A navigation support for AGV adjustable height and AGV thereof

Abstract

The utility model provides a kind of navigation support for AGV adjustable height, including scissor lifting mechanism, electric piece, navigation mounting seat and navigation detection sensing element, the electric piece is installed on scissor lifting mechanism, the navigation mounting seat is installed on the top of scissor lifting mechanism, the navigation detection sensing element is installed on navigation mounting seat, the electric piece is used to drive scissor lifting mechanism lifting movement, the scissor lifting mechanism is installed on AGV, the overall height of scissor navigation support can be reduced, in turn make the height of AGV pass through barrier door overall lower than the height of warehouse door, elevator door, AGV then can smoothly pass through warehouse door, elevator door;When AGV moves in other area, the electric piece drives scissor lifting mechanism ascending movement, to facilitate navigation detection sensing element to detect route trajectory, make AGV move along route trajectory.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a navigation bracket for adjustable height AGVs. Background Technology

[0002] The tobacco factory's raw material warehouse consists of multiple floors of storage rooms for tobacco leaves, stored in a stacked, containerless manner according to the warehouse layout. In the actual scenario, the goods being handled are tobacco cartons, which are cardboard boxes stacked directly on the ground. Clamping AGVs are used as the handling tools. Because the stacking positions of the cartons are constantly changing, the AGV's radar scanning height usually exceeds the stacking height of the cartons. The warehouse's fixed structure is scanned to build a map.

[0003] To ensure the smooth passage of AGVs, the height of the LiDAR mounting bracket needs to be lowered when passing through warehouse doors and elevator doors. Therefore, the LiDAR mounting bracket must be designed to be height-adjustable, allowing for adjustments to the bracket's height based on the specific site requirements. This satisfies the LiDAR scanning height requirements and the height constraints for the AGV's safe entry and exit from elevators and through warehouse doors. However, existing AGV (Automated Guided Vehicle) LiDAR mounting brackets are fixed and their height cannot be changed.

[0004] Therefore, it is necessary to provide a navigation bracket for adjustable height AGVs to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide an adjustable-height navigation bracket for AGVs, which reduces the overall height of the scissor lift navigation bracket. This ensures that the height of the items stacked on the AGV plus the height of the AGV's navigation bracket is lower than the height of the warehouse door or elevator door, allowing the AGV to pass through. To ensure the stability and prevent shaking of the LiDAR during scanning, a scissor lift mechanism is used. This mechanism offers advantages such as stable lifting, large stroke, and small installation space requirement.

[0006] To achieve the above objectives, the technical solution proposed by this utility model is as follows: a navigation bracket for an adjustable-height AGV includes a scissor lift mechanism, an electric component, a navigation mounting base, and a navigation detection and sensing element. The electric component is mounted on the scissor lift mechanism, the navigation mounting base is mounted on the top of the scissor lift mechanism, and the navigation detection and sensing element is mounted on the navigation mounting base. The electric component is used to drive the scissor lift mechanism to move up and down, and the scissor lift mechanism is mounted on the AGV.

[0007] Preferably, the scissor lift mechanism includes a first fixed frame, a second fixed frame, and a scissor tube assembly, the scissor tube assembly being hinged between the first fixed frame and the second fixed frame, and the electric component being hinged to the second fixed frame and the scissor tube assembly.

[0008] Preferably, the scissor lift assembly includes scissor lift one, scissor lift two, scissor lift three, and scissor lift four. The navigation mounting base is mounted on the first fixed frame. The first end of scissor lift one is hinged to the second fixed frame, the second end of scissor lift one is hinged to the first end of scissor lift four, and the second end of scissor lift four is hinged to the first fixed frame.

[0009] The first end of the second scissor lift tube is slidably connected to the second fixed frame, the second end of the second scissor lift tube is hinged to the first end of the third scissor lift tube, the second end of the third scissor lift tube is slidably connected to the first fixed frame, the middle section of the first scissor lift tube is hinged to the middle section of the second scissor lift tube, the middle section of the third scissor lift tube is hinged to the middle section of the fourth scissor lift tube, and the piston rod of the electric component is hinged to the first scissor lift tube.

[0010] Preferably, the first fixed frame is provided with a first sliding groove, the second fixed frame is provided with a second sliding groove, the second end of the scissor tube three is hinged with a first slider, the first slider is slidably held in the first sliding groove, and the first end of the scissor tube two is hinged with a second slider, the second slider is slidably held in the second sliding groove.

[0011] Preferably, the second fixed frame is provided with a fixed seat, the scissor tube is provided with a mounting seat, the main body of the electric component is hinged to the fixed seat, and the piston rod of the electric component is hinged to the mounting seat.

[0012] Preferably, the second fixed frame is provided with two micro switches, which are distributed near the two ends of the second slide groove.

[0013] Preferably, the second fixed frame is provided with two limiting blocks, which are distributed near the two ends of the second slide groove.

[0014] An AGV includes an AGV body and a navigation bracket for height adjustment of the AGV, the navigation bracket being mounted on the AGV.

[0015] Compared with existing technologies, the beneficial effect is that when the AGV needs to lower the height of the lidar mounting frame when passing through warehouse doors or elevator doors, the electric component drives the scissor lift mechanism to move downward, so that the overall height of the AGV when passing through the obstacle gate is lower than the height of the warehouse door or elevator door, and the AGV can pass through the warehouse door or elevator door.

[0016] Other features and advantages of this invention will be set forth in the following description, and in part will be apparent from the description, or may be learned by practice of the invention. The features and advantages of this invention may be realized and obtained by means of the elements and combinations specifically pointed out in the appended claims. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the adjustable-height navigation bracket for AGV provided by this utility model and its AGV.

[0019] Figure 2 for Figure 1 The image shows a cross-sectional view of a height-adjustable navigation bracket for an AGV.

[0020] Figure 3 for Figure 1 The image shown is a perspective view of a height-adjustable navigation bracket for AGVs.

[0021] Figure 4 This is a schematic diagram showing the navigation bracket of an AGV installed after the AGV has descended.

[0022] Reference numerals in the attached drawings: 1. Scissor lift mechanism; 11. First fixed frame; 111. First slide groove; 12. Second fixed frame; 121. Second slide groove; 13. Scissor tube assembly; 131. Scissor tube one; 132. Scissor tube two; 1321. Second slider; 133. Scissor tube three; 1331. First slider; 134. Scissor tube four; 14. Micro switch; 15. Limit block; 16. Fixed base; 17. Mounting base; 2. Electric component; 3. Navigation mounting base; 4. Navigation detection and sensing element; 5. AGV. Detailed Implementation

[0023] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are merely for explaining the present utility model and are not intended to limit the present utility model.

[0024] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0026] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0027] Please see Figures 1 to 4 This utility model proposes a height-adjustable navigation bracket for AGVs, including a scissor lift mechanism 1, an electric component 2, a navigation mounting base 3, and a navigation detection and sensing element 4. The electric component 2 is mounted on the scissor lift mechanism 1, the navigation mounting base 3 is mounted on the top of the scissor lift mechanism 1, and the navigation detection and sensing element 4 is mounted on the navigation mounting base 3. The electric component 2 drives the scissor lift mechanism 1 to move up and down, and the scissor lift mechanism 1 is mounted on the AGV. It should be noted that in this embodiment, the electric component 2 is an electric cylinder, and the navigation detection and sensing element 4 is a lidar.

[0028] Thus, when the AGV needs to lower the height of the LiDAR mounting bracket 3 when passing through warehouse doors or elevator doors, the electric component 2 drives the scissor lift mechanism 1 to descend, so that the overall height of the AGV when passing through the obstacle gate is lower than the height of the warehouse door or elevator door, allowing the AGV to pass through. When the AGV moves in other areas, the electric component 2 drives the scissor lift mechanism 1 to rise, so that the navigation detection sensing element 4 can detect the route trajectory, allowing the AGV to move along the route trajectory.

[0029] To ensure the stability of the LiDAR during the lifting and lowering of the LiDAR mounting frame and the operation of the AGV, a scissor lift mechanism is adopted. The scissor lift mechanism has advantages such as stable lifting, large stroke, and small installation space occupation. Each unit of the scissor lift mechanism uses square tubing or thick plate material, enhancing the rigidity of each unit. Simultaneously, a slider and groove guide structure is used to increase the guide contact surface, thereby enhancing the stability of the scissor lift mechanism during operation.

[0030] In a preferred embodiment, the scissor lift mechanism 1 includes a first fixed frame 11, a second fixed frame 12, and a scissor tube assembly 13. The scissor tube assembly 13 is hinged between the first fixed frame 11 and the second fixed frame 12, and the electric actuator 2 is hinged to the second fixed frame 12 and the scissor tube assembly 13. Specifically, the main body of the electric actuator 2 is hinged to the second fixed frame 12, and the piston rod of the electric actuator 2 is hinged to the scissor tube assembly 13.

[0031] When the electric component 2 is powered on and started, the piston rod of the electric component 2 extends, and the piston rod drives the scissor tube assembly 13 to unfold, increasing the overall height of the scissor lifting mechanism 1; conversely, when the electric component 2 is powered on and started, the piston rod of the electric component 2 retracts, and the piston rod drives the scissor tube assembly 13 to retract, decreasing the overall height of the scissor lifting mechanism 1.

[0032] In a preferred embodiment, the scissor lift assembly 13 includes a first scissor lift 131, a second scissor lift 132, a third scissor lift 133, and a fourth scissor lift 134. The navigation mounting base 3 is mounted on the first fixed frame 11. The first end of the first scissor lift 131 is hinged to the second fixed frame 12, the second end of the first scissor lift 131 is hinged to the first end of the fourth scissor lift 134, and the second end of the fourth scissor lift 134 is hinged to the first fixed frame 11.

[0033] The first end of the second scissor lift tube 132 is slidably connected to the second fixed frame 12, the second end of the second scissor lift tube 132 is hinged to the first end of the third scissor lift tube 133, the second end of the third scissor lift tube 133 is slidably connected to the first fixed frame 11, the middle section of the first scissor lift tube 131 is hinged to the middle section of the second scissor lift tube 132, the middle section of the third scissor lift tube 133 is hinged to the middle section of the fourth scissor lift tube 134, and the piston rod of the electric component 2 is hinged to the first scissor lift tube 131.

[0034] Thus, when the electric component 2 is energized and its piston rod extends, the piston rod drives the scissor lift tube 131 to tilt upwards. The scissor lift tubes 132, 133, and 134 unfold under the drive of the scissor lift tube 131, thereby increasing the overall height of the scissor lift mechanism 1. When the electric component 2 is energized and its piston rod retracts, the piston rod drives the scissor lift tube 131 to tilt downwards. The scissor lift tubes 132, 133, and 134 retract under the drive of the scissor lift tube 131, thereby decreasing the overall height of the scissor lift mechanism 1.

[0035] In a preferred embodiment, the first fixed frame 11 is provided with a first sliding groove 111, the second fixed frame 12 is provided with a second sliding groove 121, the second end of the scissor tube 133 is hinged to a first slider 1331, the first slider 1331 is slidably held in the first sliding groove 111, and the first end of the scissor tube 132 is hinged to a second slider 1321, the second slider 1321 is slidably held in the second sliding groove 121.

[0036] Thus, when the scissor lift assembly 13 is extended or retracted, the second end of the third scissor lift 133 slides within the first groove 111 via the first slider 1331, and the first end of the second scissor lift 132 slides within the second groove 121 via the second slider 1321.

[0037] In a preferred embodiment, the second fixed frame 12 is provided with two micro switches 14, which are distributed near the two ends of the second slide groove 121 respectively. When the second slider 1321 slides left and right in the second slide groove 121, it can contact the micro switches 14 at both ends of the second slide groove 121 respectively.

[0038] It should be noted that both microswitches 14 and the electric component 2 are electrically connected to the control terminal (which can be an industrial computer). When the second slider 1321 slides to the left in the second slide groove 121, it can contact the microswitch 14 at one end of the second slide groove 121. At this time, the second slider 1321 has reached its maximum leftward sliding stroke. The microswitch 14 sends a control signal to the control terminal, and the control terminal issues a control command to the electric component 2 to stop the electric component from moving. When the second slider 1321 slides to the right in the second slide groove 121, it can contact the microswitch 14 at the other end of the second slide groove 121. At this time, the second slider 1321 has reached its maximum rightward sliding stroke. The microswitch 14 sends a control signal to the control terminal, and the control terminal issues a control command to the electric component to stop the electric component from moving.

[0039] In a preferred embodiment, the second fixing frame 12 is provided with two limiting blocks 15, which are respectively distributed at both ends of the second slide groove 121 on the side opposite to the two microswitches 14. When the microswitches 14 fail, the limiting blocks 15 can play a safety limiting role on the first end of the scissor lift tube 132.

[0040] In a preferred embodiment, the second fixing frame 12 is provided with a fixing seat 16, and the scissor lift tube 131 is provided with a mounting seat 17. The main body of the electric component 2 is hinged to the fixing seat 16, and the piston rod of the electric component 2 is hinged to the mounting seat 17. Thus, the fixing seat 16 and the mounting seat 17 are respectively provided on the second fixing frame 12 and the scissor lift tube 131, which facilitates the assembly and disassembly of the electric component 2.

[0041] When the AGV needs to lower the height of the lidar mounting bracket 3 when passing through the warehouse door or elevator door, the electric component 2 is powered on and activated. The piston rod of the electric component 2 retracts, and the piston rod drives the scissor tube 131 to tilt downward. The scissor tubes 132, 133, and 134 retract under the action of the scissor tube 131. At this time, the overall height of the scissor lifting mechanism 1 can be reduced, so that the overall height of the AGV when passing through the obstacle gate is lower than the height of the warehouse door or elevator door, and the AGV can pass through the warehouse door or elevator door.

[0042] When the AGV moves in other areas, the electric component 2 is powered on and started. The piston rod of the electric component 2 extends and drives the scissor tube 131 to tilt upward. The scissor tubes 132, 133, and 134 unfold under the drive of the scissor tube 131. At this time, the overall height of the scissor lifting mechanism 1 can be increased so that the navigation detection sensing element 4 can better detect the route trajectory from a higher position (the detection field of view is wider at a higher position), so that the AGV can move along the route trajectory.

[0043] This utility model also provides an AGV, including an AGV body and a navigation bracket for the AGV. The navigation bracket for the AGV is installed on the AGV for easy use with the AGV, and the overall height of the AGV can be adjusted according to the applicable scene.

[0044] For example, when an AGV from the first floor needs to be moved to the second floor, the height of the palletized items plus the height of the AGV's navigation bracket will exceed the height of the warehouse door and elevator door. Therefore, the navigation bracket of the AGV equipped with LiDAR is designed to be liftable. When the AGV passes through the warehouse door and enters or exits the elevator door, the AGV's navigation bracket descends to reduce the overall height, and occupies less space when lowered.

[0045] This invention is not limited to the description in the specification and embodiments. Therefore, other advantages and modifications can be readily realized by those skilled in the art. Thus, without departing from the spirit and scope of the general concept as defined by the claims and their equivalents, this invention is not limited to the specific details, representative devices and illustrated examples shown and described herein.

Claims

1. A navigation support for an AGV height-adjustable, characterized by, The device includes a scissor lift mechanism (1), an electric component (2), a navigation mounting base (3), and a navigation detection and sensing element (4). The electric component (2) is mounted on the scissor lift mechanism (1), the navigation mounting base (3) is mounted on the top of the scissor lift mechanism (1), and the navigation detection and sensing element (4) is mounted on the navigation mounting base (3). The electric component (2) is used to drive the scissor lift mechanism (1) to move up and down. The scissor lift mechanism (1) is mounted on the AGV.

2. The height adjustable navigation bracket for AGV as claimed in claim 1 wherein, The scissor lift mechanism (1) includes a first fixed frame (11), a second fixed frame (12), and a scissor tube assembly (13). The scissor tube assembly (13) is hinged between the first fixed frame (11) and the second fixed frame (12). The electric component (2) is hinged to the second fixed frame (12) and the scissor tube assembly (13).

3. The navigation bracket for adjustable height AGV as described in claim 2, characterized in that, The scissor lift assembly (13) includes scissor lift one (131), scissor lift two (132), scissor lift three (133), and scissor lift four (134). The navigation mounting base (3) is mounted on the first fixed frame (11). The first end of scissor lift one (131) is hinged to the second fixed frame (12), the second end of scissor lift one (131) is hinged to the first end of scissor lift four (134), and the second end of scissor lift four (134) is hinged to the first fixed frame (11). The first end of the second scissor tube (132) is slidably connected to the second fixed frame (12), the second end of the second scissor tube (132) is hinged to the first end of the third scissor tube (133), the second end of the third scissor tube (133) is slidably connected to the first fixed frame (11), the middle section of the first scissor tube (131) is hinged to the middle section of the second scissor tube (132), the middle section of the third scissor tube (133) is hinged to the middle section of the fourth scissor tube (134), and the piston rod of the electric component (2) is hinged to the first scissor tube (131).

4. The height adjustable navigation bracket for an AGV of claim 3, wherein, The first fixed frame (11) is provided with a first sliding groove (111), the second fixed frame (12) is provided with a second sliding groove (121), the second end of the scissor tube three (133) is hinged with a first slider (1331), the first slider (1331) is slidably held in the first sliding groove (111), the first end of the scissor tube two (132) is hinged with a second slider (1321), the second slider (1321) is slidably held in the second sliding groove (121).

5. The height adjustable navigation bracket for AGV as claimed in claim 3 wherein, The second fixed frame (12) is provided with a fixed seat (16), the first scissor tube (131) is provided with a mounting seat (17), the main body of the electric component (2) is hinged to the fixed seat (16), and the piston rod of the electric component (2) is hinged to the mounting seat (17).

6. The navigation bracket for adjustable height AGV as described in claim 4, characterized in that, The second fixed frame (12) is provided with two micro switches (14), which are distributed near the two ends of the second slide (121).

7. The navigation bracket for adjustable height AGV as described in claim 6, characterized in that, The second fixed frame (12) is provided with two limiting blocks (15), which are distributed close to the two ends of the second slide (121).

8. An AGV, characterized in that, It includes an AGV body and a navigation bracket for adjustable height of the AGV as described in any one of claims 1-7, wherein the navigation bracket for adjustable height of the AGV is mounted on the AGV.

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