Visual identification self-adaptive jacking latent AGV

Abstract

This utility model belongs to the field of transport vehicle technology, specifically disclosing a visual recognition adaptive lifting AGV, including a vehicle body, a reinforcement mechanism, a protective mechanism, and a support mechanism; the visual recognition device is fixed to the front of the vehicle body; the bottom of the vehicle body has a cavity for installing the vehicle body's moving wheels and for allowing the protective mechanism and the support mechanism to move; the reinforcement mechanism is installed on the front of the vehicle body and located below the visual recognition device; the reinforcement mechanism includes a reinforcement box and a support assembly; the protective mechanism includes a sliding frame, a buffer anti-collision box, a first elastic element, a push rod, and a drive frame; the support mechanism includes a support body, a lifting plate, and a support block. By setting the buffer anti-collision box and the first elastic element, buffering can be performed when the vehicle body is involved in a collision, thereby buffering the impact force during the collision.

Description

Technical Field

[0001] This utility model belongs to the field of transport vehicle technology, and in particular relates to a visual recognition adaptive lifting AGV. Background Technology

[0002] AGV, or Automated Guided Vehicle, refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices. It can travel along a predetermined guide path and possesses safety protection and various transfer functions. Most AGVs on the market are used for transporting materials, specifically by using a lifting structure protruding from the side of the vehicle to raise small objects for transport. However, vision-recognition adaptive lifting AGVs utilize vision recognition technology, which offers advantages such as high flexibility and rich information acquisition. By installing cameras and other visual sensors, AGVs can acquire real-time images of their surroundings. Through image processing and analysis algorithms, they can accurately identify and locate their own position, travel path, and the position of materials. However, in existing technologies, when the vision recognition equipment malfunctions or the drive unit fails, causing the AGV to lose control and collide with an object, the impact force can be excessive, transmitting destructive force to the vision recognition equipment. This can severely damage the lens or internal electronic components of the vision recognition equipment, resulting in irreparable damage. Furthermore, existing technologies only buffer the impact force by setting a buffer structure in the direction of AGV travel. However, when the impact force is too large, the visual recognition device will still be subjected to a large impact force, resulting in a low anti-collision effect. Utility Model Content

[0003] The purpose of this invention is to provide a visual recognition adaptive lifting AGV to solve the problem that the existing technology only uses a buffer structure in the AGV's traveling direction to buffer the impact force, but when the impact force is too large, the visual recognition device will still be subjected to a large impact force, resulting in a low anti-collision effect.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows: a visual recognition adaptive lifting AGV, comprising a trolley body, a reinforcement mechanism, a protection mechanism, and a support mechanism; a visual recognition device is fixed on the front of the trolley body; the bottom of the trolley body is provided with a cavity, which is used to install the trolley body's moving wheel set and to allow the protection mechanism and the support mechanism to move.

[0005] The reinforcement mechanism is installed on the front of the vehicle body and located below the visual recognition device; the reinforcement mechanism includes a reinforcement box and a support assembly, the reinforcement box is fixed to the front of the vehicle body, and a horizontal contraction hole is provided at the front of the reinforcement box; the support assembly includes several support rods; the support rods are fixed inside the reinforcement box;

[0006] The protective mechanism includes a sliding frame, a buffer anti-collision box, a first elastic element, a push rod, and a drive frame. The rear side of the buffer anti-collision box is fixed to the sliding frame, and the buffer anti-collision box can slide within a contraction hole. The sliding frame can move within the contraction hole. The sliding frame is located inside the reinforced box. The sliding frame has a first sliding hole corresponding to the support rod, and the support rod is slidably connected to the first sliding hole. Both sides of the first elastic element are connected to the reinforced box and the sliding frame, respectively. Both sides of the push rod are fixed to the sliding frame and the drive frame, respectively. The reinforced box has a second sliding hole, and the push rod is slidably connected to the second sliding hole. The drive frame is located inside the cavity and outside the reinforced box. The bottom of the drive frame is a first inclined surface.

[0007] The supporting mechanism includes a support body, a lifting plate, and a support block. The lifting plate is provided in two sets and is fixed on both sides of the support body respectively. The top of the support body is provided as a second inclined surface that cooperates with the first inclined surface. The side of the second inclined surface closer to the reinforcement box is lower than the other side. The support block is installed at the bottom of the support body. The sides of the cavity are provided with slide rail frames, and the lifting plate is vertically slidably connected in the slide rail frames. A second elastic element is installed between the top of the lifting plate and the top of the cavity.

[0008] Furthermore, the supporting mechanism also includes an elastic sheet and a resistance support plate located within the cavity; the two sides of the elastic sheet are respectively connected to the resistance support plate and the support block, and the elastic sheet and the resistance support plate are located on the side of the support block away from the reinforcement box; when the elastic sheet is not under force, the bottom of the resistance support plate is flush with the bottom of the support block; the lower side of the support block has an arc-shaped structure.

[0009] Furthermore, the support assembly is provided in two sets, with the two sets of support assemblies located on the upper and lower sides of the contraction hole, respectively.

[0010] Furthermore, the upper and lower sides of the sliding frame extend beyond the upper and lower sides of the buffer anti-collision box, and the two sets of the support components are located at the position where the sliding frame extends beyond the buffer anti-collision box.

[0011] Furthermore, the drive frame has a right-angled triangular structure.

[0012] Furthermore, the slide rail frame includes four sets of slide rods, which form a rectangular frame; the lifting plate has a cross structure, and the four protrusions of the lifting plate correspond to the four sides of the rectangular frame and are vertically slidably connected to the four sides of the rectangular frame.

[0013] The working principle of this technical solution is as follows:

[0014] When the vehicle collides with a wall or other faulty object, the buffer box will first contact the wall. Then, the buffer box will move within a contraction hole inside the reinforced box. The buffer box drives the sliding frame to move, sliding on the support rod and stretching the first elastic element to cushion the impact. Simultaneously, the sliding frame also drives the push rod to move within the second sliding hole. The push rod drives the drive frame to move into the cavity. Through the cooperation of the first inclined surface on the drive frame and the second inclined surface on the support body, if the impact force is too large, it can push the support body downwards, causing the bottom of the support block to contact the ground. Furthermore, the continuous operation of the drive device that moves the vehicle strengthens the force of the buffer box contracting into the reinforced box, causing the drive frame to push the support body downwards, lifting the end of the vehicle closest to the buffer box, raising the front of the vehicle, and simultaneously reducing the friction between the moving wheels and the ground, causing the moving wheels to slip. Therefore, by tilting the head of the AGV body upwards, not only is direct contact between the visual recognition device and the object being impacted avoided when the AGV body collides with the wall, preventing damage to the visual recognition device, but also, as the buffer anti-collision box retracts into the reinforced box upon impact, the tilting of the AGV body at the impact end further buffers the impact force during the upward friction and sliding process between the end of the buffer anti-collision box and the wall, significantly improving the active impact safety of the AGV.

[0015] When the support block contacts the ground, the resistance support plate also contacts the ground. When the front of the trolley body is raised, the angle between the support block and the ground changes, causing the support block to slide on the ground. After the support block tilts to the ground, it applies a bending force to the elastic sheet, causing the elastic sheet to deform elastically, keeping the resistance support plate in continuous contact with the ground, thus generating continuous friction between the resistance support plate and the ground. Therefore, after the trolley body impacts, during the continuous operation of the drive device, the resistance support plate can enhance the braking force, causing the trolley body to generate a continuous forward impact jerking force, improving the anti-collision effect of the device. When the buffer anti-collision box resets, the resistance support plate will be reset by the restoring force of the second elastic element.

[0016] The beneficial effects of this technical solution are as follows:

[0017] ①This technical solution can strengthen the trolley body itself to a certain extent by setting up a reinforcement box.

[0018] ②This technical solution, by setting up a buffer anti-collision box and a first elastic element, can buffer the impact force when the trolley body is hit.

[0019] ③ This technical solution, through the coordination of the drive frame and the support body, can convert the backward impact force into the downward pressing force of the support block. Because the drive device operates continuously, the front of the AGV will tilt upwards, preventing the visual recognition device from directly contacting the impacted object when the AGV collides with the wall, thus preventing damage to the visual recognition device. Simultaneously, during the upward friction and sliding process between the end of the buffer anti-collision box and the wall, the impact force is further buffered, significantly improving the active collision safety of this AGV.

[0020] ④ This technical solution incorporates an elastic sheet and a resistance support plate, with the lower side of the support block featuring an arc-shaped structure. When the head of the trolley body is raised, the angle between the support block and the ground changes, causing the support block to slide on the ground. As the support block tilts relative to the ground, it applies a bending force to the elastic sheet, causing elastic deformation and ensuring continuous contact between the resistance support plate and the ground. This generates continuous friction between the resistance support plate and the ground. Therefore, after a collision, during the continuous operation of the drive unit, the resistance support plate enhances the braking force, causing the trolley body to generate a continuous forward impact jerking force, thus improving the anti-collision effect of the device. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of a visual recognition adaptive lifting AGV of the present invention;

[0022] Figure 2 for Figure 1 A schematic diagram of the first structure at the bottom;

[0023] Figure 3 for Figure 1 A schematic diagram of the second structure at the bottom;

[0024] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0025] Figure 5 for Figure 2 Structural diagram of the reinforcement mechanism, protection mechanism, and support mechanism;

[0026] Figure 6 for Figure 5 Structural diagram of the central protective mechanism and the supporting mechanism;

[0027] Figure 7 for Figure 5 A structural diagram of the reinforcement and protection mechanisms. Detailed Implementation

[0028] The following detailed description illustrates the specific implementation method:

[0029] The reference numerals in the accompanying drawings include: 1. Car body; 101. Lifting frame; 102. Visual recognition device; 103. Drive device; 104. Cavity; 105. Slide rail frame; 106. Moving wheel set; 2. Reinforcing mechanism; 201. Reinforcing box; 202. Shrink hole; 203. Support rod; 3. Protective mechanism; 3. Sliding frame; 301. Buffer anti-collision box; 302. First elastic element; 303. Push rod; 304. Drive frame; 305. Supporting mechanism; 4. Lifting plate; 401. Support body; 402. Support block; 403. Elastic sheet; 404. Resistance support plate; 405. Second elastic element; 406.

[0030] 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.

[0031] The basic implementation examples are as follows: Figure 1-7 As shown: A visual recognition adaptive lifting AGV includes a vehicle body 1, a reinforcement mechanism 2, a protective mechanism 3, and a support mechanism 4. A lifting frame 101 is provided on the top of the vehicle body 1, which is lifted by the lifting mechanism inside the vehicle body 1. A visual recognition device 102 is fixed to the front of the vehicle body 1. A cavity 104 is provided at the bottom of the vehicle body 1, which is used to install the moving wheel set 106 of the vehicle body 1 and to allow movement of the protective mechanism 3 and the support mechanism 4.

[0032] like Figure 3 , 4 As shown, the reinforcement mechanism 2 is installed on the front of the vehicle body 1 and located below the visual recognition device 102. The reinforcement mechanism 2 includes a reinforcement box 201 and a support assembly. The reinforcement box 201 is fixed to the front of the vehicle body 1, and a horizontal contraction hole 202 is provided at the front of the reinforcement box 201. The support assembly includes several support rods 203; the support rods 203 are fixed inside the reinforcement box 201. Specifically, there are two sets of support assemblies, and the two sets of support assemblies are located on the upper and lower sides of the contraction hole 202, respectively.

[0033] like Figure 5 , 6As shown, the protective mechanism 3 includes a sliding frame 301, a buffer anti-collision box 302, a first elastic element 303, a push rod 304, and a drive frame 305. The rear side of the buffer anti-collision box 302 is fixed to the sliding frame 301, and the buffer anti-collision box 302 can slide within the contraction hole 202. The sliding frame 301 can move within the contraction hole 202. The sliding frame 301 is located inside the reinforcement box 201. The upper and lower sides of the sliding frame 301 extend beyond the upper and lower sides of the buffer anti-collision box 302, and two sets of support components are located at the position where the sliding frame 301 extends beyond the buffer anti-collision box 302. The sliding frame 301 is provided with a first sliding hole corresponding to the support rod 203, and the support rod 203 is slidably connected in the first sliding hole. The two sides of the first elastic element 303 are respectively connected to the reinforcement box 201 and the sliding frame 301. The first elastic element 303 is a spring, and the support rod 203 is located inside the first elastic element 303. The push rod 304 is fixed to the sliding frame 301 and the drive frame 305 on both sides respectively; the reinforcing box 201 is provided with a second sliding hole, and the push rod 304 is slidably connected in the second sliding hole. The drive frame 305 is located inside the cavity 104 and outside the reinforcing box 201; the bottom of the drive frame 305 is set as a first inclined surface, and the drive frame 305 has a right-angled triangular structure.

[0034] The supporting mechanism 4 is located within the cavity 104. The supporting mechanism 4 includes a support body 402, a lifting plate 401, a support block 403, an elastic sheet 404, and a resistance support plate 405. Two sets of lifting plates 401 are provided and fixed to both sides of the support body 402. The top of the support body 402 is configured as a second inclined surface that mates with the first inclined surface; the side of the second inclined surface closer to the reinforcement box 201 is lower than the other side. The support block 403 is installed at the bottom of the support body 402. The lower side of the support block 403 has an arc-shaped structure. Multiple sets of support blocks 403 are provided; in this embodiment, three sets are provided. The two sides of the elastic sheet 404 are connected to the resistance support plate 405 and the support block 403, respectively. The elastic sheet 404 and the resistance support plate 405 are located on the side of the support block 403 furthest from the reinforcement box 201. When the elastic sheet 404 is not under stress, the bottom of the resistance support plate 405 is flush with the bottom of the support block 403.

[0035] like Figure 4 The cavity 104 has slide rails 105 on both sides, and the lifting plate 401 is vertically slidably connected within the slide rails 105. A second elastic element 406 (specifically a spring) is installed between the top of the lifting plate 401 and the top of the cavity 104, and the two sides of the second elastic element 406 are respectively connected to the top of the lifting plate 401 and the top of the cavity 104. The slide rails 105 include four sets of slide rods, which form a rectangular frame. The lifting plate 401 has a cross structure, and the four protrusions of the lifting plate 401 correspond to the four sides of the rectangular frame and are vertically slidably connected to the four sides of the rectangular frame.

[0036] The specific implementation process is as follows:

[0037] When the vehicle body 1 collides with a wall or other faulty object, the buffer anti-collision box 302 will first contact the wall. Subsequently, the buffer anti-collision box 302 will move within the contraction hole 202 inside the reinforcement box 201. The buffer anti-collision box 302 drives the sliding frame 301 to move. The sliding frame 301 slides on the support rod 203 and stretches the first elastic element 303 to buffer the impact force. At the same time, the sliding frame 301 will also drive the push rod 304 to move within the second sliding hole. The push rod 304 drives the drive frame 305 to move into the cavity. Through the cooperation of the first inclined surface on the drive frame 305 and the second inclined surface on the support body 402, the support body 402 can be pushed downward when the impact force is too large, so that the bottom of the support block 403 contacts the ground. Furthermore, the continuous operation of the drive device 103, which moves the AGV body 1, strengthens the force of the buffer anti-collision box 302 retracting into the reinforced box 201. This causes the drive frame 305 to push the support body 402 down, lifting the end of the AGV body 1 closest to the buffer anti-collision box 302, thus raising the front of the AGV body 1. Simultaneously, this reduces the friction between the moving wheel set 106 and the ground, causing the moving wheel set 106 to slip. Therefore, by raising the front of the AGV body 1, not only is direct contact between the visual recognition device 102 and the impact object avoided when the AGV body 1 collides with the wall, preventing damage to the visual recognition device 102, but also, while the buffer anti-collision box 302 retracts into the reinforced box 201 upon impact, the raised impact end of the AGV further buffers the impact force during the upward friction and sliding process between the end of the buffer anti-collision box 302 and the wall, significantly improving the active collision safety of the AGV.

[0038] When the support block 403 contacts the ground, the resistance support plate 405 also contacts the ground. When the head of the trolley body 1 is raised, the angle between the support block 403 and the ground changes, causing the support block 403 to slide on the ground. After the support block 403 tilts to the ground, it applies a bending force to the elastic sheet 404, causing the elastic sheet 404 to deform elastically, keeping the resistance support plate 405 in continuous contact with the ground, thus generating continuous friction between the resistance support plate 405 and the ground. Therefore, after the trolley body 1 impacts, during the continuous operation of the drive device 103, the resistance support plate 405 can enhance the braking force, causing the trolley body 1 to generate a continuous forward impact jerking force, improving the anti-collision effect of the device. When the buffer anti-collision box 302 resets, the resistance support plate 405 will be reset by the restoring force of the second elastic element 406.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0040] The above descriptions are merely embodiments of this utility model. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are knowledgeable of all existing technologies in that field, and possess the ability to apply conventional experimental methods prior to that date. Therefore, those skilled in the art can, based on the guidance provided in this application, improve and implement this solution in conjunction with their own capabilities. Typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A visual recognition adaptive lifting AGV, characterized in that: It includes a trolley body (1), a reinforcing mechanism (2), a protective mechanism (3), and a supporting mechanism (4); a visual recognition device (102) is fixed on the front of the trolley body (1); the bottom of the trolley body (1) is provided with a cavity (104), which is used to install the moving wheel set (106) of the trolley body (1) and to allow the protective mechanism (3) and the supporting mechanism (4) to move; The reinforcement mechanism (2) is installed on the front of the trolley body (1) and located below the visual recognition device (102); the reinforcement mechanism (2) includes a reinforcement box (201) and a support assembly. The reinforcement box (201) is fixed on the front of the trolley body (1), and a horizontal contraction hole (202) is provided in front of the reinforcement box (201); the support assembly includes a plurality of support rods (203); the support rods (203) are fixed inside the reinforcement box (201); The protective mechanism (3) includes a sliding frame (301), a buffer anti-collision box (302), a first elastic element (303), a push rod (304), and a drive frame (305). The rear side of the buffer anti-collision box (302) is fixed to the sliding frame (301). The buffer anti-collision box (302) can slide within the contraction hole (202), and the sliding frame (301) can move within the contraction hole (202). The sliding frame (301) is located inside the reinforcement box (201). The sliding frame (301) is provided with a first sliding hole corresponding to the support rod (203). The support rod (203) is slidably connected in the first sliding hole; the two sides of the first elastic element (303) are respectively connected to the reinforcing box (201) and the sliding frame (301); the two sides of the push rod (304) are respectively fixed to the sliding frame (301) and the drive frame (305); the reinforcing box (201) is provided with a second sliding hole, and the push rod (304) is slidably connected in the second sliding hole; the drive frame (305) is located in the cavity (104) and outside the reinforcing box (201); the bottom of the drive frame (305) is provided with a first inclined surface; The supporting mechanism (4) includes a support body (402), a lifting plate (401), and a support block (403). The lifting plate (401) is provided in two sets and is fixed on both sides of the support body (402). The top of the support body (402) is provided as a second inclined surface that cooperates with the first inclined surface. The side of the second inclined surface near the reinforcing box (201) is lower than the other side. The support block (403) is installed at the bottom of the support body (402). The sides of the cavity (104) are provided with slide rails (105), and the lifting plate (401) is vertically slidably connected in the slide rails (105). A second elastic element (406) is installed between the top of the lifting plate (401) and the top of the cavity (104).

2. The visual recognition adaptive lifting AGV according to claim 1, characterized in that: The supporting mechanism (4) further includes an elastic sheet (404) and a resistance support plate (405) located in the cavity (104); the two sides of the elastic sheet (404) are connected to the resistance support plate (405) and the support block (403) respectively, and the elastic sheet (404) and the resistance support plate (405) are located on the side of the support block (403) away from the reinforcement box (201); when the elastic sheet (404) is not under force, the bottom of the resistance support plate (405) is flush with the bottom of the support block (403); the lower side of the support block (403) has an arc-shaped structure.

3. The visual recognition adaptive lifting AGV according to claim 1, characterized in that: The support assembly is provided in two sets, and the two sets of support assemblies are located on the upper and lower sides of the contraction hole (202) respectively.

4. The visual recognition adaptive lifting AGV according to claim 3, characterized in that: The upper and lower sides of the sliding frame (301) extend beyond the upper and lower sides of the buffer anti-collision box (302), and the two sets of the support components are located at the position where the sliding frame (301) extends beyond the buffer anti-collision box (302).

5. The visual recognition adaptive lifting AGV according to claim 1, characterized in that: The drive frame (305) has a right-angled triangular structure.

6. The visual recognition adaptive lifting AGV according to claim 1, characterized in that: The slide rail frame (105) includes four sets of slide rods, which form a rectangular frame; the lifting plate (401) has a cross structure, and the four protrusions of the lifting plate (401) correspond to the four sides of the rectangular frame and are vertically slidably connected to the four sides of the rectangular frame.

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