Anti-collision automated guided vehicle and mobile assembly robot device

Abstract

The utility model belongs to mobile assembly robot technical field discloses a kind of anti-collision automatic guided vehicle and mobile assembly robot device. Anti-collision automatic guided vehicle includes car body and anti-collision component, car body includes first end and second end, first end and second end are respectively located at the both ends of car body front and back moving direction, the upper surface of car body can carry mechanical arm, and mechanical arm is located first end. Anti-collision component includes anti-collision piece and detection piece, anti-collision piece is set to the second end of car body. In the direction of first end pointing to second end, the length dimension of anti-collision piece exceeding second end is adjustable, and detection piece is located on the part of anti-collision piece exceeding second end. The anti-collision automatic guided vehicle can reduce the risk of being hit during the movement of car body in narrow or crowded space;The detection range of detection piece can be adjusted, and the excess length of anti-collision piece can be shortened after detection to accommodate and protect detection piece.

Description

Technical Field

[0001] This utility model relates to the field of mobile assembly robot technology, and in particular to an anti-collision automatic guided transport vehicle and a mobile assembly robot device. Background Technology

[0002] A mobile robot is a machine device that automatically performs tasks, including a mobile platform, a sensing system, a control system, and an end effector. The mobile platform is responsible for movement and navigation, such as AGVs (Automated Guided Vehicles) and AMRs (Autonomous Mobile Robots). The robotic arm, mounted on the mobile platform, is responsible for performing specific assembly tasks, such as gripping, tightening, applying glue, and inserting parts. The sensing system is used for environmental perception, part identification, precise positioning, and compliant control. The control system is the robot's "brain," integrating navigation scheduling, robotic arm motion planning, and task management functions to ensure coordinated movement and assembly actions. The end effector, or "hand," such as an electric gripper, vacuum suction cup, or specialized tools (screwdriver, welding torch, etc.), is used to directly manipulate objects.

[0003] Taking picking robots as an example, they mainly operate by mounting robotic arms on AGVs (Automated Guided Vehicles). An auxiliary arm is installed on the AGV, carrying a vision device to monitor the robot's operations during task execution. However, in actual testing, due to the diversity of environments, such as when the AGV moves in narrow or crowded spaces, small-scale collisions may occur, posing a certain risk of the robotic arm touching the wall during operation.

[0004] Therefore, there is an urgent need to propose a collision-avoidance automated guided vehicle and a mobile assembly robot to solve the above problems. Utility Model Content

[0005] The first objective of this invention is to provide a collision-avoidance automated guided vehicle (AGV) that can reduce the risk of the vehicle body being struck during movement in narrow or crowded spaces; it can adjust the detection range of the detection components, and after detection, it can shorten the excess length of the anti-collision components to accommodate and protect the detection components.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Collision-avoiding automated guided vehicles include:

[0008] The vehicle body includes a first end and a second end, which are located at opposite ends in the forward and backward movement direction of the vehicle body. The upper surface of the vehicle body can be equipped with a robotic arm, and the robotic arm is located at the first end.

[0009] A collision avoidance assembly includes a collision avoidance member and a detection member. The collision avoidance member is disposed at the second end of the vehicle body in a direction from the first end to the second end. The length of the collision avoidance member extending beyond the second end is adjustable, and the detection member is located on the portion of the collision avoidance member extending beyond the second end.

[0010] As an optional technical solution for a collision-avoiding automated guided vehicle, the second end of the vehicle body is provided with a first mounting cavity, the anti-collision component includes an anti-collision plate, and the anti-collision plate is movably inserted through the first mounting cavity along the direction in which the first end and the second end point towards each other, so that the length of the anti-collision plate extending out of the first mounting cavity is adjustable, and the detection component is located on the upper surface of the anti-collision plate.

[0011] As an optional technical solution for a collision avoidance automated guided vehicle, the vehicle body is provided with a second mounting cavity. The second mounting cavity is located on the side of the first mounting cavity away from the second end and is in communication with the first mounting cavity. The collision avoidance component also includes a driving member. The driving member is fixed to the second mounting cavity and its output end extends into the first mounting cavity and is connected to the collision avoidance plate. The driving member can drive the collision avoidance plate to move to adjust the length of the collision avoidance plate extending out of the first mounting cavity.

[0012] As an optional technical solution for a collision-avoiding automated guided vehicle, the drive component includes a stroke cylinder and a fixing plate. The fixing plate is located at the junction of the second mounting cavity and the first mounting cavity. The drive component is fixed to the fixing plate. The collision avoidance assembly also includes a thrust plate. One side of the thrust plate is fixed to the output end of the stroke cylinder, and the other side abuts against the collision avoidance plate.

[0013] As an optional technical solution for collision avoidance automated guided vehicles, the collision avoidance assembly further includes a stabilizing plate and an elastic element. The stabilizing plate and the thrust plate are arranged opposite to each other, and the side of the stabilizing plate away from the thrust plate abuts against the collision avoidance plate. The elastic element is located between the stabilizing plate and the thrust plate. When the collision avoidance plate is impacted, it can push the stabilizing plate to compress the elastic element.

[0014] As an optional technical solution for collision avoidance automated guided vehicles, the collision avoidance component also includes a contact switch located on the side of the thrust plate facing the stabilizing plate. When the collision avoidance plate is impacted, it can move towards the thrust plate to contact the contact switch.

[0015] As an optional technical solution for collision avoidance automated guided vehicles, the collision avoidance component also includes reinforcing ribs, which connect the collision avoidance plate and the stabilizing plate.

[0016] As an optional technical solution for collision avoidance automated guided vehicles, the side of the anti-collision plate opposite to the first end has a contact area, and the contact area is partially covered with cushioning material.

[0017] As an optional technical solution for collision avoidance automated guided vehicles, the collision avoidance component further includes a stabilizing block and a guide rail. The stabilizing block is fixed to the inner wall of the first mounting cavity, and the guide rail is located on the collision avoidance plate. The stabilizing block and the guide rail are adapted to each other, so that the collision avoidance plate can slide along the direction in which the first end and the second end point towards each other.

[0018] The second objective of this invention is to provide a mobile assembly robot device that can reduce the risk of being struck during movement.

[0019] To achieve this objective, the present invention adopts the following technical solution:

[0020] The mobile assembly robot device includes a robotic arm and the aforementioned collision-avoiding automated guided vehicle, wherein the robotic arm is located on the upper surface of the first end of the vehicle body.

[0021] The beneficial effects of this utility model are:

[0022] This utility model provides a collision-avoidance automated guided vehicle (AGV) comprising a vehicle body and a collision avoidance assembly. The vehicle body can carry a robotic arm for picking and other operations. The collision avoidance assembly includes a collision avoidance component and a detection component. The collision avoidance component is located at the second end of the vehicle body, extending from the first end to the second end. The length of the collision avoidance component extending beyond the second end is adjustable, and the detection component is located on the portion of the collision avoidance component extending beyond the second end. When the vehicle body moves with the robotic arm, the detection component can detect obstacles around the second end of the vehicle body to prevent the vehicle body from being struck during movement in narrow or congested spaces, thus avoiding interference with the robotic arm's operation. The detection component, located on the portion of the collision avoidance component extending beyond the second end, has a larger detection range. The adjustable length of the collision avoidance component allows for adjustment of the detection range and the ability to adjust the detection position according to the robotic arm's posture. Furthermore, after detection, the extended length of the collision avoidance component can be shortened to retract and protect the detection component. Attached Figure Description

[0023] Figure 1 This is a first structural schematic diagram of the anti-collision automated guided vehicle provided in this embodiment of the utility model;

[0024] Figure 2 This is a second structural schematic diagram of the anti-collision automated guided vehicle provided in this embodiment of the utility model;

[0025] Figure 3 This is a partial internal view of the collision-avoiding automated guided vehicle provided in this embodiment of the present invention.

[0026] In the picture:

[0027] 100. Vehicle body; 110. First end; 120. Second end; 130. First mounting cavity; 140. Second mounting cavity; 150. Storage cavity; 200. Anti-collision component; 210. Anti-collision plate; 211. Contact area; 220. Detection component; 230. Driving component; 231. Stroke cylinder; 232. Fixing plate; 240. Thrust plate; 250. Stabilizing plate; 260. Elastic component; 270. Contact switch; 280. Reinforcing rib; 291. Stabilizing block; 292. Guide rail. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0029] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0032] This embodiment provides a collision-avoidance automated guided vehicle (AGV), which can reduce the risk of the vehicle body being hit during movement in narrow or crowded spaces; it can adjust the detection range of the detection components, and after the detection is completed, it can shorten the excess length of the collision-avoidance components to store and protect the detection components.

[0033] Specifically, such as Figures 1 to 3 As shown, the collision-avoidance automated guided vehicle (AGV) includes a vehicle body 100 and a collision avoidance assembly 200. The vehicle body 100 includes a first end 110 and a second end 120, which are located at opposite ends in the forward and backward movement direction of the vehicle body 100. A robotic arm can be mounted on the upper surface of the vehicle body 100, and the robotic arm is located at the first end 110. The collision avoidance assembly 200 includes a collision avoidance element and a detection element 220. The collision avoidance element is disposed at the second end 120 of the vehicle body 100. The length of the collision avoidance element extending beyond the second end 120 in the direction from the first end 110 to the second end 120 is adjustable, and the detection element 220 is located on the portion of the collision avoidance element extending beyond the second end 120.

[0034] It should be noted that in this embodiment, the first end 110 is configured as the front end of the vehicle body 100, and the second end 120 is configured as the rear end of the vehicle body 100.

[0035] Based on the above design, the vehicle body 100 can be equipped with a robotic arm, which performs operations such as picking. The robotic arm is located at the first end 110, which is the edge at the front end of the vehicle body 100, thus shortening the distance between the robotic arm and the goods. The anti-collision component 200 includes an anti-collision member and a detection member 220. The anti-collision member is disposed at the second end 120 of the vehicle body 100, pointing from the first end 110 to the second end 120. The length of the anti-collision member extending beyond the second end 120 is adjustable, and the detection member 220 is located on the portion of the anti-collision member extending beyond the second end 120. When the vehicle body 100 moves with the robotic arm, the detection element 220 can detect obstacles around the second end 120 of the vehicle body 100 to prevent the vehicle body 100 from being hit during movement in narrow or crowded spaces, thereby avoiding interference with the robotic arm's operation. The detection element 220 is located on the portion of the anti-collision member that extends beyond the second end 120. The detection element 220 has a larger detection range, and the length of the anti-collision member extending beyond the second end 120 is adjustable, allowing the detection range of the detection element 220 to be adjusted according to the posture of the robotic arm. Furthermore, after detection, the extended length of the anti-collision member can be shortened to house and protect the detection element 220. Specifically, the larger the length of the anti-collision member extending beyond the second end 120, the larger the detection range of the detection element 220; the smaller the length of the anti-collision member extending beyond the second end 120, the smaller the detection range of the detection element 220. Therefore, the anti-collision component can be adjusted according to the testing needs and the range of narrow or crowded spaces. After use, the length of the anti-collision component extending beyond the second end 120 can be minimized so that it can be stored in the vehicle body 100, reducing space occupation.

[0036] Optionally, the second end 120 of the vehicle body 100 is provided with a first mounting cavity 130. The anti-collision component includes an anti-collision plate 210. Along the direction in which the first end 110 and the second end 120 point towards each other, the anti-collision plate 210 is movably inserted through the first mounting cavity 130, so that the length of the anti-collision plate 210 extending out of the first mounting cavity 130 is adjustable, and the detection component 220 is located on the upper surface of the anti-collision plate 210. Compared with anti-collision components of the telescopic rod type, the anti-collision plate 210 has a larger area, making it easier to fix the detection component 220 and protecting the entire second end 120 of the vehicle body 100. The detection component 220 is located on the upper surface of the anti-collision plate 210, and the detection component 220 can detect obstacles around the anti-collision plate 210, effectively preventing obstacles from affecting the robotic arm.

[0037] In this embodiment, the detection element 220 includes a sensor, and the number of sensors can be one, two, three, or four, etc.

[0038] The interior of the crash barrier 210 can be hollow and wired, and the vehicle body 100 is provided with a storage cavity 150. The storage cavity 150 is located at the bottom of the crash barrier 210 and is used to place the cable so that the cable will not be broken when the crash barrier 210 moves.

[0039] Furthermore, the vehicle body 100 is provided with a second mounting cavity 140, which is located on the side of the first mounting cavity 130 opposite to the second end 120 and communicates with the first mounting cavity 130. The anti-collision assembly 200 also includes a driving member 230, which is fixed to the second mounting cavity 140 and has its output end extending into the first mounting cavity 130 and connected to the anti-collision plate 210. The driving member 230 can drive the anti-collision plate 210 to move to adjust the length of the anti-collision plate 210 extending out of the first mounting cavity 130. Compared with adjusting the length of the anti-collision plate 210 extending out of the first mounting cavity 130 by stretching or folding it, in this embodiment, the anti-collision plate 210 is moved and adjusted by the driving member 230, which is simple in structure and convenient in operation.

[0040] In this embodiment, in order to improve the stability of the anti-collision plate 210 during movement, the anti-collision assembly 200 further includes a stabilizing block 291 and a guide rail 292. The stabilizing block 291 is fixed to the inner wall of the first mounting cavity 130, and the guide rail 292 is located on the anti-collision plate 210. The stabilizing block 291 and the guide rail 292 are adapted to each other so that the anti-collision plate 210 can slide along the direction in which the first end 110 and the second end 120 point to each other.

[0041] Furthermore, the drive component 230 includes a stroke cylinder 231 and a fixing plate 232. The fixing plate 232 is located at the junction of the second mounting cavity 140 and the first mounting cavity 130. The drive component 230 is fixed to the fixing plate 232. The stroke cylinder 231 is mounted to the vehicle body 100 through the fixing plate 232. The second mounting cavity 140 is used to accommodate the mounting stroke cylinder 231. The anti-collision assembly 200 also includes a thrust plate 240. One side of the thrust plate 240 is fixed to the output end of the stroke cylinder 231, and the other side abuts against the anti-collision plate 210. The thrust plate 240 transmits the thrust of the output end of the stroke cylinder 231 to the anti-collision plate 210, which has a good pushing effect on the anti-collision plate 210 and facilitates changing the length of the anti-collision plate 210 extending out of the first mounting cavity 130.

[0042] It should be noted that even if the detection element 220 is provided and the anti-collision component extends the detection element 220 beyond the vehicle body 100 by a sufficient length to ensure that the obstacle can be detected and the vehicle body 100 can be stopped, the anti-collision component may still collide with the obstacle due to the failure to control the vehicle body 100 in time. Therefore, in this embodiment, the anti-collision component 200 also includes a stabilizing plate 250 and an elastic element 260. The stabilizing plate 250 and the thrust plate 240 are arranged opposite to each other, and the side of the stabilizing plate 250 away from the thrust plate 240 abuts against the anti-collision plate 210. The elastic element 260 is located between the stabilizing plate 250 and the thrust plate 240. When the anti-collision plate 210 is impacted, it can push the stabilizing plate 250 to compress the elastic element 260. The elastic element 260 plays a buffering role to prevent the anti-collision plate 210 from directly impacting the output end of the stroke cylinder 231 and causing damage to the stroke cylinder 231.

[0043] In this embodiment, the elastic element 260 is a spring, and two springs are spaced apart along the vertical direction to better transmit thrust and improve the stability of the stabilizing plate 250.

[0044] It should be noted that the cross-sectional profile of the stabilizing plate 250 matches the cross-section of the first mounting cavity 130, thereby ensuring that the stabilizing plate 250 will not wobble.

[0045] The anti-collision assembly 200 also includes a reinforcing rib 280, which connects the anti-collision plate 210 and the stabilizing plate 250, further improving the stability of the stabilizing plate 250 during movement.

[0046] In this embodiment, the reinforcing rib 280 is triangular.

[0047] In order to prevent the anti-collision plate 210 from being damaged by impact, the anti-collision plate 210 has a contact area 211 on the side away from the first end 110. The contact area 211 is partially covered with cushioning material, which can both protect the anti-collision plate 210 and provide cushioning protection for the driving components 230 such as the stroke cylinder 231.

[0048] Furthermore, the anti-collision assembly 200 also includes a contact switch 270, which is located on the side of the thrust plate 240 facing the stabilizing plate 250. When the anti-collision plate 210 is impacted, it can move towards the thrust plate 240 to touch the contact switch 270, thereby recognizing the collision signal, stopping in time, and avoiding an accident.

[0049] This embodiment also provides a mobile assembly robot device that can reduce the risk of being hit during movement.

[0050] Specifically, the mobile assembly robot device includes a robotic arm and the aforementioned collision-avoidance automated guided vehicle (AGV). The robotic arm is located on the upper surface of the first end 110 of the vehicle body 100. The specific working process of the mobile assembly robot device is as follows:

[0051] First, the stroke cylinder 231 applies a thrust to the stabilizing plate 250 through the thrust plate 240, causing the stabilizing plate 250 and the anti-collision plate 210 to move together. When the anti-collision plate 210 extends from the first mounting cavity 130, that is, beyond the second end 120, the sensor on the anti-collision plate 210 monitors the situation above the vehicle body 100. For example, it collects the obstruction signal above the vehicle body 100. Since the robotic arm is basically constant during the handling process, the obstruction signal changes when a moving object (obstacle) approaches. At this time, the sensor can send a signal to the control system of the vehicle body 100, so that the vehicle body 100 stops temporarily to avoid the risk of collision between the vehicle body 100 and the robotic arm.

[0052] Then, the vehicle body 100 still moves using the existing specific route. When an obstacle on the route causes the anti-collision plate 210 to collide, the anti-collision plate 210 is forced to move backward (in the direction from the second end 120 to the first end 110). At the same time, the stabilizing plate 250 will contact the thrust plate 240 and touch the contact switch 270 on the thrust plate 240, thereby identifying the collision signal, stopping in time, and avoiding accidents. At this time, the elastic element 260 is contracted during the collision, preventing the thrust plate 240 from being stressed, making the stroke cylinder 231 and the vehicle body 100 less likely to be affected, and also reducing interference to the robotic arm (especially when gripping objects during transportation).

[0053] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A collision-avoiding automated guided vehicle, characterized in that, include: The vehicle body (100) includes a first end (110) and a second end (120), the first end (110) and the second end (120) are respectively located at the two ends of the vehicle body (100) in the front-back movement direction, the upper surface of the vehicle body (100) can be equipped with a robotic arm, and the robotic arm is located at the first end (110). A collision avoidance assembly (200) includes a collision avoidance member and a detection member (220). The collision avoidance member is disposed at the second end (120) of the vehicle body (100) in a direction from the first end (110) to the second end (120). The length of the collision avoidance member extending beyond the second end (120) is adjustable, and the detection member (220) is located on the portion of the collision avoidance member extending beyond the second end (120).

2. The collision-avoidance automated guided vehicle according to claim 1, characterized in that, The second end (120) of the vehicle body (100) is provided with a first mounting cavity (130). The anti-collision component includes an anti-collision plate (210). Along the direction in which the first end (110) and the second end (120) point to each other, the anti-collision plate (210) is movably inserted into the first mounting cavity (130), so that the length of the anti-collision plate (210) extending out of the first mounting cavity (130) is adjustable, and the detection component (220) is located on the upper surface of the anti-collision plate (210).

3. The collision-avoidance automated guided vehicle according to claim 2, characterized in that, The vehicle body (100) is provided with a second mounting cavity (140), which is located on the side of the first mounting cavity (130) away from the second end (120) and is connected to the first mounting cavity (130). The anti-collision assembly (200) also includes a driving member (230), which is fixed to the second mounting cavity (140) and has its output end extending into the first mounting cavity (130) and connected to the anti-collision plate (210). The driving member (230) can drive the anti-collision plate (210) to move to adjust the length of the anti-collision plate (210) extending out of the first mounting cavity (130).

4. The collision-avoidance automated guided vehicle according to claim 3, characterized in that, The driving component (230) includes a stroke cylinder (231) and a fixing plate (232). The fixing plate (232) is located at the junction of the second mounting cavity (140) and the first mounting cavity (130). The driving component (230) is fixed to the fixing plate (232). The anti-collision assembly (200) also includes a thrust plate (240). One side of the thrust plate (240) is fixed to the output end of the stroke cylinder (231), and the other side abuts against the anti-collision plate (210).

5. The collision-avoidance automated guided vehicle according to claim 4, characterized in that, The anti-collision assembly (200) further includes a stabilizing plate (250) and an elastic element (260). The stabilizing plate (250) and the thrust plate (240) are arranged opposite to each other, and the side of the stabilizing plate (250) away from the thrust plate (240) abuts against the anti-collision plate (210). The elastic element (260) is located between the stabilizing plate (250) and the thrust plate (240). When the anti-collision plate (210) is impacted, it can push the stabilizing plate (250) to compress the elastic element (260).

6. The collision-avoidance automated guided vehicle according to claim 5, characterized in that, The anti-collision assembly (200) also includes a contact switch (270) located on the side of the thrust plate (240) facing the stabilizing plate (250). When the anti-collision plate (210) is impacted, it can move toward the thrust plate (240) to touch the contact switch (270).

7. The anti-collision automated guided vehicle of claim 5, wherein, The anti-collision assembly (200) further includes a reinforcing rib (280) that connects the anti-collision plate (210) and the stabilizing plate (250).

8. The collision-avoidance automated guided vehicle according to claim 2, characterized in that, The anti-collision plate (210) has a contact area (211) on the side opposite to the first end (110), and the contact area (211) is partially covered with cushioning material.

9. The collision-avoidance automated guided vehicle according to claim 2, characterized in that, The anti-collision assembly (200) further includes a stabilizing block (291) and a guide rail (292). The stabilizing block (291) is fixed to the inner wall of the first mounting cavity (130), and the guide rail (292) is located on the anti-collision plate (210). The stabilizing block (291) and the guide rail (292) are adapted to each other so that the anti-collision plate (210) can slide along the direction in which the first end (110) and the second end (120) point to each other.

10. A mobile assembly robot device, characterized in that, Includes a robotic arm and a collision-avoiding automated guided vehicle as described in any one of claims 1-9, wherein the robotic arm is located on the upper surface of the first end (110) of the vehicle body (100).

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