An automatic obstacle-avoiding AGV trolley

Abstract

The utility model provides an automatic obstacle avoidance formula AGV dolly relates to obstacle avoidance formula AGV dolly field, including main part unit, including car body, set up in the car body front and back ultrasonic sensor, and set up in the main part unit top's bearing assembly, protection subassembly, including connecting seat, the movable plate of swing connection in the inner chamber of connecting seat, the utility model discloses a ultrasonic sensor can detect the obstacle in surrounding environment, so as to facilitate the car body to avoid the obstacle, realizes automatic obstacle avoidance function, through bearing assembly, it is convenient to load and unload to goods flexibly, through the fender, the impact force can be transmitted to the support and movable plate, movable plate is swing in the inner chamber of connecting seat, drives connecting rod to push movable block to move, movable block extrudes arc spring, arc spring absorbs part of impact energy and occurs elastic deformation, at the same time, spring damper will further buffer impact force, reduce the impact to the car body, prevent the car body from deforming damage due to impact, prolong the service life of dolly.

Description

Technical Field

[0001] This utility model belongs to the field of obstacle-avoiding AGV vehicles, specifically an automatic obstacle-avoiding AGV vehicle. Background Technology

[0002] Automatic obstacle avoidance AGVs, also known as automated guided vehicles, are intelligent logistics equipment with autonomous navigation and obstacle avoidance functions. They can autonomously plan their routes according to pre-set paths or based on real-time environmental information, move flexibly in complex working environments and automatically avoid obstacles, efficiently completing tasks such as cargo handling, storage, and sorting. They are widely used in modern logistics, manufacturing, and warehouse management.

[0003] Traditional automated guided vehicles (AGVs) with obstacle avoidance typically use sensors for navigation, positioning, and obstacle avoidance. During operation, magnetic strips or nails are laid on the ground, and magnetic sensors mounted on the bottom of the AGV detect the magnetic field signals generated by these strips or nails to determine the vehicle's position relative to them, thus achieving navigation and positioning. When encountering an obstacle, ultrasonic sensors on the vehicle emit and receive reflected signals. Based on the signal strength and time difference, the distance to the obstacle is calculated. When the distance is less than a set safety threshold, the vehicle automatically decelerates or stops to avoid a collision, thus achieving obstacle avoidance.

[0004] However, in actual use, traditional automatic obstacle avoidance AGVs have poor protection because their surface is only protected by an outer shell. As a result, when they are hit by falling objects during operation, their surface is easily deformed and damaged, which will affect the service life of the AGV.

[0005] In summary, this utility model provides an automatic obstacle avoidance AGV to solve the above problems. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] An automatic obstacle avoidance AGV (Automated Guided Vehicle) includes

[0008] The main unit includes a vehicle body, ultrasonic sensors disposed on the front and back of the vehicle body, and a support assembly disposed on the top of the main unit;

[0009] The protective assembly includes a connecting seat, a movable plate movably connected to the inner cavity of the connecting seat, a support rod fixedly connected to the top of the movable plate, arc-shaped spring pieces disposed on both sides of the inner cavity of the connecting seat, movable blocks movably connected to both sides of the inner cavity of the connecting seat, a connecting rod movably connected between the movable blocks and the movable plate via a rotating shaft, a stop fixedly connected to the top of the support rod, and spring dampers fixedly connected to the bottom perimeter of the stop.

[0010] Furthermore, in this utility model, the lower ends of both the front and back sides of the vehicle body are fixedly connected with fixing rods, and one end of the fixing rod is fixedly connected with a stop bar.

[0011] Furthermore, in this utility model, the supporting component includes a hydraulic cylinder fixedly connected to the top of the vehicle body, a connecting plate fixedly connected to the output end of the hydraulic cylinder, and a support plate fixedly connected to the top of the connecting plate.

[0012] Furthermore, in this utility model, the bottom of the spring damper is fixedly connected to the vehicle body, one end of the arc-shaped spring is fixedly connected to the inner wall of the connecting seat, and the other end of the arc-shaped spring is fixedly connected to the movable block.

[0013] Furthermore, in this utility model, a limiting block is fixedly connected to the bottom of the movable block, a limiting groove is formed at the bottom of the inner cavity of the connecting seat, the limiting block is located in the inner cavity of the limiting groove, and is slidably connected to the inner cavity of the limiting groove.

[0014] Beneficial effects: This utility model has the following beneficial effects:

[0015] This invention uses an ultrasonic sensor to detect obstacles in the surrounding environment, allowing the vehicle to avoid them and achieve automatic obstacle avoidance. The support component facilitates flexible loading and unloading of goods, and the baffle transmits the impact force to the support rod and the movable plate. The movable plate moves within the connecting seat cavity, driving the connecting rod to push the movable block to move. The movable block compresses the arc-shaped spring, which undergoes elastic deformation to absorb part of the impact energy. At the same time, the spring damper further buffers the impact force, reducing the impact on the vehicle body, preventing deformation and damage due to the impact, and extending the service life of the vehicle. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the retaining structure of this utility model;

[0018] Figure 3 This is a cross-sectional structural diagram of the connector of this utility model;

[0019] Figure 4This is a utility model Figure 3 A magnified view of the structure at point A in the middle;

[0020] Figure 5 This is a schematic diagram of the structure of the pallet of this utility model from a downward view.

[0021] In the picture:

[0022] 100. Main body unit; 110. Vehicle body; 111. Fixing rod; 112. Stop bar; 120. Ultrasonic sensor; 130. Support assembly; 131. Hydraulic cylinder; 132. Connecting plate; 133. Support plate; 200. Protective assembly; 210. Connecting seat; 211. Limiting groove; 220. Movable plate; 230. Support rod; 240. Arc-shaped spring; 250. Movable block; 251. Limiting block; 260. Connecting rod; 270. Stop frame; 280. Spring damper. Detailed Implementation

[0023] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model.

[0024] Example 1

[0025] like Figure 1-5 As shown, this is the first embodiment of the present invention, which provides an automatic obstacle avoidance AGV (Automated Guided Vehicle) including...

[0026] The main unit 100 includes a vehicle body 110, ultrasonic sensors 120 disposed on the front and back of the vehicle body 110, and a support assembly 130 disposed on the top of the main unit 100.

[0027] The protective assembly 200 includes a connecting seat 210, a movable plate 220 movably connected to the inner cavity of the connecting seat 210, a support rod 230 fixedly connected to the top of the movable plate 220, arc-shaped spring pieces 240 disposed on both sides of the inner cavity of the connecting seat 210, movable blocks 250 movably connected to both sides of the inner cavity of the connecting seat 210, a connecting rod 260 movably connected between the movable blocks 250 and the movable plate 220 via a rotating shaft, a stop 270 fixedly connected to the top of the support rod 230, and a spring damper 280 fixedly connected to the bottom perimeter of the stop 270.

[0028] like Figure 1-5 As shown, ultrasonic sensors 120 are installed on the front and back of the vehicle body 110, which can transmit and receive ultrasonic signals in real time to detect obstacles in the surrounding environment, thereby enabling the vehicle body 110 to avoid obstacles and achieve automatic obstacle avoidance. The support component 130 can easily lift or lower the cargo, realizing flexible loading and unloading of cargo. When the vehicle body 110 is subjected to external impact during cargo transportation, the impact force first acts on the baffle 270, and the baffle 270 transmits the impact force to the support rod 230, which drives the movable plate. 220 moves downward within the inner cavity of the connecting seat 210. When the movable plate 220 moves, it pushes the movable block 250 to move on both sides of the inner cavity of the connecting seat 210 through the connecting rod 260. During the movement of the movable block 250, it squeezes the arc-shaped spring sheet 240, which undergoes elastic deformation to absorb part of the impact energy. At the same time, the spring damper 280 also undergoes elastic deformation under the drive of the baffle 270, further buffering the impact force, thereby reducing the impact on the vehicle body 110, preventing the vehicle body 110 from being deformed and damaged due to the impact, and extending the service life of the car.

[0029] Example 2

[0030] Reference Figure 1 and 5 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0031] In this embodiment, a fixing rod 111 is fixedly connected to the lower ends of both the front and back sides of the vehicle body 110, and a stop bar 112 is fixedly connected to one end of the fixing rod 111.

[0032] The support assembly 130 includes a hydraulic cylinder 131 fixedly connected to the top of the vehicle body 110, a connecting plate 132 fixedly connected to the output end of the hydraulic cylinder 131, and a support plate 133 fixedly connected to the top of the connecting plate 132.

[0033] like Figure 1 and 5 As shown, the fixed rods 111 fixedly connected to the lower ends of the front and back sides of the vehicle body 110, and the baffles 112 fixedly connected to one end of the fixed rods 111, can provide protection for the lower ends of the front and back of the AGV. The baffles 112 can block these impacts to a certain extent and reduce the direct impact of the impact on the lower ends of the front and back of the vehicle body 110. Through the extension and retraction of the hydraulic cylinder 131 in the support assembly 130, the pallet 133 can be moved up and down. During the loading and unloading of goods, the height of the pallet 133 can be flexibly adjusted according to the loading and unloading requirements of different goods, so as to realize the loading and unloading of goods.

[0034] Example 3

[0035] Reference Figure 1-4This is the third embodiment of the present invention, which is based on the first two embodiments.

[0036] In this embodiment, the bottom of the spring damper 280 is fixedly connected to the vehicle body 110, one end of the arc-shaped spring piece 240 is fixedly connected to the inner wall of the connecting seat 210, and the other end of the arc-shaped spring piece 240 is fixedly connected to the movable block 250.

[0037] The bottom of the movable block 250 is fixedly connected to the limiting block 251. The bottom of the inner cavity of the connecting seat 210 is provided with a limiting groove 211. The limiting block 251 is located in the inner cavity of the limiting groove 211 and is slidably connected to the inner cavity of the limiting groove 211.

[0038] like Figure 1-4 As shown, the bottom of the spring damper 280 is fixedly connected to the vehicle body 110. It absorbs and dissipates some of the impact energy during a collision, acting as a buffer to reduce the impact force on the vehicle body 110 and protect it from damage. The fixed connection ensures the stability of the spring damper 280 during vehicle operation and impacts, allowing it to reliably perform its buffering function. One end of the arc-shaped spring piece 240 is fixedly connected to the inner wall of the connecting seat 210, and the other end of the arc-shaped spring piece 240 is fixedly connected to the movable block 250. Therefore, during an impact, the movable block... The movable block 250 moves under the push of the connecting rod 260, squeezing the arc-shaped spring sheet 240. The arc-shaped spring sheet 240 undergoes elastic deformation, converting the impact energy into elastic potential energy and storing it. When the impact force disappears, the arc-shaped spring sheet 240 returns to its original shape, releasing the stored elastic potential energy, thus realizing the absorption and release of energy and further buffering the impact force. The movement range of the movable block 250 is limited by the sliding of the limiting block 251 in the limiting groove 211, preventing the movable block 250 from moving excessively when subjected to impact force, and ensuring the stability and straightness of the movable block 250 during movement.

[0039] In operation, the hydraulic cylinder 131 in the supporting component 130 first operates under the command of the control system. The output end of the hydraulic cylinder 131 drives the connecting plate 132 to move up and down, which in turn drives the pallet 133 to move up and down. By adjusting the height of the pallet 133, goods can be easily placed on or removed from the pallet 133, achieving flexible loading and unloading of goods. Then, the AGV is started, and the ultrasonic sensor 120 starts working, capable of transmitting and receiving ultrasonic signals in real time to detect obstacles in the surrounding environment. When an obstacle is detected in front or behind, the vehicle body 110 will avoid the obstacle and drive towards the destination based on the signal fed back by the ultrasonic sensor 120, thereby realizing the automatic obstacle avoidance function. During operation, if an external impact occurs, the impact force is first applied to the baffle 270, which then transmits the impact force to the support rod 230. The support rod 230 drives the movable plate 220 to move downward within the cavity of the connecting seat 210. As the movable plate 220 moves, it pushes the movable block 250 to move on both sides of the cavity of the connecting seat 210 via the connecting rod 260. During the movement of the movable block 250, it compresses the arc-shaped spring sheet 240, causing the arc-shaped spring sheet 240 to undergo elastic deformation and absorb some of the impact energy. At the same time, the spring damper 280 also undergoes elastic deformation under the action of the baffle 270, further buffering the impact force. This reduces the impact on the vehicle body 110, prevents the vehicle body 110 from being deformed and damaged due to the impact, and extends the service life of the vehicle.

[0040] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0041] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. An automatic obstacle avoidance AGV (Automated Guided Vehicle), characterized in that: include The main unit (100) includes a vehicle body (110), ultrasonic sensors (120) disposed on the front and back of the vehicle body (110), and a support assembly (130) disposed on the top of the main unit (100). The protective assembly (200) includes a connecting seat (210), a movable plate (220) movably connected to the inner cavity of the connecting seat (210), a support rod (230) fixedly connected to the top of the movable plate (220), arc-shaped spring pieces (240) disposed on both sides of the inner cavity of the connecting seat (210), movable blocks (250) movably connected to both sides of the inner cavity of the connecting seat (210), a connecting rod (260) movably connected between the movable blocks (250) and the movable plate (220) via a rotating shaft, a stop (270) fixedly connected to the top of the support rod (230), and a spring damper (280) fixedly connected to the bottom perimeter of the stop (270).

2. The automatic obstacle avoidance AGV as described in claim 1, characterized in that: The lower ends of the front and back sides of the vehicle body (110) are fixedly connected to a fixing rod (111), and a stop bar (112) is fixedly connected to one end of the fixing rod (111).

3. The automatic obstacle avoidance AGV as described in claim 1, characterized in that: The support assembly (130) includes a hydraulic cylinder (131) fixedly connected to the top of the vehicle body (110), a connecting plate (132) fixedly connected to the output end of the hydraulic cylinder (131), and a support plate (133) fixedly connected to the top of the connecting plate (132).

4. The automatic obstacle avoidance AGV as described in claim 1, characterized in that: The bottom of the spring damper (280) is fixedly connected to the vehicle body (110), one end of the arc-shaped spring piece (240) is fixedly connected to the inner wall of the connecting seat (210), and the other end of the arc-shaped spring piece (240) is fixedly connected to the movable block (250).

5. The automatic obstacle avoidance AGV as described in claim 1, characterized in that: The bottom of the movable block (250) is fixedly connected to a limiting block (251), and a limiting groove (211) is opened at the bottom of the inner cavity of the connecting seat (210). The limiting block (251) is located in the inner cavity of the limiting groove (211) and is slidably connected to the inner cavity of the limiting groove (211).

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