective plate 35 can rotate counterclockwise, while the damping shaft 27 on the other protective plate 25 rotates clockwise. The rotation of the damping shaft 27 is used to ensure the smoothness of the horizontal displacement of the protective plate 25, and to avoid pushing the cargo away from the fork 12 under the action of friction, so as to ensure the stability of the cargo being forked on the fork 12, and finally the two protective plates 25 are on both sides of the cargo; Then, in the process of the automatic guided vehicle carrying goods, two symmetrical protective plates 25 are arranged on both sides of the goods, and the protective plates 25 are adjusted in distance by the servo cylinder 24, so as to ensure that the damping shaft 27 can fit with both sides of the goods, thereby providing blocking protection in the process of the automatic guided vehicle carrying goods, avoiding the displacement or tipping of the goods to both sides during the driving of the automatic guided vehicle, and ensuring the safety of the automatic guided vehicle carrying goods.

[0026] When the automatic guided vehicle carries the goods to the front of the shelf in the three-dimensional warehouse, the automatic guided vehicle needs to turn the direction of the front body 1 so that the fork 12 faces the shelf. Then, after aligning the placement position on the shelf, the automatic guided vehicle continues to travel toward the shelf until the goods are located above the placement position on the shelf, and then stops. In this process, since the goods are in the forward direction of the guide vehicle, after the guide vehicle stops, the goods may tilt or shift toward the direction of the shelf due to inertia, and there is a risk of dumping the goods. Therefore, at this time, under the action of the one-way bearing, the damping shaft 27 with the anti-slip pad cannot rotate, so as to increase the friction between the damping shaft 27 and the goods and improve the stability of the goods on the fork 12.

[0027] After the automatic guided vehicle stops, the servo cylinder 24 is first started to move the two protection plates 25 away from the goods, and then the electric slider 23 drives the servo cylinder 24 and the two protection plates 25 to move in the opposite direction away from the goods. After the protection plates 25 are reset, that is, the two protection plates 25 are located on both sides of the vehicle body 1, and then the lifting mast 11 and the fork 12 are used to put the goods down to the corresponding goods placement position on the shelf.

[0028] Embodiment 2: Based on Embodiment 1, Figure 1 , Figure 2 , Figures 5 to 9 As shown, a matching diagonal bracing mechanism is provided on both sides below the front body 1, and the matching diagonal bracing mechanism includes a vertical plate 31 fixedly connected to the bottom surface of the servo cylinder 24. Specifically, a vertical plate 31 is fixedly connected to the bottom of each of the two servo cylinders 24, and a diagonal block 32 is fixedly connected to the lower end of the vertical plate 31. The shape of the diagonal block 32 is an inverted isosceles triangle. Four fixed cylinders 33 are symmetrically fixedly connected to both sides near the bottom of the front body 1. Brushes 3301 are provided at the bottom of the four fixed cylinders 33. The bristles 3301 are distributed in a ring shape on the bottom surface of the fixed cylinders 33. Through slots 37 are provided at the upper parts of the four fixed cylinders 33. Movable abutment rods 35 are movably inserted in the four fixed cylinders 33. The bottom surface of the movable abutment rod 35 is a horizontal plane, and a rubber sheet with anti-slip patterns is provided on the horizontal plane to increase the friction between the bottom surface of the movable abutment rod 35 and the ground. A rectangular strip 351 is provided on the outer ring surface of the movable stop rod 35 located inside the fixed cylinder 33, and a wall groove is opened at a position corresponding to the rectangular strip 351 on the inner ring surface of the fixed cylinder 33, and the rectangular strip 351 and the wall groove are slidably matched to ensure the stability of the displacement of the movable stop rod 35 in the fixed cylinder 33. The top of the movable push rod 35 is chamfered, and the hemispherical surface of the upper end of the movable push rod 35 is located on the path of horizontal movement of the inclined block 32. Specifically, when the inclined block 32 moves horizontally toward the fork 12 to the final position, the inclined block 32 will sequentially fit and contact the spherical surface of the upper end of the movable push rod 35 on the same side. The movable push rod 35 is inclined. When the movable push rod 35 moves downward to the final position, its bottom end can extend to the outside of the fixed cylinder 33. The outer ring surface of the movable push rod 35 is sleeved with an internal spring 34, one end of the internal spring 34 is fixedly connected to the outer ring surface of the movable push rod 35, and the other end is fixedly connected to the inner ring surface of the fixed cylinder 33. Four movable push rods 35 are provided, and each two are in a group, respectively arranged on both sides of the vehicle head body 1, and a cross bar 36 is fixedly connected to the upper outer wall between the movable push rods 35 on the same side, and a slot 37 is passed through for the cross bar 36 to slide and move.

[0029] When the automatic guided vehicle is carrying goods, the vehicle body will tilt during the driving process, especially during the turning process, due to the heavy goods or the high stacking height of the goods, which may easily cause safety hazards. When the electric slider 23 drives the servo cylinder 24 to move horizontally to the final position in the direction close to the fork 12, the inclined block 32 will also be driven to move synchronously through the vertical plate 31. When the inclined surface of the inclined block 32 and the semicircular surface of the upper end of the movable push rod 35 are in conflict and squeezed, the movable push rod 35 will move downward inside the fixed barrel 33, and the built-in spring 34 will be compressed during the process. After the vertical plate 31 stops moving, the inclined block 32 is always in conflict with the upper semispherical surface of the movable push rod 35 close to the side of the lifting gantry 11. Therefore, when the two protective plates 25 block the two sides of the goods, the four movable push rods 35 are all extended downward to the outside of the fixed barrel 33.

[0030] In this way, when the automatic guided vehicle is transporting goods, if the vehicle body accidentally tilts to the sides, the two corresponding movable support rods 35 on both sides will first contact the warehouse floor, and the movable support rods 35 with anti-slip rubber sheets on the bottom can provide timely support to a certain extent, thereby avoiding the safety of driving affected by severe tilt of the vehicle body.

[0031] In addition, when one of the two movable push rods 35 on the same side first contacts and squeezes the inclined block 32 and moves downward, the other movable push rod 35 will be driven to move downward synchronously through the cross bar 36. That is, when the inclined block 32 moves toward the fork 12, the inclined block 32 and the two movable push rods 35 on one side will be squeezed respectively, causing them to move downward. When the inclined block 32 is reset in the reverse direction, the two movable push rods 35 will be driven to move downward again. When the inclined block 32 is finally reset to the initial position, Figure 5 When the movable stop rod 35 is in the position shown in the figure, it moves upward and resets under the action of the rebound force of the spring.

[0032] In this process, if the movable push rod 35 is directly exposed to the external environment, that is, it is directly fixed on both sides of the bottom of the vehicle head body 1, during use, its bottom surface will inevitably be stained with dust in the external environment, and the dust will affect the friction between the bottom surface of the movable push rod 35 and the ground. In the arrangement of this embodiment, the movable push rod 35 will contact the bristles 3301 arranged in a ring shape on the bottom surface of the fixed cylinder 33 during the up and down movement, so that under the contact and friction with the bristles 3301, the dust on the bottom surface of the movable push rod 35 is swept down, reducing the dust adhesion on the bottom surface, thereby ensuring that the bottom surface of the movable push rod 35 can remain relatively clean every time it is extended downward, and the friction between the movable push rod 35 and the ground will not be affected by dust accumulation, thereby ensuring a good support effect.

[0033] Embodiment 3: Based on Embodiment 1 and Embodiment 2, Figure 1 , Figures 10 to 12 As shown, a follow-up purge mechanism is provided on the side of the front body 1 facing the obstacle avoidance sensor 13, and the follow-up purge mechanism includes a follow-up ring 41, which is fixedly connected to the vertical plate 31, and the outer wall of the front body 1 close to the follow-up ring 41 is rotatably connected to a transmission rod 43, and the end of the follow-up ring 41 away from the vertical plate 31 is sleeved on the transmission rod 43, and a thread groove is provided on the outer ring surface of the transmission rod 43, and a protrusion 42 is provided on the inner ring surface of the follow-up ring 41, and the protrusion 42 is slidably matched with the thread groove, and the end surface of the protrusion 42 sliding in the thread groove is a circular arc surface, and the thread groove and the circular arc surface of the protrusion 42 are smooth surfaces to ensure smoothness of the relative sliding process between the two. One end of the transmission rod 43 near the vertical plate 31 is coaxially fixedly connected with a pulley 1 44, and the upper surface of the front body 1 near the transmission rod 43 is fixedly connected with a piston cylinder 45, and the center of the piston cylinder 45 is rotatably connected with a reciprocating screw 46, and a piston disc 47 is threadedly connected to the reciprocating screw 46. An air inlet hole is opened on the surface of the piston disc 47, and a one-way valve 48 is installed on the air inlet hole. The end of the piston cylinder 45 near the piston disc 47 is open, and the piston disc 47 seals the opening. The end of the reciprocating screw 46 toward the pulley 1 44 extends to the outside of the piston cylinder 45, and the end of the reciprocating screw 46 extending to the outside of the piston cylinder 45 is fixedly connected with a pulley 2 49. A synchronous belt 4401 is connected between the first pulley 49 and the first pulley 44. An air outlet main pipe 410 is fixedly connected above the end of the piston cylinder 45 near the second pulley 49. An annular branch pipe 411 is fixedly connected to the position of the front body 1 corresponding to the obstacle avoidance sensor 13. The annular branch pipe 411 is evenly and fixedly connected to a plurality of nozzles 412 on the side facing the obstacle avoidance sensor 13. The air outlet end of the nozzle 412 faces the outer surface of the obstacle avoidance sensor 13. There are no less than six nozzles 412, which are distributed in an annular shape around the periphery of the obstacle avoidance sensor 13. The annularly distributed nozzles 412 can provide airflow from different directions around the obstacle avoidance sensor 13, which is conducive to better blowing off dust and impurities. One of the two annular branch pipes 411 is fixedly connected to the air outlet main pipe 410, and a horizontal pipe 413 is fixedly connected between the bottoms of the two annular branch pipes 411.

[0034] AGVs are generally equipped with obstacle avoidance sensors 13. Warehouse dust is one of the common contaminants of sensors. When dust accumulates on the sensor surface for a long time, it will cause the sensitivity of the sensor to decrease, and even measurement errors will occur, affecting the accuracy and reliability of the sensor. Therefore, a follow-up purge mechanism is set up. During the horizontal displacement of the vertical plate 31 toward the direction close to the fork 12, and the reverse horizontal displacement and reset of the vertical plate 31, the follow-up ring 41 will also be driven to move synchronously. During this process, the inner ring surface of the follow-up ring 41 The convex block 42 and the thread groove surface squeeze and cooperate, which will cause the transmission rod 43 to rotate. Then, the reciprocating screw 46 is driven to rotate synchronously through the pulley 1 44, the synchronous belt 4401, and the pulley 2 49. This drives the piston disc 47 to reciprocate horizontally inside the piston cylinder 45. When the piston disc 47 is horizontally displaced toward the direction close to the second pulley 49, the one-way valve 48 is in a closed state, so that the air inside the piston cylinder 45 is sent into one of the annular branch pipes 411 through the air outlet main pipe 410, and finally the air is blown toward the surface of the obstacle avoidance sensor 13 through the nozzle 412. The air sent out of the piston cylinder 45 is also sent into another annular branch pipe 411 through the horizontal pipe 413, and blown toward the corresponding obstacle avoidance sensor 13 surface from the nozzle 412 on the other annular branch pipe 411. When the piston disc 47 is horizontally displaced in the reverse direction, the one-way valve 48 is in an open state, so that the air enters the piston cylinder 45 again through the opening-shaped portion on one side.

[0035] In this way, nozzles 412 capable of ejecting air are arranged around the two obstacle avoidance sensors 13 to blow off dust and impurities attached to the obstacle avoidance sensors 13, so as to reduce the dust and impurities affecting the monitoring sensing effect of the obstacle avoidance sensors 13, and reduce the subsequent manual cleaning steps. This ensures that the obstacle avoidance sensors 13 can maintain a good sensing effect and ensures the effectiveness of the obstacle avoidance function of the automatic guided vehicle.

[0036] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic guided vehicle suitable for a stereoscopic warehouse, comprising a vehicle head body (1), a lifting gantry (11) being arranged on one side of the vehicle head body (1), a fork (12) being arranged on the side of the lifting gantry (11) away from the vehicle head body (1), and two obstacle avoidance sensors (13) being symmetrically arranged on the side of the vehicle head body (1) away from the lifting gantry (11), characterized in that: An active protection mechanism is provided on a side of the lifting gantry (11) close to the vehicle front body (1); The active protection mechanism comprises two supporting plates (21), the two supporting plates (21) are fixedly connected to the surface of the vehicle head body (1) on the side away from the lifting gantry (11), the upper ends of the two supporting plates (21) on the side away from the vehicle head body (1) are respectively fixedly connected to electric slide rails (22), one end of the electric slide rail (22) away from the supporting plates (21) is fixedly connected to the outer surface of the lifting gantry (11), the electric slide rail (22) is slidably connected to an electric slider (23), the bottom of the electric slider (23) is fixedly connected to a servo cylinder (24), the telescopic end of the servo cylinder (24) is fixedly connected to a protection plate (25), and the surface of the protection plate (25) on the side facing the vehicle head body (1) is evenly fixedly connected to a plurality of wall panels (26), the plurality of wall panels (26) are symmetrically arranged up and down, and a plurality of damping shafts (27) are correspondingly rotatably connected between the wall panels (26).

2. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 1, characterized in that: The protective plates (25) are made of a hard transparent material, and are initially located on both sides of the vehicle front body (1).

3. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 1, characterized in that: The portion where the damping shaft (27) is rotatably connected to the wall plate (26) is connected by a one-way bearing, and an anti-slip pad is provided on the outer ring surface of the damping shaft (27).

4. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 1, characterized in that: Coordinating diagonal bracing mechanisms are provided on both sides below the front body (1), the coordinating diagonal bracing mechanisms comprising a vertical plate (31) fixedly connected to the bottom surface of the servo cylinder (24), the lower end of the vertical plate (31) being fixedly connected to an inclined block (32), the inclined block (32) being in the shape of an inverted isosceles triangle, four fixed cylinders (33) being symmetrically fixedly connected to both sides of the front body (1) near the bottom, through notches (37) being provided at the upper portions of the four fixed cylinders (33), movable abutting rods (35) being movably inserted in the interiors of the four fixed cylinders (33), the upper portions of the movable abutting rods (35) being movably connected to the upper portions of the movable abutting rods (35). The end hemispherical surface is located on the path of horizontal movement of the inclined block (32); the movable push rod (35) is arranged in an inclined manner; when the movable push rod (35) is displaced downward to the final position, the bottom end of the movable push rod (35) can extend to the outside of the fixed cylinder (33); the outer annular surface of the movable push rod (35) is sleeved with a built-in spring (34); four movable push rods (35) are provided, and each two form a group and are respectively arranged on both sides of the vehicle head body (1); a cross bar (36) is fixedly connected to the upper outer wall between the two movable push rods (35) on the same side; and the through slot (37) allows the cross bar (36) to slide and displace.

5. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 4, characterized in that: Brushes (3301) are provided at the bottom of the four fixed cylinders (33), and the brushes (3301) are distributed in a ring shape on the bottom surface of the fixed cylinder (33).

6. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 4, characterized in that: The bottom surface of the movable support rod (35) is a horizontal surface, and a rubber sheet with anti-slip patterns is provided on the horizontal surface.

7. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 6, characterized in that: The movable stop rod (35) is provided with a rectangular strip (351) on its outer annular surface located inside the fixed cylinder (33), and a wall groove is provided at a position of the inner annular surface of the fixed cylinder (33) corresponding to the rectangular strip (351), and the rectangular strip and the wall groove are slidably matched.

8. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 1 or 4, characterized in that: A follow-up purge mechanism is provided on a side of the vehicle head body (1) facing the obstacle avoidance sensor (13), the follow-up purge mechanism comprising a follow-up ring (41), the follow-up ring (41) being fixedly connected to the vertical plate (31), a transmission rod (43) being rotatably connected to an outer wall of the vehicle head body (1) on a side close to the follow-up ring (41), an end of the follow-up ring (41) away from the vertical plate (31) being sleeved on the transmission rod (43), a threaded groove being provided on an outer annular surface of the transmission rod (43), and a convex block (42) being provided on an inner annular surface of the follow-up ring (41). ), the protrusion (42) is slidably matched with the thread groove, the transmission rod (43) is coaxially fixedly connected to a pulley (44) at one end close to the vertical plate (31), the upper surface of the vehicle head body (1) close to the transmission rod (43) is fixedly connected to a piston cylinder (45), the inner center of the piston cylinder (45) is rotatably connected to a reciprocating screw (46), the reciprocating screw (46) is threadedly connected to a piston disc (47), the surface of the piston disc (47) is provided with an air inlet hole, and a one-way valve (48) is installed on the air inlet hole, The end of the piston cylinder (45) close to the piston disc (47) is open, the end of the reciprocating screw (46) extending toward the first pulley (44) to the outside of the piston cylinder (45), the end of the reciprocating screw (46) extending to the outside of the piston cylinder (45) is fixedly connected to the second pulley (49), the second pulley (49) and the first pulley (44) are connected by a synchronous belt (4401), the upper part of the piston cylinder (45) close to the second pulley (49) is fixedly connected to the air outlet main pipe (410), the vehicle An annular branch pipe (411) is fixedly connected to a position of the head body (1) corresponding to the obstacle avoidance sensor (13); a plurality of nozzles (412) are evenly and fixedly connected to a side of the annular branch pipe (411) facing the obstacle avoidance sensor (13); an air outlet end of the nozzle (412) faces the outer surface of the obstacle avoidance sensor (13); one of the two annular branch pipes (411) is fixedly connected to an air outlet main pipe (410); and a horizontal pipe (413) is fixedly connected between the bottoms of the two annular branch pipes (411).

9. The automatic guided vehicle suitable for a stereoscopic warehouse according to claim 8, characterized in that: One end surface of the projection (42) sliding in the thread groove is an arc surface, and the thread groove and the arc surface of the projection (42) are smooth surfaces.

10. The automatic guided vehicle suitable for a high-bay warehouse according to claim 8, characterized in that: The number of the nozzles (412) is no less than six and they are distributed in a ring shape around the periphery of the obstacle avoidance sensor (13).

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