Gas pressure wave fork arm and fork tip anti-collision structure and AGV applying same

Abstract

The utility model relates to the technical field of transfer robots, in particular to a gas pressure wave fork arm and fork tip anti-collision structure and an AGV (Automatic Guided Vehicle) applying the gas pressure wave fork arm and fork tip anti-collision structure. According to the utility model, the collision air bag is connected with the pressure wave sensor through the air pipe, when the collision air bag is subjected to external pressure, air in the collision air bag is compressed to generate pressure waves, the pressure waves are transmitted to the pressure wave sensor through the air pipe, and the pressure wave sensor is triggered to be disconnected after receiving the pressure waves; and an on-off signal is fed back to the power system of the fork arm so as to trigger the power system of the fork arm to stop moving. The pressure wave sensor receives pressure waves generated when the collision air bag collides to generate on-off signals so as to make the fork arm stop continuously moving forwards, and the risk that goods fall off due to the fact that the fork arm collides with an obstacle is effectively reduced. When the uppermost portion or the lowermost portion of the fork tip of the fork arm is stressed, the collision air bag can generate pressure waves to trigger the pressure wave sensor, and the phenomenon that the anti-collision function of an existing fork arm is not flexible is effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of handling robots, in particular to a gas pressure wave fork arm fork tip anti-collision structure and an AGV using the same. Background Art

[0002] Generally, the fork tip safety protection on the market basically adopts a mechanical micro switch structure or a proximity sensor. Among them, the mechanical micro switch structure is affected by the space inside the fork arm, and only ultra-small micro switches can be used in the selection. This type of switch has a small stroke and a simple rocker structure, which is easy to be accidentally touched and damaged. And due to the influence of space, the collision structure is relatively small, resulting in high installation accuracy requirements and difficult maintenance. When the fork arm is subjected to force at the bottom or top, it is easy to get stuck and inflexible, causing the micro switch to fail to trigger. The solution using a proximity sensor is: when the anti-collision plate set at the fork tip of the fork arm is compressed by force, the proximity sensor detects the anti-collision plate, and the proximity sensor generates an electrical signal to control the fork arm to stop moving. However, when the fork arm is subjected to force at the bottom or top, it will also get stuck and inflexible. Utility Model Content

[0003] In view of the above-mentioned defects, the purpose of the utility model is to provide a gas pressure wave fork arm fork tip anti-collision structure and an AGV using the same.

[0004] To achieve this purpose, the utility model adopts the following technical solutions: a gas pressure wave fork arm fork tip anti-collision structure, applied to the fork arm of the AGV, including a collision airbag arranged at the fork arm fork tip and a pressure wave sensor arranged in the fork arm, an air pipe is connected between the collision airbag and the pressure wave sensor so that the pressure wave generated by the collision airbag is transmitted to the pressure wave sensor, and the pressure wave sensor is electrically connected to the power system of the fork arm.

[0005] Optionally, a mounting plate is further included, the collision airbag is bonded to one side surface of the mounting plate, and the other side surface of the mounting plate is provided with a connecting portion, and the connecting portion is detachably connected to the fork tip of the fork arm.

[0006] Optionally, an air nozzle connected to the air pipe is provided on the back of the collision airbag, and an avoidance hole for the air nozzle to pass through is provided on the mounting plate.

[0007] Optionally, the connecting portion is a stud.

[0008] Optionally, the pressure wave sensor is provided with an air leakage hole.

[0009] Optionally, the collision airbag is square, and a side of the collision airbag away from the fork tip of the fork arm is arched.

[0010] The second aspect of the utility model discloses an AGV, including a frame, a fork arm that can be extended and retracted relative to the frame, and the above-mentioned gas pressure wave fork arm fork tip anti-collision structure, a motion system is provided in the fork arm, and the motion system includes a main control board and a driving wheel module for driving the fork arm to move; the pressure wave sensor is electrically connected to the main control board, and the main control board is electrically connected to the motor driver of the driving wheel module.

[0011] The technical solution provided by the utility model may have the following beneficial effects:

[0012] The gas pressure wave fork arm fork tip anti-collision structure provided by the utility model can provide a good buffering effect for the collision airbag, effectively preventing the fork arm from directly colliding. Furthermore, the pressure wave generated by the collision airbag during the collision is received by the pressure wave sensor to generate an on-off signal, so as to stop the fork arm from moving forward, thereby effectively reducing the risk of the fork arm hitting an obstacle and causing the cargo to fall. The collision airbag is installed at the front of the fork arm, which is simple to install and easy to maintain. When the fork arm fork tip is subjected to force at the top or bottom, the collision airbag can generate pressure waves to trigger the pressure wave sensor, effectively solving the problem of the existing fork arm anti-collision function being stuck and inflexible. In addition, the pressure wave sensor is small in size and easy to install. It does not take up too much space inside the fork arm, and has a low overall cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of an anti-collision structure of an embodiment of the utility model installed on a fork arm;

[0014] Figure 2 It is a schematic diagram of the back structure of the mounting plate of the anti-collision structure of one embodiment of the utility model;

[0015] Figure 3 It is a schematic structural diagram of an anti-collision airbag of an anti-collision structure of an embodiment of the utility model;

[0016] Figure 4 It is a structural schematic diagram of a pressure wave sensor of an anti-collision structure of an embodiment of the utility model;

[0017] Figure 5 This is a schematic diagram of the structure of an AGV according to an embodiment of the utility model;

[0018] Among them: 100-collision airbag, 110-air nozzle, 200-pressure wave sensor, 210-terminal, 300-mounting plate, 310-connecting part, 400-vehicle frame, 500-fork arm, 510-driving wheel module. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Combine the following Figures 1 to 5 , describing a gas pressure wave fork arm fork tip anti-collision structure of an embodiment of the utility model, which is applied to the fork arm of an AGV, and includes a collision airbag arranged at the fork tip of the fork arm and a pressure wave sensor arranged in the fork arm, and an air pipe is connected between the collision airbag and the pressure wave sensor to transmit the pressure wave generated by the collision airbag to the pressure wave sensor. Specifically, optionally, the collision airbag and the pressure wave sensor are both provided with an air nozzle, and the two ends of the air pipe are correspondingly connected to the air nozzles of the collision airbag and the pressure wave sensor, and the pressure wave sensor is electrically connected to the power system of the fork arm.

[0023] In an application embodiment of the utility model, the collision airbag is connected to the pressure wave sensor through an air tube. When the collision airbag is subjected to external pressure, the gas inside the collision airbag is compressed to generate a pressure wave. The pressure wave is transmitted to the pressure wave sensor through the air tube. After receiving the pressure wave, the pressure wave sensor is triggered to disconnect and feeds back an on-off signal to the power system of the fork arm to trigger the power system of the fork arm to stop moving.

[0024] The gas pressure wave fork arm fork tip anti-collision structure provided by the utility model can provide a good buffering effect for the collision airbag, effectively preventing the fork arm from directly colliding. Furthermore, the pressure wave generated by the collision airbag during the collision is received by the pressure wave sensor to generate an on-off signal, so as to stop the fork arm from moving forward, thereby effectively reducing the risk of the fork arm hitting an obstacle and causing the cargo to fall. The collision airbag is installed at the front of the fork arm, which is simple to install and easy to maintain. When the fork arm fork tip is subjected to force at the top or bottom, the collision airbag can generate pressure waves to trigger the pressure wave sensor, effectively solving the problem of the existing fork arm anti-collision function being stuck and inflexible. In addition, the pressure wave sensor is small in size and easy to install. It does not take up too much space inside the fork arm, and has a low overall cost.

[0025] Further optionally, a mounting plate is further included, the collision airbag is bonded to one side of the mounting plate, and a connecting portion is provided on the other side of the mounting plate, and the connecting portion is detachably connected to the fork tip of the fork arm. In this way, the collision airbag is arranged at the fork tip of the fork arm. Optionally, the connecting portion can be a snap-on connection component or a threaded connection component.

[0026] Specifically, the back of the collision airbag is provided with an air nozzle connected to the air pipe, and the mounting plate is provided with an escape hole for the air nozzle to pass through, so that the air nozzle of the collision airbag can pass through the mounting plate and be connected to one end of the air pipe.

[0027] Specifically, the fork tip of the fork arm is provided with a through hole corresponding to the fork tip, and the fork tip of the fork arm is threadably matched with the nut after passing through the through hole, so as to fix the mounting plate on the fork tip of the fork arm.

[0028] Preferably, the pressure wave sensor is provided with an air vent. When the pressure wave sensor receives the pressure wave, the compressed gas is discharged from the air vent. Therefore, within a few seconds after the pressure wave sensor is triggered, it will automatically return to the normally closed state, and the internal air pressure of the pressure wave collision strip will always be consistent with the external atmospheric pressure. In this way, it is ensured that the pressure wave collision strip will not be affected by the external temperature and will not be falsely triggered.

[0029] Preferably, if Figure 3 As shown, the collision airbag is square, and the side of the collision airbag away from the fork tip is arched. In this way, the collision airbag is more likely to be deformed by force, and the gas in the collision airbag is more likely to be compressed to generate pressure waves, effectively improving the sensitivity of the gas pressure wave fork tip anti-collision structure.

[0030] The second aspect of the utility model also discloses an AGV, comprising a frame, a fork arm that can be extended and retracted relative to the frame, and the above-mentioned gas pressure wave fork arm fork tip anti-collision structure, wherein a motion system is provided in the fork arm, and the motion system comprises a main control board and a driving wheel module for driving the fork arm to move; the pressure wave sensor is electrically connected to the main control board, and the main control board is electrically connected to the motor driver of the driving wheel module.

[0031] Specifically, the pressure wave sensor has two terminals, and the I / O on / off signal of the main control board is connected in series to the two terminals of the pressure wave sensor. When the collision airbag hits an obstacle, the collision airbag deforms and squeezes the internal gas to generate a pressure wave. After the pressure wave sensor receives the pressure wave generated by the collision airbag, the two terminals of the pressure wave sensor are disconnected. After the main control board receives and processes this signal, it controls the motor driver of the driving wheel module to stop working, the driving wheel motor will also stop working immediately, and the fork arm will no longer move forward to achieve the purpose of safety and collision avoidance.

[0032] In this embodiment, the collision airbag can play a good buffering role and effectively prevent the fork arm from directly colliding. Furthermore, the pressure wave sensor receives the pressure wave generated by the collision airbag when it collides to generate an on-off signal to trigger the fork arm to stop moving forward, effectively reducing the risk of the fork arm hitting an obstacle and causing the cargo to fall. The collision airbag is installed at the front of the fork arm, which is simple to install and easy to maintain. When the fork arm is subjected to force at the top or bottom of the fork tip, the collision airbag can generate pressure waves to trigger the pressure wave sensor, effectively solving the problem of the existing fork arm's anti-collision function being stuck and inflexible. In addition, the pressure wave sensor is small in size and easy to install. It does not take up too much space inside the fork arm and has a low overall cost.

[0033] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A gas pressure wave fork arm fork tip anti-collision structure, applied to the fork arm of AGV, characterized by: It includes a collision airbag arranged at the fork tip of the fork arm and a pressure wave sensor arranged in the fork arm, an air pipe is connected between the collision airbag and the pressure wave sensor so that the pressure wave generated by the collision airbag is transmitted to the pressure wave sensor, and the pressure wave sensor is electrically connected to the power system of the fork arm.

2. A gas pressure wave fork arm fork tip anti-collision structure according to claim 1, characterized in that: It also includes a mounting plate, the collision airbag is bonded to one side surface of the mounting plate, and the other side surface of the mounting plate is provided with a connecting portion, and the connecting portion is detachably connected to the fork tip of the fork arm.

3. A gas pressure wave fork arm fork tip anti-collision structure according to claim 2, characterized in that: An air nozzle connected to the air pipe is arranged on the back of the collision airbag, and an avoidance hole for the air nozzle to pass through is arranged on the mounting plate.

4. A gas pressure wave fork arm fork tip anti-collision structure according to claim 2, characterized in that: The connecting portion is a stud.

5. A gas pressure wave fork arm fork tip anti-collision structure according to claim 1, characterized in that: The pressure wave sensor is provided with an air leakage hole.

6. A gas pressure wave fork arm fork tip anti-collision structure according to claim 1, characterized in that: The collision airbag is square in shape, and a side of the collision airbag away from the fork tip of the fork arm is in an arched shape.

7. An AGV, characterized in that: It includes a frame, a fork arm that can be extended and retracted relative to the frame, and a gas pressure wave fork arm fork tip anti-collision structure as described in any one of claims 1-6, wherein a motion system is provided in the fork arm, and the motion system includes a main control board and a driving wheel module for driving the fork arm to move; the pressure wave sensor is electrically connected to the main control board, and the main control board is electrically connected to the motor driver of the driving wheel module.

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