AGV obstacle avoidance structure

Abstract

The utility model discloses an AGV obstacle avoidance structure, which comprises a moving frame, a mounting plate in sliding connection with the moving frame, a driving assembly for driving the moving frame to move relative to the mounting plate, and a laser detection range finder mounted on the moving frame. The upper side and the lower side of the movable frame are each provided with an induction plate, two proximity switches are arranged on the mounting plate in an up-down mode, and the proximity switches and the induction plates are oppositely arranged. According to the scheme, the driving assembly drives the moving frame to ascend and descend, the height of the laser detection range finder can be rapidly and accurately adjusted according to the height difference of goods, the positioning precision of the goods with different heights is greatly improved, the goods carrying and storing position errors are effectively reduced, and the goods carrying and storing device can easily cope with diversified storage environments and goods recognition requirements; the intelligent level and the overall working efficiency of the AGV in the intelligent storage and transportation operation are greatly improved, and the accuracy and the reliability of the storage and transportation operation are practically guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of AGV obstacle avoidance, and more specifically, to an AGV obstacle avoidance structure. Background Technology

[0002] In the booming field of intelligent warehousing and transportation, AGVs (Automated Guided Vehicles) have become one of the core pieces of equipment. However, traditional AGV obstacle avoidance and positioning devices, which are closely related to them, have revealed many significant shortcomings. The purpose of AGV obstacle avoidance devices is to ensure that AGVs can automatically detect and avoid obstacles when performing tasks, so as to avoid collisions or damage to the equipment. These obstacle avoidance structures usually combine different types of sensors, algorithms, and control systems, and achieve detection through laser rangefinders, etc.

[0003] In traditional obstacle avoidance mechanisms, the laser rangefinder is mounted on a bracket. The traditional mounting structure severely limits the height adjustment of the laser rangefinder, either keeping the height fixed or relying solely on a simple gravity-based sliding mechanism to achieve limited height adjustment.

[0004] like Figure 1 As shown, the bracket adjusts its height by sliding on the guide rail. After adjusting to the appropriate position, the bracket's position is then limited or fixed. This significantly reduces its accuracy in identifying various goods with significant height differences. Furthermore, due to the lack of precise control in the gravity-feed method, the stability of the laser rangefinder during positioning cannot be effectively guaranteed, leading to substantial deviations in the positioning data. Moreover, the above adjustment method lacks flexibility. Taking the linkage structure between the forks and the laser rangefinder as an example, in actual cargo handling and identification operations, it is impossible to quickly and accurately adapt to different task requirements. Utility Model Content

[0005] The purpose of this invention is to provide an obstacle avoidance structure for AGVs to solve the technical problems existing in the background art.

[0006] This utility model provides an AGV obstacle avoidance structure, including a mobile frame, a mounting plate slidably connected to the mobile frame, a drive component for driving the mobile frame to move relative to the mounting plate, and a laser detection rangefinder mounted on the mobile frame;

[0007] A sensor plate is provided on the upper and lower sides of the mobile frame, and two proximity switches are provided on the mounting plate, one above the other, with the proximity switches facing the sensor plate.

[0008] In a preferred embodiment, two vertical plates are provided on both sides of the mounting plate, and the vertical plates are mounted on the AGV body.

[0009] In a preferred embodiment, two vertical waist-shaped holes are arranged on the mounting plate in an up-down manner, and the two proximity switches are respectively arranged in the two waist-shaped holes.

[0010] In a preferred embodiment, the two induction plates are arranged on the side surface of the moving frame.

[0011] In a preferred embodiment, a linear guide rail is arranged on the moving frame, and a sliding block is correspondingly arranged on the mounting plate.

[0012] In a preferred embodiment, the driving assembly comprises a driving motor arranged on the mounting plate, a chain wheel connected with the output end of the driving motor, and a chain arranged on the moving frame, the chain wheel is engaged with the chain, and two limiting chain heads are arranged at the two ends of the chain.

[0013] In a preferred embodiment, a one-way bearing is arranged between the output shaft of the driving motor and the chain wheel.

[0014] In a preferred embodiment, a shock-absorbing rubber pad is arranged between the laser detection range finder and the moving frame.

[0015] The beneficial effects of the technical scheme of the utility model are as follows:

[0016] The driving assembly drives the moving frame to ascend and descend, the height of the laser detection range finder can be quickly and accurately adjusted according to the height difference of goods, the positioning accuracy of goods of different heights is greatly improved, the storage position error of goods is effectively reduced, the diversified warehouse environment and the goods identification demand can be comfortably coped with, the intelligent level and the overall work efficiency of the AGV in the intelligent warehouse transportation operation are greatly improved, and the accuracy and reliability of the warehouse transportation operation are effectively ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is an obstacle avoidance structure schematic view of the prior art,

[0018] Figure 2 It is a whole structure schematic view of the utility model,

[0019] Figure 3 It is another view of the whole structure schematic view of the utility model,

[0020] Figure 4 It is still another view of the whole structure schematic view of the utility model.

[0021] Explanation of reference signs: 1 mobile frame, 2 mounting plate, 3 laser detection range finder, 4 induction plate, 5 proximity switch, 6 waist type hole, 7 vertical plate, 8 linear guide rail, 9 sliding block, 10 driving motor, 11 chain wheel, 12 chain, 13 limiting chain head, 14 shock absorbing rubber pad, 15 drag chain. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be further described below in conjunction with the drawings and specific embodiments. The embodiments of the present application are given for the convenience of illustration and description, and are not exhaustive or limit the present application to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present application, and to enable those of ordinary skill in the art to understand the present application so as to design various embodiments with various modifications suitable for specific purposes.

[0023] As shown in Figures 2-4 The technical scheme of the present application provides an AGV obstacle avoidance structure, which comprises a mobile frame 1, a mounting plate 2 slidably connected with the mobile frame 1, a driving assembly for driving the mobile frame 1 to move relative to the mounting plate 2, and a laser detection range finder 3 and a drag chain 15 mounted on the mobile frame 1. The upper and lower sides of the mobile frame 1 are respectively provided with an induction plate 4, and two proximity switches 5 are arranged on the mounting plate 2 in an upper and lower arrangement, and the proximity switches 5 are arranged opposite to the induction plates 4.

[0024] Two vertical plates 7 are arranged on the two sides of the mounting plate 2, and the vertical plates 7 are mounted on the AGV vehicle body and can realize the adjustment of the position of the mobile frame 1 under the action of the driving assembly, thereby realizing the height adjustment of the laser detection range finder 3 on the mobile frame 1. The two induction plates 4 are respectively the upper and lower limits of the adjustment, and cooperate with the two proximity switches 5. The upper proximity switch 5 cooperates with the upper induction plate 4, and the lower proximity switch 5 cooperates with the lower induction plate 4. When the proximity switch 5 corresponds to the induction plate 4, it indicates that the maximum adjustment range has been reached, thereby strictly ensuring that the movement of the mobile frame 1 is always within a safe and accurate range, effectively preventing it from deviating from the normal working track.

[0025] In the present scheme, a shock absorbing rubber pad 14 is arranged between the laser detection range finder 3 and the mobile frame 1, which reduces the connection strength between the laser detection range finder 3 and the mobile frame 1 and has a certain protective effect on the laser detection range finder 3. The laser detection range finder 3 is used for identifying and positioning the shelves, pallets and goods, and through the positioning return, the AGV automatically adjusts the position of the fork to automatically pick and place goods, wherein the laser detection range finder 3 can adopt a blue core camera, mid-360, etc.

[0026] The mounting plate 2 is provided with two vertical waist-shaped holes 6 arranged vertically, and two proximity switches 5 are respectively arranged in the two waist-shaped holes 6. The arrangement of the waist-shaped holes 6 can adjust the mounting height of the proximity switches 5, and the installation flexibility is high. The two induction plates 4 are arranged on the side of the moving frame 1 and are not shielded, and can cooperate with the proximity switches 5 to realize accurate identification.

[0027] The moving frame 1 is provided with a linear guide rail 8, and the mounting plate 2 is correspondingly provided with a sliding block 9. The linear guide rail 8 cooperates with the sliding block 9 to ensure that the moving frame 1 moves accurately and stably when the driving assembly is driven.

[0028] The driving assembly includes a driving motor 10 arranged on the mounting plate 2, a chain wheel 11 connected with the output end of the driving motor 10, and a chain 12 arranged on the moving frame 1. The chain wheel 11 is engaged with the chain 12, and the chain 12 is provided with two limiting chain heads 13 at both ends. The driving motor 10 rotates to drive the chain wheel 11 at the output end to rotate, thereby realizing the lifting drive of the moving frame 1. The number of revolutions can be controlled in forward and reverse directions according to the feedback information, and the height of the laser detection range finder 3 can be accurately adjusted.

[0029] In order to ensure the safety in use, a one-way bearing is arranged between the output shaft of the driving motor 10 and the chain wheel 11. In the case of abnormal working conditions such as sudden power failure, motor failure or control system failure, the one-way bearing has reliable locking ability in the reverse direction (downward direction). Even if the driving motor 10 loses effective control of the load, the moving frame 1 and the laser detection range finder 3 carried thereon can be effectively prevented from falling freely due to gravity, and damage caused by the collision between the equipment and the ground is avoided. This not only effectively protects the stability and reliability of the internal optical and electronic elements of the precise laser detection range finder 3, reduces the performance degradation and failure risk caused by physical impact, but also reduces the wear and deformation of mechanical parts such as the linear guide rail 8, the linear sliding block 9, the chain 12 and the driving motor 10 caused by abnormal load impact, greatly prolongs the service life of the entire device, reduces the equipment maintenance cost and downtime, and lays a solid foundation for the continuous and stable operation of the intelligent warehouse transportation system.

[0030] Compared with the traditional way, the moving frame 1 is driven by the driving assembly to rise and fall, the height of the laser detection range finder 3 can be quickly and accurately adjusted according to the height difference of the goods, the positioning accuracy of the goods of different heights is greatly improved, the storage position error of the goods is effectively reduced, and the intelligent level and overall work efficiency of the AGV in the intelligent warehouse transportation operation are greatly improved, which effectively guarantees the accuracy and reliability of the warehouse transportation operation.

[0031] Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art and related fields without creative labor shall belong to the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application, if not specially described and limited, are implemented according to the conventional means in the art.

Claims

1. An obstacle avoidance structure for AGVs, characterized in that: It includes a movable frame, a mounting plate slidably connected to the movable frame, a drive assembly for driving the movable frame to move relative to the mounting plate, and a laser detection rangefinder mounted on the movable frame; A sensor plate is provided on the upper and lower sides of the mobile frame, and two proximity switches are provided on the mounting plate, one above the other, with the proximity switches facing the sensor plate.

2. The AGV obstacle avoidance structure according to claim 1, characterized in that: Two vertical plates are provided on both sides of the mounting plate, and the vertical plates are installed on the AGV body.

3. The AGV obstacle avoidance structure according to claim 1, characterized in that: The mounting plate has two vertically shaped holes arranged vertically, and the two proximity switches are respectively installed in the two holes.

4. The AGV obstacle avoidance structure according to claim 1, characterized in that: Both of the aforementioned sensor plates are provided with the side of the movable frame.

5. The AGV obstacle avoidance structure according to claim 1, characterized in that: The movable frame is equipped with a linear guide rail, and the mounting plate is equipped with a corresponding slider.

6. The AGV obstacle avoidance structure according to claim 1, characterized in that: The drive assembly includes a drive motor mounted on the mounting plate, a sprocket connected to the output end of the drive motor, and a chain mounted on the movable frame. The sprocket meshes with the chain, and two limiting chain heads are provided at both ends of the chain.

7. An AGV obstacle avoidance structure according to claim 6, characterized in that: A one-way bearing is provided between the output shaft of the drive motor and the sprocket.

8. The AGV obstacle avoidance structure according to claim 1, characterized in that: A shock-absorbing rubber pad is installed between the laser rangefinder and the mobile frame.

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