Latent agv based on visual detection

Abstract

The present application relates to the technical field of AGV, and discloses a latent AGV based on visual detection, which comprises a vehicle body, a mounting groove is fixedly installed on the vehicle body, a first electric telescopic rod is fixedly installed in the mounting groove, an output end of the first electric telescopic rod is fixedly installed with a bottom plate, a rotating seat is rotatably installed on the bottom plate, a supporting plate is fixedly installed on the rotating seat, a first motor for driving the rotating seat to rotate is fixedly installed on the bottom plate, two groups of second motors are fixedly installed on the surface of the supporting plate close to the bottom plate, an output end of each second motor is fixedly installed with a first mounting bracket, and a first moving frame is slidably installed on the first mounting bracket. The present application has the beneficial effects that a plurality of limiting rods are in contact with four side surfaces of the goods respectively, so that the goods are fixed and limited, and the stability and safety of the goods during transfer are improved.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, and specifically to a hidden AGV based on vision detection. Background Technology

[0002] With the rapid development of industrial automation and logistics transportation, the AGV (Automated Guided Vehicle) with a hidden lifting mechanism has been widely used in various production, warehousing, and distribution scenarios as a key type of automation equipment. Its key feature is its ability to hide under shelves and use a lifting mechanism to raise materials from the ground or lower levels to higher levels, or lower them from higher levels to the ground or lower levels, thereby achieving efficient and accurate material handling.

[0003] Most existing submersible lifting AGVs support the goods directly through support plates during use. For example, the patent with publication number CN222475176U lifts the goods directly through a lifting plate. However, due to the small area of ​​the lifting plate and the lack of restraint and fixation around the goods, the goods are prone to falling off when subjected to inertia or vibration during operation, reducing the stability of the equipment's transport. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a device for cargo transfer, thereby achieving high stability in cargo transfer.

[0005] The objective of this invention can be achieved through the following technical solutions: A visual detection-based stealth AGV includes a vehicle body, an installation groove fixedly installed on the vehicle body, a first electric telescopic rod fixedly installed in the installation groove, a base plate fixedly installed at the output end of the first electric telescopic rod, a rotating seat rotatably installed on the base plate, a support plate fixedly installed on the rotating seat, and a first motor fixedly installed on the base plate to drive the rotating seat to rotate. Two sets of second motors are fixedly installed on the surface of the support plate near the base plate. A first mounting bracket is fixedly installed at the output end of the second motor. A first movable frame is slidably installed on the first mounting bracket. A third motor that drives the first movable frame to move is fixedly installed on the first mounting bracket. A second electric telescopic rod is fixedly installed at the end of the first movable frame. A frame-shaped second mounting bracket is fixedly installed at the output end of the second electric telescopic rod. An airbag is fixedly installed inside the second mounting bracket. Multiple sets of spaced limiting rods are slidably installed on the second mounting bracket. A guide plate that is slidably connected to the first movable frame is fixedly installed on the second mounting bracket. The limiting rods are supported by the airbag. A camera is fixedly installed on the second mounting bracket.

[0006] As a further aspect of the present invention: the output shaft of the first motor is parallel to the rotation axis of the rotating seat, and a first gear is fixedly installed at the output end of the first motor, the first gear meshing with a gear ring fixedly installed on the rotating seat.

[0007] As a further aspect of the present invention: the first movable frame is frame-shaped and the output shaft of the third motor extends into the first movable frame, and a second gear is fixedly installed at the end of the output shaft of the third motor, and the second gear meshes with a rack fixedly installed in the first movable frame.

[0008] As a further embodiment of the present invention: a U-shaped second movable frame is slidably installed inside the second mounting frame. The second movable frame is located between the limiting rods and multiple sets of horizontal plates are fixedly installed on the second movable frame. The horizontal plates are used in conjunction with the corresponding linearly distributed multiple sets of limiting rods. A third electric telescopic rod that drives the second movable frame to move is fixedly installed on the side of the second mounting frame.

[0009] As a further aspect of the present invention: a support plate is fixedly installed on the first mounting frame, a winch is fixedly installed on the support plate, a wire rope is wound on the winch, and the movable end of the wire rope is fixedly connected to the end of the second mounting frame on the first movable frame.

[0010] As a further aspect of the present invention: a protective box is fixedly installed inside the second mounting bracket, the protective box covers the airbag and the airbag is in contact with the inner wall of the protective box under normal conditions, and a through hole is provided on the protective box for the limiting rod to pass through.

[0011] As a further aspect of the present invention: a buffer cylinder communicating with the airbag is fixedly installed on the second mounting bracket, a telescopic rod is fixedly installed inside the buffer cylinder, a piston plate is fixedly installed at the end of the telescopic rod, a spring is fixedly installed on the piston plate, and the fixed end of the spring is fixedly connected to the bottom of the buffer cylinder.

[0012] The beneficial effects of this invention are: (1) In this invention, the position of the second mounting frame and the limiting rod is adjusted by moving and rotating the first moving frame, so that multiple sets of limiting rods contact the four sides of the goods respectively, thereby fixing and restricting the goods, avoiding the goods from tipping over and falling off due to inertial vibration and other reasons when the vehicle moves, and improving the stability and safety of the goods during transportation. Of course, the position of the second mounting frame can also be adjusted according to the actual operating space of the goods so that the second mounting frame is located on two symmetrical sides of the goods, and then the goods are fixed from both sides by the limiting rods, improving the flexibility of fixing the goods and further improving the convenience of using the equipment.

[0013] (2) In this invention, the corner of the cargo is supported by the limiting rod under the cargo, which increases the support area of ​​the cargo and further improves the stability of the cargo support. The end of the first moving frame is lifted and fixed by the steel wire rope to prevent the first moving frame from deforming and bending, and to ensure stable contact between the limiting rod and the bottom surface of the cargo, which further improves the stability of the cargo support.

[0014] (3) In this invention, the movement of the piston plate provides space for the gas, and the protective box restricts the airbag, so that the airbag cannot continue to expand outward, so that the piston plate can be pushed stably, avoiding frequent expansion and deformation of the airbag, reducing the deformation range of the airbag, and improving the service life of the airbag. Attached Figure Description

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the support plate in this invention.

[0018] Figure 3 This is a schematic diagram of the rotating seat in this invention.

[0019] Figure 4 This is a schematic diagram of the structure of the first movable frame in this invention.

[0020] Figure 5 This is a schematic diagram of the structure of the second mounting bracket in this invention.

[0021] Figure 6 This is a cross-sectional view of the second mounting bracket in this invention.

[0022] Figure 7 yes Figure 6 Enlarged diagram of point A in the middle.

[0023] In the diagram: 1. Vehicle body; 2. Mounting slot; 3. First electric telescopic rod; 4. Base plate; 5. Rotating seat; 6. Support plate; 7. Gear ring; 8. First motor; 9. First gear; 10. Second motor; 11. First mounting frame; 12. First moving frame; 13. Rack; 14. Third motor; 15. Second gear; 16. Second electric telescopic rod; 17. Second mounting frame; 18. Guide plate; 19. Camera; 20. Airbag; 21. Limiting rod; 22. Protective box; 23. Second moving frame; 24. Third electric telescopic rod; 25. Horizontal plate; 26. Support plate; 27. Winch; 28. Steel wire rope; 29. ​​Buffer cylinder; 30. Telescopic rod; 31. Piston plate; 32. Spring. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figures 1-7 As shown, the present invention is a visual detection-based stealth AGV, including a vehicle body 1, a mounting groove 2 fixedly installed on the vehicle body 1, a first electric telescopic rod 3 fixedly installed in the mounting groove 2, a base plate 4 fixedly installed at the output end of the first electric telescopic rod 3, a rotating seat 5 rotatably installed on the base plate 4, a support plate 6 fixedly installed on the rotating seat 5, a first motor 8 fixedly installed on the base plate 4 to drive the rotating seat 5 to rotate, the output shaft of the first motor 8 being parallel to the rotation axis of the rotating seat 5, a first gear 9 fixedly installed at the output end of the first motor 8, and the first gear 9 meshing with a gear ring 7 fixedly installed on the rotating seat 5; Two sets of second motors 10 are fixedly installed on the surface of the support plate 6 near the base plate 4. A first mounting bracket 11 is fixedly installed at the output end of the second motor 10. A first movable bracket 12 is slidably installed on the first mounting bracket 11. A third motor 14 that drives the first movable bracket 12 to move is fixedly installed on the first mounting bracket 11. The first movable bracket 12 is frame-shaped and the output shaft of the third motor 14 extends into the first movable bracket 12. A second gear 15 is fixedly installed at the end of the output shaft of the third motor 14. The second gear 15 meshes with a rack 13 fixedly installed in the first movable bracket 12. A second electric telescopic rod 16 is fixedly installed at the end of the first movable bracket 12. A frame-shaped second mounting bracket 17 is fixedly installed at the output end of the second electric telescopic rod 16. An airbag 20 is fixedly installed inside the second mounting bracket 17. Multiple sets of spaced limiting rods 21 are slidably installed on the second mounting bracket 17. A guide plate 18 that is slidably connected to the first movable bracket 12 is fixedly installed on the second mounting bracket 17. The limiting rods 21 are supported by the airbag 20. A camera 19 is fixedly installed on the second mounting bracket 17.

[0026] In practical application, the vehicle body 1 uses a visual recognition system to identify natural features in the environment, such as ground texture, wall outline, and fixed objects, for synchronous positioning and mapping navigation. After the vehicle body 1 moves to the bottom of the goods, the first electric telescopic rod 3 drives the bottom plate 4 and support plate 6 to move upward. After the support plate 6 contacts the lower surface of the goods, it pushes the goods upward to leave the shelf. Then the vehicle body 1 can drive the goods to leave the shelf. After the goods leave the shelf and move to an open area, the third motor 14 drives the first movable frame 12 to extend from under the support plate 6 via the meshing second gear 15 and rack 13. The second motor 10 drives the first mounting frame 11 and the first movable frame 12 to rotate. The camera 19 captures the environment above the second mounting frame 17, causing the second mounting frame 17 to move to the corner position of the goods. The two second mounting frames 17 are located below the two opposite corners of the goods, and part of the second mounting frames 17 extends from under the goods. Then, the second electric telescopic rod 16 drives the second mounting frame 17 to move upward. As the second mounting frame 17 moves, the limiting rod 21 located under the goods contacts the lower surface of the goods and stops rising, compressing the airbag 20. The limiting rod 21 located outside the goods continues to rise. The second mounting frame 17 rises to a set height and then stops. At this time, part of the limiting rod 21 is located under the goods, and part of the limiting rod 21 is located on the side of the goods. At this time, the first mounting frame... 11 and the first moving frame 12 rotate again, causing the limiting rod 21 located on one side of the cargo to move and contact the side of the cargo. Then the first moving frame 12 retracts, causing the limiting rod 21 located on the other side of the cargo to contact the side of the cargo. At this time, multiple sets of limiting rods 21 contact the four sides of the cargo respectively, thereby fixing and restricting the cargo, preventing the cargo from tipping over and falling off due to inertial vibration and other reasons when the vehicle body 1 moves, and improving the stability and safety of cargo transfer. Of course, the position of the second mounting frame 17 can also be adjusted according to the actual cargo operating space so that the second mounting frame 17 is located on two symmetrical sides of the cargo. Then the cargo is fixed from both sides by the limiting rods 21, improving the flexibility of cargo fixing and further improving the convenience of equipment use. After the cargo is transferred to the destination, the limiting rods 21 are released from fixing the cargo. Then the second mounting frame 17 is reset. After the cargo is moved to the top of the placement frame, the support plate 6 is reset and detached from the cargo. When the vehicle body 1 turns, the vehicle body 1 rotates, and at the same time, the first motor 8 drives the rotating seat 5 to rotate synchronously in the opposite direction through the meshing first gear 9 and gear ring 7, thereby keeping the support plate 6 in a stationary state, preventing the cargo from rotating along with it during the turn, and further improving the stability of the cargo.

[0027] Please see Figure 6 , Figure 7 As shown, the present invention is a visual detection-based AGV. A U-shaped second movable frame 23 is slidably installed in the second mounting frame 17. The second movable frame 23 is located between the limiting rods 21 and multiple sets of horizontal plates 25 are fixedly installed on the second movable frame 23. The horizontal plates 25 are used in conjunction with the corresponding linearly distributed multiple sets of limiting rods 21. A third electric telescopic rod 24 that drives the second movable frame 23 to move is fixedly installed on the side of the second mounting frame 17.

[0028] Specifically, a support plate 26 is fixedly installed on the first mounting frame 11, a winch 27 is fixedly installed on the support plate 26, a wire rope 28 is wound on the winch 27, and the movable end of the wire rope 28 is fixedly connected to the end of the second mounting frame 17 on the first movable frame 12.

[0029] In practical application, after the second mounting frame 17 rises a set distance, some of the limiting rods 21 are located below the goods, and some of the limiting rods 21 are located on the side of the goods. The second moving frame 23 is moved by the third electric telescopic rod 24 so that the horizontal plate 25 abuts against the corresponding multiple sets of limiting rods 21, thereby fixing the limiting rods 21. At this time, the limiting rods 21 located below the goods can support the goods and simultaneously improve the stability of the limiting rods 21 located on the side of the goods. Thus, the corners of the goods are supported by the limiting rods 21 located below the goods, increasing the support area of ​​the goods and further improving the stability of the goods support. When the first movable frame 12 moves, the winch 27 releases or winds up the wire rope 28. After supporting the goods, the winch 27 winds up the wire rope 28 to make the wire rope 28 taut. This allows the wire rope 28 to lift and fix the end of the first movable frame 12, preventing the first movable frame 12 from deforming or bending. This ensures stable contact between the limit rod 21 and the bottom surface of the goods, further improving the stability of the goods support.

[0030] Please see Figure 5 , Figure 7 As shown, the present invention is a visual detection-based stealth AGV. A protective box 22 is fixedly installed inside the second mounting frame 17. The protective box 22 covers the airbag 20 and the airbag 20 is in contact with the inner wall of the protective box 22 under normal conditions. The protective box 22 has a through hole for the limit rod 21 to pass through.

[0031] Specifically, a buffer cylinder 29 communicating with the airbag 20 is fixedly installed on the second mounting bracket 17. A telescopic rod 30 is fixedly installed inside the buffer cylinder 29. A piston plate 31 is fixedly installed at the end of the telescopic rod 30. A spring 32 is fixedly installed on the piston plate 31. The fixed end of the spring 32 is fixedly connected to the bottom of the buffer cylinder 29.

[0032] In practical application, when the limiting rod 21 stops rising and compresses the airbag 20, the piston plate 31 will move downward under the action of air pressure and compress the spring 32. The movement of the piston plate 31 provides space for the gas, and the protective box 22 restricts the airbag 20, preventing the airbag 20 from continuing to expand outward. This allows the piston plate 31 to be pushed stably, avoiding frequent expansion and deformation of the airbag 20, reducing the deformation range of the airbag 20, and improving the service life of the airbag 20.

Claims

1. A visual detection-based stealth AGV, comprising a vehicle body (1), wherein a mounting groove (2) is fixedly installed on the vehicle body (1), characterized in that, The first electric telescopic rod (3) is fixedly installed in the mounting groove (2). The output end of the first electric telescopic rod (3) is fixedly installed with a base plate (4). A rotating seat (5) is rotatably installed on the base plate (4). A support plate (6) is fixedly installed on the rotating seat (5). A first motor (8) that drives the rotating seat (5) to rotate is fixedly installed on the base plate (4). Two sets of second motors (10) are fixedly installed on the surface of the support plate (6) near the bottom plate (4). A first mounting frame (11) is fixedly installed at the output end of the second motor (10). A first moving frame (12) is slidably installed on the first mounting frame (11). A third motor (14) that drives the first moving frame (12) to move is fixedly installed on the first mounting frame (11). A second electric telescopic rod (16) is fixedly installed at the end of the first moving frame (12). A frame-shaped second mounting frame (17) is fixedly installed at the output end of the second electric telescopic rod (16). An airbag (20) is fixedly installed inside the second mounting frame (17). Multiple sets of spaced limiting rods (21) are slidably installed on the second mounting frame (17). A guide plate (18) that is slidably connected to the first moving frame (12) is fixedly installed on the second mounting frame (17). The limiting rods (21) are supported by the airbag (20). A camera (19) is fixedly installed on the second mounting frame (17).

2. The visual detection-based stealth AGV according to claim 1, characterized in that, The output shaft of the first motor (8) is parallel to the rotation axis of the rotating seat (5). The first gear (9) is fixedly installed at the output end of the first motor (8), and the first gear (9) meshes with the gear ring (7) fixedly installed on the rotating seat (5).

3. The visual detection-based stealth AGV according to claim 1, characterized in that, The first movable frame (12) is frame-shaped and the output shaft of the third motor (14) extends into the first movable frame (12). The end of the output shaft of the third motor (14) is fixedly installed with a second gear (15), which meshes with a rack (13) fixedly installed in the first movable frame (12).

4. A visual detection-based stealth AGV according to claim 1, characterized in that, A U-shaped second movable frame (23) is slidably installed inside the second mounting frame (17). The second movable frame (23) is located between the limiting rods (21) and multiple sets of horizontal plates (25) are fixedly installed on the second movable frame (23). The horizontal plates (25) are used in conjunction with the corresponding linearly distributed multiple sets of limiting rods (21). A third electric telescopic rod (24) that drives the second movable frame (23) to move is fixedly installed on the side of the second mounting frame (17).

5. A visual detection-based stealth AGV according to claim 1, characterized in that, A support plate (26) is fixedly installed on the first mounting frame (11), a winch (27) is fixedly installed on the support plate (26), a wire rope (28) is wound on the winch (27), and the movable end of the wire rope (28) is fixedly connected to the end of the second mounting frame (17) on the first movable frame (12).

6. A visual detection-based stealth AGV according to claim 1, characterized in that, The second mounting bracket (17) has a protective box (22) fixedly installed inside. The protective box (22) covers the airbag (20) and the airbag (20) is in contact with the inner wall of the protective box (22) under normal conditions. The protective box (22) has a through hole for the limit rod (21) to pass through.

7. A visual detection-based stealth AGV according to claim 6, characterized in that, The second mounting bracket (17) is fixedly mounted with a buffer cylinder (29) that communicates with the airbag (20). A telescopic rod (30) is fixedly mounted inside the buffer cylinder (29). A piston plate (31) is fixedly mounted at the end of the telescopic rod (30). A spring (32) is fixedly mounted on the piston plate (31). The fixed end of the spring (32) is fixedly connected to the bottom of the buffer cylinder (29).

Images