Material carrying AGV system based on cluster control

Abstract

The utility model discloses a material handling AGV system based on cluster control, which relates to the technical field of material handling and comprises a handling bin, a connecting seat is fixedly mounted at the bottom of the handling bin, a fixing plate is fixedly mounted at the bottom of the connecting seat, a connecting column is fixedly mounted on the side wall of the fixing plate, and a limiting plate is slidably mounted on the outer wall of the connecting column. A pressing column is fixedly installed on the side wall, away from the connecting column, of the limiting plate, a top plate is fixedly installed on the side wall of the pressing column, and a first connecting plate is fixedly installed at the side end, close to the pressing column, of the top plate. According to the AGV carrying device, when the sensor fails, after the top plate makes contact with an obstacle, the clamping columns are driven by the connecting rod mechanism to be clamped into the hubs, rotation of wheels is effectively prevented, the AGV carrying device is made to stop advancing immediately, and the accident that the AGV carrying device collides with the obstacle due to the fault of the sensor is avoided; damage to the carrier and damage to the surrounding environment are reduced, and the maintenance cost and the safety risk are reduced.

Description

Technical Field

[0001] This utility model relates to the field of material handling technology, specifically a material handling AGV system based on cluster control. Background Technology

[0002] In the field of material handling, automated guided vehicle (AGV) systems based on cluster control have been widely used. These systems have achieved automation and intelligence in material handling by integrating advanced navigation, obstacle avoidance and path planning technologies. However, existing AGV systems based on cluster control still face some technical challenges during operation.

[0003] Current AGV transport vehicles generally rely on sensors to monitor the surrounding environment in real time to detect obstacles on the forward and backward paths. This sensor-based obstacle detection method has greatly improved the safety and reliability of AGVs. However, once the sensors malfunction or are damaged, the AGV system will not be able to accurately obtain information about the surrounding environment, and thus will not be able to make timely obstacle avoidance decisions.

[0004] In the event of sensor malfunction, the AGV transport vehicle may continue to move along the preset path without being able to detect obstacles ahead. This will cause the AGV to collide with the obstacles, which will not only damage the transport vehicle but also potentially damage the surrounding environment and even cause safety accidents. Since AGV systems usually operate in complex logistics environments, manual monitoring cannot handle all potential risks in real time. Especially when sensors malfunction, manual intervention is often difficult to avoid collision accidents in a timely and effective manner.

[0005] In view of the above, this application is hereby submitted. Utility Model Content

[0006] The purpose of this invention is to provide a material handling AGV system based on cluster control to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, this utility model provides a material handling AGV system based on cluster control, including a handling bin. A connecting seat is fixedly installed at the bottom of the handling bin, a fixed plate is fixedly installed at the bottom of the connecting seat, a connecting column is fixedly installed on the side wall of the fixed plate, a limit plate is slidably installed on the outer wall of the connecting column, a pressure column is fixedly installed on the side wall of the limit plate away from the connecting column, a top plate is fixedly installed on the side wall of the pressure column, a first connecting plate is fixedly installed on the side end of the top plate near the pressure column, a first connecting rod is rotatably installed at the end of the first connecting plate, a second connecting rod is rotatably installed at the end of the first connecting rod away from the first connecting plate, a second rotating shaft is fixedly installed at the end of the second connecting rod, a second connecting plate is rotatably installed on the outer wall of the second rotating shaft, the second connecting plate is fixedly installed on the side wall of the fixed plate, a sliding groove is fixedly installed on the side wall of the limit plate, a slider is slidably installed on the inner wall of the sliding groove, and a locking post is fixedly installed on the side wall of the slider.

[0008] Furthermore, a tension spring is fixedly connected to the inner wall of the slide near the limiting plate, and the other end of the tension spring is fixedly connected to the side wall of the slider.

[0009] Furthermore, a rotating shaft is fixedly installed on the outer wall of the slider, and the outer wall of the rotating shaft is rotatably connected to the side wall of connecting rod one and connecting rod two.

[0010] Furthermore, a connecting shaft is rotatably mounted on the inner wall of the fixed plate, and wheel axles are fixedly mounted on both ends of the connecting shaft. A wheel hub is fixedly mounted on the outer wall of the wheel axle, and a wheel is fixedly mounted on the outer wall of the wheel hub.

[0011] Furthermore, a support column is fixedly installed at the bottom of the top plate, a support plate is fixedly installed on the outer wall of the support column, a limit box is slidably installed at the end of the support plate away from the support column, the top of the limit box is fixedly connected to the bottom of the fixed plate, and a wheel is fixedly installed at the bottom of the support column.

[0012] Furthermore, an airbag is provided between the pressure column and the connecting column, and the airbag is fixedly installed on the inner wall of the limiting plate. The airbag is made of rubber.

[0013] Furthermore, a central control board is fixedly installed on the side wall of the fixed plate away from the top plate, and a distance sensor is installed inside the central control board.

[0014] Furthermore, an alarm is fixedly installed on the inner wall of the limiting box, and the alarm is on the same horizontal plane as the support plate.

[0015] Compared with the prior art, the beneficial effects of this utility model are: when the sensor fails, after the top plate comes into contact with the obstacle, the linkage mechanism drives the locking column to engage with the wheel hub, effectively preventing the wheel from rotating and causing the AGV transport device to stop moving forward immediately. This avoids accidents caused by the AGV transport device colliding with the obstacle due to sensor failure, reduces damage to the transport vehicle and the surrounding environment, and lowers maintenance costs and safety risks. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the chassis structure of a material handling AGV system based on cluster control.

[0017] Figure 2 This is a schematic diagram of the bottom structure of a material handling AGV system based on cluster control.

[0018] Figure 3 This is a schematic diagram of the emergency stop mechanism of a cluster-controlled material handling AGV system.

[0019] Figure 4 This is a front structural diagram of a material handling AGV system based on cluster control.

[0020] In the diagram: 1. Handling compartment; 2. Connecting seat; 3. Top plate; 4. Wheel; 5. Wheel hub; 6. Wheel axle; 7. Slide; 8. Locking column; 9. Central control panel; 10. Support column; 11. Support plate; 12. Rotary wheel; 13. Limiting box; 14. Alarm; 15. Connecting plate one; 16. Link one; 17. Link two; 18. Connecting plate two; 19. Tension spring; 20. Slider; 21. Rotating shaft one; 22. Rotating shaft two; 23. Connecting shaft; 24. Fixing plate; 25. Airbag; 26. Pressure column; 27. Connecting column; 28. Limiting plate. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1 - Figure 4This utility model provides a technical solution: a material handling AGV system based on cluster control, including a handling bin 1, a connecting seat 2 fixedly installed at the bottom of the handling bin 1, a fixing plate 24 fixedly installed at the bottom of the connecting seat 2, a connecting column 27 fixedly installed on the side wall of the fixing plate 24, a limit plate 28 slidably installed on the outer wall of the connecting column 27, a pressure column 26 fixedly installed on the side wall of the limit plate 28 away from the connecting column 27, a top plate 3 fixedly installed on the side wall of the pressure column 26, and the top plate 3 near the side end of the pressure column 26. A connecting plate 15 is fixedly installed. A connecting rod 16 is rotatably installed at the end of the connecting plate 15. A connecting rod 17 is rotatably installed at the end of the connecting rod 16 away from the connecting plate 15. A rotating shaft 22 is fixedly installed at the end of the connecting rod 17. A connecting plate 18 is rotatably installed on the outer wall of the rotating shaft 22. The connecting plate 18 is fixedly installed on the side wall of the fixed plate 24. A sliding groove 7 is fixedly installed on the side wall of the limiting plate 28. A slider 20 is slidably installed on the inner wall of the sliding groove 7. A locking post 8 is fixedly installed on the side wall of the slider 20.

[0023] It should be noted that when the distance sensor fails during the material handling process of the AGV handling device, when the top plate 3 comes into contact with the obstacle in front, the pressure on the top plate 3 is transmitted to the limit plate 28 through the pressure column 26. As the limit plate 28 moves, the linkage mechanism composed of the first linkage 16 and the second linkage 17 connected to it begins to move. The linkage mechanism will drive the slider 20 to slide in the slide groove 7. As the slider 20 moves, the locking column 8 gradually extends out of the slide groove 7 and finally locks into the wheel hub 5, thereby preventing the rotation of the wheel 4 and stopping the AGV handling device from moving forward. The movement of the pressure column 26 will also compress the airbag 25. The compression of the airbag 25 further reduces the impact force on the top plate 3 and plays a buffering role.

[0024] Furthermore, this design requires no external power source or manual intervention, relying entirely on mechanical structure and physical principles to achieve automatic response, thereby improving the reliability and stability of the system.

[0025] Please see Figure 3 This utility model provides a technical solution: a material handling AGV system based on cluster control, including a tension spring 19 fixedly connected to the inner wall of the chute 7 near the limiting plate 28, and the other end of the tension spring 19 fixedly connected to the side wall of the slider 20.

[0026] It should be noted that when the top plate 3 is subjected to pressure from an obstacle and triggers the locking post 8 to extend and lock the wheel hub 5, once the obstacle is removed or the AGV transport device needs to continue moving forward, the elastic force of the tension spring 19 will cause the slider 20 to return to its original position along the slide groove 7, and the locking post 8 will also retract accordingly, no longer locking the wheel hub 5, so that the AGV transport device can resume normal operation.

[0027] Please see Figure 3This utility model provides a technical solution: a material handling AGV system based on cluster control, including a rotating shaft 21 fixedly installed on the outer wall of a slider 20, and the outer wall of the rotating shaft 21 being rotatably connected to a connecting rod 16 and a connecting rod 27.

[0028] It should be noted that connecting the slider 20 with the connecting rod 16 and the connecting rod 27 via the pivot 21 ensures that the entire mechanism remains stable when subjected to external forces, preventing deformation or damage due to uneven force distribution, and improving the durability and reliability of the entire AGV handling device.

[0029] Please see Figure 1 , Figure 3 This utility model provides a technical solution: a material handling AGV system based on cluster control, including a connecting shaft 23 rotatably installed on the inner wall of a fixed plate 24, wheel axles 6 fixedly installed at both ends of the connecting shaft 23, a wheel hub 5 fixedly installed on the outer wall of the wheel axle 6, and a wheel 4 fixedly installed on the outer wall of the wheel hub 5.

[0030] It should be noted that when the top plate 3 is subjected to pressure from an obstacle and triggers the extension of the locking post 8, the locking post 8 can quickly and accurately engage in the wheel hub 5, thereby effectively preventing the rotation of the wheel 4. This allows the AGV handling device to stop moving forward immediately when it encounters an obstacle, avoiding the risk of collision with the obstacle and improving the safety of the entire device.

[0031] Please see Figure 2 This utility model provides a technical solution: a material handling AGV system based on cluster control, including a top plate 3 with a support column 10 fixedly installed at the bottom, a support plate 11 fixedly installed on the outer wall of the support column 10, a limit box 13 slidably installed at the end of the support plate 11 away from the support column 10, the top of the limit box 13 being fixedly connected to the bottom of the fixed plate 24, and a rotating wheel 12 fixedly installed at the bottom of the support column 10.

[0032] It should be noted that the support column 10, as the main support structure of the emergency stop device, has a fixedly installed wheel 12 at its bottom that can provide flexible support during the operation of the AGV device, so that the emergency stop device can respond quickly when it encounters an obstacle, while maintaining a stable horizontal state, avoiding false triggering or failure due to shaking or tilting.

[0033] Please see Figure 3 This utility model provides a technical solution: a material handling AGV system based on cluster control, including an airbag 25 disposed between a pressure column 26 and a connecting column 27, the airbag 25 being fixedly installed on the inner wall of a limiting plate 28, and the airbag 25 being made of rubber.

[0034] It should be noted that the rubber airbag 25 has good elasticity and wear resistance, which can maintain its shape and performance during long-term use. This not only extends the service life of the airbag 25, but also ensures that it can quickly return to its original shape when subjected to pressure, thereby maintaining the stability and reliability of the mechanism.

[0035] Please see Figure 1 - Figure 3 This utility model provides a technical solution: a material handling AGV system based on cluster control, including a central control board 9 fixedly installed on the side wall of the fixed plate 24 away from the top plate 3, and a distance sensor is provided inside the central control board 9.

[0036] It should be noted that the distance sensor can measure the distance between the AGV device and surrounding obstacles in real time, providing the AGV with accurate environmental perception capabilities. This helps the AGV to move safely and flexibly in complex environments, avoid collisions, and ensure the smooth progress of material handling.

[0037] Please see Figure 2 This utility model provides a technical solution: a material handling AGV system based on cluster control, including an alarm 14 fixedly installed on the inner wall of the limit box 13, and the alarm 14 and the support plate 11 are on the same horizontal plane.

[0038] It should be noted that when the AGV handling device encounters an obstacle and triggers the emergency stop mechanism, the top plate 3 will move inward, thereby moving the support plate 11 together. Since the support plate 11 and the alarm 14 are on the same horizontal plane, when the support plate 11 moves into the limit box 13, it will quickly contact the alarm 14, causing it to sound immediately. This ensures that when the emergency stop mechanism is triggered, the alarm 14 can respond quickly and promptly remind the staff to pay attention.

[0039] Working principle: When the AGV transport device encounters an obstacle during travel and the distance sensor fails, the top plate 3 will first contact the obstacle in front. At this time, the pressure on the top plate 3 is transmitted to the limiting plate 28 through the pressure column 26. The limiting plate 28 moves accordingly, and the linkage mechanism composed of the connecting rod 16 and the connecting rod 27 connected to it starts to move, so that the slider 20 can slide in the slide groove 7 and drive the locking column 8 to gradually extend out of the slide groove 7. When the locking column 8 extends to a sufficient length, it will lock into the wheel hub 5, thereby effectively preventing the rotation of the wheel 4. When the obstacle is removed and the AGV transport device needs to continue to move forward, the elastic force of the tension spring 19 will cause the slider 20 to return to its original position along the slide groove 7. As the slider 20 moves, the locking column 8 will also retract accordingly, no longer locking the wheel hub 5, so that the AGV transport device can resume normal travel.

Claims

1. A material handling AGV system based on cluster control, comprising a handling bin (1), characterized in that: The bottom of the transport compartment (1) is fixedly installed with a connecting seat (2), the bottom of the connecting seat (2) is fixedly installed with a fixing plate (24), the side wall of the fixing plate (24) is fixedly installed with a connecting column (27), the outer wall of the connecting column (27) is slidably installed with a limiting plate (28), the side wall of the limiting plate (28) away from the connecting column (27) is fixedly installed with a pressure column (26), the side wall of the pressure column (26) is fixedly installed with a top plate (3), the side end of the top plate (3) near the pressure column (26) is fixedly installed with a connecting plate one (15), the connecting plate one (15) A connecting rod 1 (16) is rotatably mounted at one end. A connecting rod 2 (17) is rotatably mounted at the end of the connecting rod 1 (16) away from the connecting plate 1 (15). A rotating shaft 2 (22) is fixedly mounted at the end of the connecting rod 2 (17). A connecting plate 2 (18) is rotatably mounted on the outer wall of the rotating shaft 2 (22). The connecting plate 2 (18) is fixedly mounted on the side wall of the fixed plate (24). A sliding groove (7) is fixedly mounted on the side wall of the limiting plate (28). A slider (20) is slidably mounted on the inner wall of the sliding groove (7). A locking post (8) is fixedly mounted on the side wall of the slider (20).

2. The material handling AGV system based on cluster control as described in claim 1, characterized in that: A tension spring (19) is fixedly connected to the inner wall of the slide (7) near the limiting plate (28), and the other end of the tension spring (19) is fixedly connected to the side wall of the slider (20).

3. The material handling AGV system based on cluster control as described in claim 2, characterized in that: The outer wall of the slider (20) is fixedly installed with a rotating shaft (21), and the outer wall of the rotating shaft (21) is rotatably connected to the side wall of the connecting rod (16) and the connecting rod (17).

4. The material handling AGV system based on cluster control as described in claim 1, characterized in that: A connecting shaft (23) is rotatably mounted on the inner wall of the fixing plate (24). A wheel axle (6) is fixedly mounted on both ends of the connecting shaft (23). A wheel hub (5) is fixedly mounted on the outer wall of the wheel axle (6). A wheel (4) is fixedly mounted on the outer wall of the wheel hub (5).

5. The material handling AGV system based on cluster control as described in claim 1, characterized in that: A support column (10) is fixedly installed at the bottom of the top plate (3), and a support plate (11) is fixedly installed on the outer wall of the support column (10). A limit box (13) is slidably installed at the end of the support plate (11) away from the support column (10). The top of the limit box (13) is fixedly connected to the bottom of the fixed plate (24), and a wheel (12) is fixedly installed at the bottom of the support column (10).

6. The material handling AGV system based on cluster control as described in claim 5, characterized in that: An airbag (25) is provided between the pressure column (26) and the connecting column (27). The airbag (25) is fixedly installed on the inner wall of the limiting plate (28). The airbag (25) is made of rubber.

7. The material handling AGV system based on cluster control as described in claim 5, characterized in that: A central control board (9) is fixedly installed on the side wall of the fixed plate (24) away from the top plate (3), and a distance sensor is provided inside the central control board (9).

8. The material handling AGV system based on cluster control as described in claim 5, characterized in that: An alarm (14) is fixedly installed on the inner wall of the limiting box (13), and the alarm (14) and the support plate (11) are on the same horizontal plane.

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