Automatic obstacle avoidance device for AGV (Automatic Guided Vehicle)

Abstract

The utility model provides an automatic obstacle avoidance device of an AGV (Automatic Guided Vehicle), and belongs to the field of AGVs. An automatic obstacle avoidance device for an AGV comprises a bottom plate, two first motors, a second motor and a fixing shell are fixedly installed on the bottom plate, third motors are fixedly installed at the output ends of the two first motors, first rotating wheels are fixedly installed at the output ends of the third motors, and second rotating wheels are fixedly installed at the output ends of the second motors. And a battery, a mainboard module and a laser radar module are fixedly mounted in the fixed shell. According to the utility model, the mainboard module, the laser radar module, the first motor and the third motor are arranged, so that when an obstacle is encountered, the first motor can drive the third motor to rotate, and the third motor can drive the first rotating wheel to rotate after rotating; and therefore, after the first rotating wheel rotates, the device can steer, and after the device steers, the device can avoid obstacles.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV transport vehicles, in particular to an autonomous obstacle avoidance device for an AGV transport vehicle. Background Art

[0002] AGV refers to a transportation tool equipped with an automatic guidance device such as electromagnetic or optical. It can follow a prescribed guidance path. During the transportation process, it does not require a driver to drive it, but instead uses a computer to control its route and behavior.

[0003] In the prior art, there is an intelligent AGV transport vehicle with announcement number: CN108860368A, which includes a vehicle body, a driving wheel, an anti-collision wheel, a No. 1 slider, and a No. 1 anti-collision strip. An anti-collision wheel is provided at the rounded corner in the middle of the vehicle body; a group of elliptical cavities are evenly arranged inside the anti-collision wheel along the circumferential direction. In the present invention, the anti-collision wheel absorbs energy by plastic deformation itself, and the rebound force of the anti-collision wheel is very small when colliding. However, an intelligent AGV transport vehicle in the prior art achieves anti-collision through the No. 1 anti-collision strip and the No. 2 anti-collision strip installed thereon, but it still cannot avoid obstacles. For this reason, an autonomous obstacle avoidance device for an AGV transport vehicle is proposed. Utility Model Content

[0004] In view of this, the embodiment of the utility model hopes to provide an autonomous obstacle avoidance device for an AGV transport vehicle to solve or alleviate the technical problems existing in the prior art. By installing a mainboard module, a laser radar module, a first motor, and a third motor, when encountering an obstacle, the first motor can drive the third motor to rotate, so that after the third motor rotates, it can drive the first rotating wheel to rotate, so that after the first rotating wheel rotates, the device can turn, so that after the device turns, the device can avoid the obstacle.

[0005] The technical solution of the utility model embodiment is achieved as follows:

[0006] An autonomous obstacle avoidance device for an AGV transport vehicle comprises a base plate, on which two first motors, a second motor, and a fixed shell are fixedly mounted, a third motor is fixedly mounted on the output ends of the two first motors, a first rotating wheel is fixedly mounted on the output end of the third motor, a battery, a mainboard module, and a laser radar module are fixedly mounted inside the fixed shell, a threaded rod is fixedly mounted on the output end of the second motor, a sliding assembly is threadedly arranged on the threaded rod, the sliding assembly comprises two sliding bars, a connecting bar fixedly mounted between the two sliding bars, a threaded tube fixedly connected to the connecting bar and threadedly arranged with the threaded rod, and a rotating assembly is rotatably arranged on the base plate.

[0007] Preferably: two protrusions are arranged on the lower surface of the bottom plate, the rotating assembly includes a fixed rod, two second rotating wheels rotatably matched with the fixed rod, both ends of the fixed rod pass through the two protrusions, and the installation of the second rotating wheels facilitates the movement of the device.

[0008] Preferably: the output end of the second motor passes through the base plate, the threaded rod is located on the upper side of the second motor, four fixed columns are arranged on the upper surface of the base plate, and four guide tubes are arranged at both ends of the two sliding bars, which are respectively slidably matched with the four fixed columns. The sliding bar is an inverted U-shaped structure, and the installation of the fixed columns can guide the sliding bar during the sliding process, so that the sliding bar can slide more smoothly.

[0009] Preferably: two protective shells for protecting the two third motors are rotatably provided on the lower surface of the base plate, and the output ends of the two third motors pass through the two protective shells. The installation of the protective shells can protect the third motors, thereby preventing the third motors from being bumped during use.

[0010] Preferably: the laser radar module is used to generate 3D or 2D images with spatial and depth data, detect, measure, locate and track objects, and the installation of the laser radar module facilitates the location of obstacles.

[0011] Preferably: the battery, the mainboard module and the laser radar module are electrically connected, and the battery is used to power the first motor, the second motor and the third motor. The installation of the battery facilitates powering the electrical equipment on the device.

[0012] The embodiment of the utility model has the following advantages due to the adoption of the above technical solution:

[0013] 1. The utility model installs a mainboard module, a laser radar module, a first motor, and a third motor, so that when encountering an obstacle, the first motor can drive the third motor to rotate, so that after the third motor rotates, it can drive the first rotating wheel to rotate, so that after the first rotating wheel rotates, the device can turn, so that after the device turns, the device can avoid the obstacle.

[0014] 2. The utility model can drive the sliding assembly to move up and down by installing the second motor, so that the sliding assembly can lift the goods after it is lifted. After the device lifts the goods, it is convenient for the device to transport the goods.

[0015] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the utility model will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a three-dimensional structural diagram of the utility model;

[0018] Figure 2 This is a bottom view of the structure of the utility model;

[0019] Figure 3 It is the exploded structure diagram of the utility model;

[0020] Figure 4 It is a cross-sectional structural diagram of the utility model;

[0021] Figure 5 This is a structural diagram of the protective shell of the present utility model.

[0022] Figure numerals: 1. base plate; 2. first motor; 3. second motor; 4. fixed shell; 5. third motor; 6. first rotating wheel; 7. battery; 8. mainboard module; 9. lidar module; 10. threaded rod; 11. sliding assembly; 12. sliding bar; 13. connecting bar; 14. threaded tube; 15. rotating assembly; 16. fixed rod; 17. second rotating wheel; 18. protective shell; 101. fixed column; 1201. guide tube. DETAILED DESCRIPTION

[0023] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0024] The embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0025] like Figure 1-5As shown, an embodiment of the utility model provides an autonomous obstacle avoidance device for an AGV transport vehicle, including: a base plate 1, on which two first motors 2, a second motor 3, and a fixed shell 4 are fixedly installed, a third motor 5 is fixedly installed on the output ends of the two first motors 2, a first rotating wheel 6 is fixedly installed on the output end of the third motor 5, a battery 7, a mainboard module 8, and a laser radar module 9 are fixedly installed inside the fixed shell 4, a threaded rod 10 is fixedly installed on the output end of the second motor 3, a sliding component 11 is threadedly provided on the threaded rod 10, the sliding component 11 includes two sliding bars 12, a connecting bar 13 fixedly installed between the two sliding bars 12, a threaded tube 14 fixedly connected to the connecting bar 13 and threadedly provided with the threaded rod 10, and a rotating component 15 is rotatably provided on the base plate 1.

[0026] In this embodiment, specifically: two protrusions are provided on the lower surface of the base plate 1, the rotating assembly 15 includes a fixed rod 16, and two second rotating wheels 17 rotatably cooperated with the fixed rod 16, and both ends of the fixed rod 16 pass through the two protrusions. The installation of the fixed rod 16 facilitates the installation of the two second rotating wheels 17.

[0027] In this embodiment, specifically: the output end of the second motor 3 passes through the base plate 1, the threaded rod 10 is located on the upper side of the second motor 3, four fixed columns 101 are arranged on the upper surface of the base plate 1, and four guide tubes 1201 are arranged at both ends of the two sliding bars 12, which are respectively slidably matched with the four fixed columns 101. The sliding bar 12 is an inverted U-shaped structure, and the installation of the guide tube 1201 facilitates the rotational coordination of the sliding bar 12 and the base plate 1.

[0028] In this embodiment, specifically: two protective shells 18 for protecting the two third motors 5 are rotatably provided on the lower surface of the base plate 1, and the output ends of the two third motors 5 pass through the two protective shells 18. When the first motor 2 rotates, the protective shells 18 rotate at this time. The installation of the protective shells 18 facilitates the protection of the third motors 5.

[0029] In this embodiment, specifically: the laser radar module 9 is used to generate a 3D or 2D image with spatial and depth data, detect, measure, locate and track objects, and the laser radar module 9 facilitates tracking of obstacles.

[0030] In this embodiment, specifically: the battery 7, the mainboard module 8, and the laser radar module 9 are electrically connected, and the battery 7 is used to power the first motor 2, the second motor 3, and the third motor 5. The installation of the battery 7 facilitates the power supply to the electrical equipment on the device.

[0031] When the utility model is working: when the device needs to avoid obstacles, the main board module 8, the laser radar module 9, the first motor 2, and the third motor 5 are turned on at this time, the laser radar module 9 measures the space, and then transmits the measured space data to the main board module 8, the main board module 8 analyzes the data after receiving the data, and then the main board module 8 turns on or off the first motor 2 and the third motor 5, when the first motor 2 is rotating, the first motor 2 drives the third motor 5 and the first rotating wheel 6 to rotate, when the first rotating wheel 6 rotates, the device turns at this time, when the third motor 5 is turned on, the third motor 5 drives the first rotating wheel 6 to rotate, and the device moves forward or backward at this time;

[0032] When the device needs to lift the goods, the second motor 3 is turned on. After the second motor 3 is turned on, the threaded rod 10 rotates, and the threaded tube 14, the sliding bar 12, and the connecting bar 13 slide. When the sliding bar 12 slides, the goods located on the upper side of the two sliding bars 12 are lifted, and the device lifts the goods. After the goods are lifted, the goods are separated from the ground.

[0033] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. An AGV transport vehicle autonomous obstacle avoidance device, comprising a base plate (1), characterized in that: Two first motors (2), a second motor (3) and a fixed shell (4) are fixedly mounted on the bottom plate (1); a third motor (5) is fixedly mounted on the output ends of the two first motors (2); and a first rotating wheel (6) is fixedly mounted on the output end of the third motor (5); A battery (7), a mainboard module (8), and a laser radar module (9) are fixedly installed inside the fixed shell (4); a threaded rod (10) is fixedly installed on the output end of the second motor (3); a sliding assembly (11) is threadedly provided on the threaded rod (10); the sliding assembly (11) comprises two sliding bars (12), a connecting bar (13) fixedly installed between the two sliding bars (12), a threaded tube (14) fixedly connected to the connecting bar (13) and threadedly provided with the threaded rod (10); and a rotating assembly (15) is rotatably provided on the bottom plate (1).

2. The AGV autonomous obstacle avoidance device according to claim 1, characterized in that: Two protrusions are arranged on the lower surface of the bottom plate (1), and the rotating assembly (15) comprises a fixed rod (16) and two second rotating wheels (17) arranged to rotate with the fixed rod (16), and the two ends of the fixed rod (16) pass through the two protrusions.

3. The AGV autonomous obstacle avoidance device according to claim 2, characterized in that: The output end of the second motor (3) passes through the bottom plate (1), the threaded rod (10) is located on the upper side of the second motor (3), four fixed columns (101) are arranged on the upper surface of the bottom plate (1), and four guide tubes (1201) are arranged at both ends of the two sliding bars (12) and are respectively slidably matched with the four fixed columns (101), and the sliding bars (12) are in an inverted U-shaped structure.

4. The AGV autonomous obstacle avoidance device according to claim 1, characterized in that: Two protective shells (18) for protecting the two third motors (5) are rotatably arranged on the lower surface of the bottom plate (1), and the output ends of the two third motors (5) pass through the two protective shells (18).

5. The AGV autonomous obstacle avoidance device according to claim 4, characterized in that: The laser radar module (9) is used to generate 3D or 2D images with spatial and depth data, detect, measure, locate and track objects.

6. The AGV autonomous obstacle avoidance device according to claim 5, characterized in that: The battery (7), the mainboard module (8) and the laser radar module (9) are electrically connected, and the battery (7) is used to supply power to the first motor (2), the second motor (3) and the third motor (5).

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