Obstacle avoidance device of mobile AGV

Abstract

The utility model belongs to the technical field of automatic transportation, and provides an obstacle avoidance device of a mobile AGV (automatic guided vehicle), which comprises a bottom plate provided with a moving groove at the upper part, a circular turntable arranged on the inner side of the bottom plate and capable of rotating relative to the bottom plate, and a first rotating column and a second rotating column which are positioned on the edge of the circular turntable and are symmetrically arranged by taking the circle of the circular turntable as a symmetry center, the moving rod is transversely arranged on the upper portion of the inner side of the bottom plate, is hollow and is matched with the moving groove, the obstacle avoidance sensor is fixedly installed on the outer side of the moving rod, the driving motor is used for driving the circular rotating disc to rotate, the linkage mechanism is matched with the circular rotating disc to act and is used for driving the moving rod to move, and the limiting mechanism is used for limiting the moving rod. According to the utility model, the detection range of the obstacle avoidance sensor is expanded, the movement of the obstacle avoidance sensor is stable, and the scanning blind area of the sensor is reduced on the premise of not additionally adding the obstacle avoidance sensor, so that the technical problems existing in the prior art are effectively solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic transportation, and specifically relates to an obstacle avoidance device for a mobile AGV. Background Art

[0002] AGV handling robots are industrial vehicles that load goods automatically or manually, automatically drive along a set route or pull a cargo trolley to a designated location, and then load and unload goods automatically or manually. In AGV application scenarios, such as factories, laboratories, and other places where AGVs are needed to transport goods, the autonomous navigation route of AGVs may not be unobstructed. There may be goods or other objects blocking the navigation route. Therefore, the need to use obstacle avoidance devices is an indispensable component for AGV operation. At present, AGVs generally use obstacle avoidance sensors for detection. When an obstacle is detected, the AGV stops and restarts after the obstacle is removed. However, in the prior art, the obstacle avoidance sensors on AGVs are generally fixedly installed, and the sensor detection range is fixed, resulting in a large scanning blind area. There are also technical solutions that use multiple sets of obstacle avoidance sensors for obstacle detection to reduce the scanning blind area, but it requires the addition of additional obstacle avoidance sensors, which increases the manufacturing cost of the entire AGV and affects the market competitiveness of the product. Utility Model Content

[0003] The utility model aims to provide an obstacle avoidance device for a mobile AGV to solve the technical problems existing in the prior art.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] An obstacle avoidance device for a mobile AGV comprises a base plate with a moving groove on the upper part, a circular turntable arranged on the inner side of the base plate and capable of rotating relative to the base plate, a first rotating column and a second rotating column located at the edge of the circular turntable and symmetrically arranged with its circle as the symmetry center, a moving rod which is laterally arranged on the upper inner side of the base plate and is hollow inside and matches the moving groove, an obstacle avoidance sensor fixedly mounted on the outer side of the moving rod, a driving motor for driving the circular turntable to rotate, a linkage mechanism which cooperates with the circular turntable and is used to drive the moving rod to move, and a limiting mechanism for limiting the moving rod; a signal line of the obstacle avoidance sensor is placed in the moving rod and one end of the signal line passes through the moving rod, and a restraining mechanism for restraining the signal line is arranged on the base plate.

[0006] Furthermore, the linkage mechanism includes a first linkage rod fixedly arranged on the inner side of the moving rod and located on the right side, and a fixed column located on the left side, a rotating shaft arranged on the bottom plate and located on the left side of the circular turntable, a cylindrical shell sleeved on the rotating shaft and rotatable, a second linkage rod and a support rod which are integrally formed with the cylindrical shell and are arranged at an angle to each other, a U-shaped groove is opened at the end of the support rod, and the fixed column is placed in the U-shaped groove.

[0007] Furthermore, the limiting mechanism includes a first limiting column located on the left side and a second limiting column located on the right side, which are arranged at the upper inner end of the base plate. There are two first limiting columns and they are spaced apart in the longitudinal direction, and there are two second limiting columns and they are spaced apart in the longitudinal direction. The moving rod is placed between the gap between the first limiting column and the second limiting column.

[0008] Furthermore, the restraining mechanism includes a limit frame which is arranged on the bottom plate, located on the right side of the circular turntable and used to restrain the signal line, and a winding post which is located below the limit frame.

[0009] Furthermore, a sleeve column is vertically arranged on the bottom plate, a sleeve groove is opened at the center of the back of the circular turntable, and the circular turntable is sleeved on the sleeve column through the sleeve groove.

[0010] Furthermore, a connecting shaft which is an integral structure with the circular turntable is arranged at the center of the front surface of the circular turntable, and the output shaft of the driving motor is connected to the connecting shaft through a coupling.

[0011] Furthermore, the angle between the second linkage rod and the support rod is 30° to 45°.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The utility model is provided with a circular turntable, a first rotating column, a second rotating column, a moving rod, a linkage mechanism, a driving motor and the like. The obstacle avoidance sensor is fixedly installed on the moving rod. The driving motor drives the circular turntable to rotate, and then drives the moving rod to move left and right in the horizontal direction through the linkage mechanism, thereby driving the obstacle avoidance sensor to move left and right in the horizontal direction. Not only the detection range of the obstacle avoidance sensor is expanded, but also the movement of the obstacle avoidance sensor is stable. Under the premise of not having to add an additional obstacle avoidance sensor, the scanning blind area of ​​the sensor is reduced, thereby effectively solving the technical problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model.

[0015] Figure 2 It is a schematic diagram of the driving principle of the utility model.

[0016] Figure 3 It is a schematic diagram of the application state of the utility model.

[0017] Figure 4 It is a front view of the utility model in application state.

[0018] Among them, the names corresponding to the figure marks are as follows: 1-base plate; 2-circular turntable; 3-signal line; 4-first rotating column; 5-second rotating column; 6-moving rod; 7-obstacle avoidance sensor; 8-driving motor; 9-limiting frame; 10-winding column; 11-moving groove; 12-first linkage rod; 13-fixed column; 14-rotating shaft; 15-second linkage rod; 16-support rod; 17-U-shaped groove; 18-first limiting column; 19-second limiting column; 20-sleeve column; 21-sleeve groove; 22-connecting shaft; 23-coupling; 24-AGV; 25-anti-collision plate; 26-cylindrical shell. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present invention, the present invention is further described in detail in conjunction with the following embodiments. It should be noted that the specific embodiments described below are only used to explain the present invention and facilitate understanding. The technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

[0020] Unless otherwise defined, the technical terms or scientific terms used in the disclosure of this application shall have the usual meanings understood by persons with ordinary skills in the field to which the disclosure belongs. The words "include" or "comprise" and the like used in this application mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The positional relationship words "upper", "lower", "left", "right", "front", "back", etc. are determined according to the layout direction of the drawings in the specification, and are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Example

[0022] like Figures 1 to 4 As shown, the present embodiment provides an obstacle avoidance device for a mobile AGV, which is used in combination with an AGV transport robot, for example: an AGV cart, which uses a base plate as the main carrier, and a movable groove is opened on the upper part of the base plate to provide space for the movement of the obstacle avoidance sensor, and a circular turntable that can rotate relative to the base plate is arranged on the inner side of the base plate, and its rotation implementation structure is as follows: a socket column is vertically arranged on the base plate, a socket groove is opened at the back center of the circular turntable, the circular turntable is socketed on the socket column through the socket groove, and a connecting shaft that is an integral structure with the circular turntable is arranged at the front center of the circular turntable, the output shaft of the drive motor is connected to the connecting shaft through a coupling, and the drive motor is started, and the output shaft of the drive motor drives the circular turntable to rotate relative to the base plate through the coupling.

[0023] Preferably, in this embodiment, the base plate can be an integrated structure with the front end face of the AGV trolley shell, that is, the front end face of the AGV trolley shell is transformed into the base plate, and the drive motor is fixedly installed on the bottom end face of the AGV trolley shell through a support, so that the output shaft of the drive motor can be connected to the connecting shaft of the circular turntable through a coupling.

[0024] In this embodiment, a first rotating column and a second rotating column are arranged on the edge of the circular turntable, and the two are symmetrically arranged with the circle of the circular turntable as the center of symmetry. A moving rod with a hollow interior and matching the position of the moving slot is arranged horizontally above the circular turntable, and the obstacle avoidance sensor is installed on the outside of the moving rod and placed outside the moving slot; wherein, the internal hollow design of the moving rod is to facilitate the routing of the signal line of the obstacle avoidance sensor, and the signal line is placed inside the moving rod, and one end thereof passes through the moving rod. In order to avoid the influence of the clutter of the signal line on the operation of the equipment, in this embodiment, a restraining mechanism for restraining the signal line is arranged on the bottom plate. Specifically, the restraining mechanism includes a limit frame arranged on the bottom plate, located on the right side of the circular turntable and used to restrain the signal line, and a winding column located below the limit frame.

[0025] The limit frame is a rectangular structure, which is hollow and has open ends. The signal line first passes through the limit frame and then is wound at the winding post and connected to other components. The winding post is used as the dividing point. The upper part of the signal line is in an active state and moves with the movement of the obstacle avoidance sensor, while the lower part of the signal line is in a fixed state to avoid disconnection. It should be noted that in order to ensure that the signal line can move normally with the movement of the obstacle avoidance sensor and avoid the signal line being torn off, sufficient margin should be left in the upper part of the signal line. This is a conventional technical means for those skilled in the art, so it will not be elaborated here.

[0026] The present embodiment is also provided with a linkage mechanism, which cooperates with the circular turntable and is used to drive the moving rod to move. Specifically, the linkage mechanism includes a first linkage rod fixedly arranged on the inner side of the moving rod and located on the right side, and a fixed column located on the left side, a rotating shaft arranged on the bottom plate and located on the left side of the circular turntable, a cylindrical shell sleeved on the rotating shaft and rotatable, a second linkage rod and a support rod which are integrally structured with the cylindrical shell and arranged at an angle to each other, a U-shaped groove is provided at the end of the support rod, and the fixed column is placed in the U-shaped groove; preferably, the angle between the second linkage rod and the support rod is 30° to 45°; the first linkage rod and the second linkage rod cooperate with the first rotating column and the second rotating column on the circular turntable, and the circular turntable The process of driving the moving rod to move through the linkage mechanism is as follows: the driving motor drives the circular turntable to rotate. During the rotation of the circular turntable, the first rotating column touches the first linkage rod, and the first linkage rod moves to the right under the action of the first rotating column, thereby driving the moving rod to move horizontally to the right. At the same time, the fixed column drives the support rod to rotate, and the second linkage rod rotates downward. At this time, the second linkage rod does not contact the second rotating column; the circular turntable continues to rotate, and when the second linkage rod touches the second rotating column, the second linkage rod rotates upward under the action of the second rotating column. At this time, the first linkage rod is disengaged from the first rotating column, and at the same time, the support rod drives the moving rod to move horizontally to the left through the fixed column.

[0027] In order to ensure the stability of the horizontal left and right movement of the moving rod, the present embodiment further provides a limiting mechanism for limiting the moving rod on the bottom plate. Specifically, the limiting mechanism includes a first limiting column arranged on the inner upper end of the bottom plate, located on the left side, and a second limiting column located on the right side. There are two first limiting columns arranged at intervals in the longitudinal direction, and there are two second limiting columns arranged at intervals in the longitudinal direction. The moving rod is placed between the gaps of the first limiting columns and the second limiting columns. The upper and lower end surfaces of the moving rod are respectively in contact with the two first limiting columns and the two second limiting columns. By providing the upper and lower limiting columns, the moving rod is limited to ensure the stability of the movement of the moving rod. In a further preferred embodiment, a toothless slewing bearing can be sleeved on the first limiting column and the second limiting column, and the upper and lower end surfaces of the moving rod are respectively in contact with the slewing bearing to reduce the friction between the end surface of the moving rod and the two limiting columns.

[0028] The above is the preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the design principle and technical solution of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. An obstacle avoidance device for a mobile AGV, characterized in that: The invention comprises a bottom plate (1) with a moving groove (11) formed on the upper part, a circular rotating disk (2) arranged on the inner side of the bottom plate (1) and capable of rotating relative to the bottom plate (1), a first rotating column (4) and a second rotating column (5) located on the edge of the circular rotating disk (2) and symmetrically arranged with its circle as the symmetry center, a moving rod (6) arranged transversely on the upper inner side of the bottom plate (1) and hollow inside and matching the moving groove (11), an obstacle avoidance sensor (7) fixedly mounted on the outer side of the moving rod (6), a driving motor (8) for driving the circular rotating disk (2) to rotate, a linkage mechanism cooperating with the circular rotating disk (2) and driving the moving rod (6) to move, and a limiting mechanism for limiting the moving rod (6); a signal line (3) of the obstacle avoidance sensor (7) is arranged in the moving rod (6) and one end thereof passes through the moving rod (6), and a restraining mechanism for restraining the signal line (3) is arranged on the bottom plate (1).

2. The obstacle avoidance device for mobile AGV according to claim 1, characterized in that: The linkage mechanism comprises a first linkage rod (12) fixedly arranged on the inner side of the moving rod (6) and located on the right side, and a fixed column (13) located on the left side, a rotating shaft (14) arranged on the bottom plate (1) and located on the left side of the circular rotating disk (2), a cylindrical shell sleeved on the rotating shaft (14) and rotatable, a second linkage rod (15) and a support rod (16) which are integrally structured with the cylindrical shell and arranged at an angle to each other, a U-shaped groove (17) being provided at the end of the support rod (16), and the fixed column (13) being placed in the U-shaped groove (17).

3. The obstacle avoidance device for mobile AGV according to claim 2, characterized in that: The limiting mechanism comprises a first limiting column (18) arranged at the upper inner end of the bottom plate (1) and located on the left side, and a second limiting column (19) located on the right side, wherein the first limiting column (18) has two and is spaced apart in the longitudinal direction, and the second limiting column (19) has two and is spaced apart in the longitudinal direction, and the moving rod (6) is placed in the gap between the first limiting column (18) and the second limiting column (19).

4. The obstacle avoidance device for mobile AGV according to claim 3, characterized in that: The restraining mechanism comprises a limit frame (9) arranged on the bottom plate (1), located on the right side of the circular turntable (2) and used to restrain the signal line (3), and a winding post (10) located below the limit frame (9).

5. The obstacle avoidance device for mobile AGV according to claim 4, characterized in that: A sleeve column (20) is vertically arranged on the bottom plate (1), a sleeve groove (21) is opened at the center of the back of the circular turntable (2), and the circular turntable (2) is sleeved on the sleeve column (20) through the sleeve groove (21).

6. The obstacle avoidance device for mobile AGV according to claim 5, characterized in that: A connecting shaft (22) which is integrally formed with the circular turntable (2) is arranged at the center of the front surface of the circular turntable (2), and the output shaft of the driving motor (8) is connected to the connecting shaft (22) via a coupling (23).

7. The obstacle avoidance device for a mobile AGV according to claim 6, characterized in that: The included angle between the second linkage rod (15) and the support rod (16) is 30° to 45°.

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