CN111252708A - Mechanical anti-collision device suitable for AGV and AGV - Google Patents
Mechanical anti-collision device suitable for AGV and AGV Download PDFInfo
- Publication number
- CN111252708A CN111252708A CN202010180825.1A CN202010180825A CN111252708A CN 111252708 A CN111252708 A CN 111252708A CN 202010180825 A CN202010180825 A CN 202010180825A CN 111252708 A CN111252708 A CN 111252708A
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- Prior art keywords
- rope
- agv
- sensor
- mechanical
- bump guard
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims 1
- 239000000806 elastomer Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Vibration Dampers (AREA)
Abstract
The invention relates to the field of automation logistics, in particular to a mechanical safety design of an AGV. The invention is realized by the following technical scheme: the utility model provides a mechanical buffer stop suitable for AGV, contains the base plate, its characterized in that: install low level buffer stop on the base plate, low level buffer stop contain with base connection's peripheral slab, one end with the base connection other end with the elastic support piece that the internal surface of peripheral slab contradicts and both ends respectively with the connection rope that the different positions of peripheral slab are connected, it contains the rope body to connect the rope, low level buffer stop still contains the sensor, the sensor contains the confession the mouth that passes through that the rope body passes. The invention aims to provide a mechanical anti-collision device suitable for an AGV and the AGV.
Description
Technical Field
The invention relates to the field of automation logistics, in particular to a mechanical safety design of an AGV.
Background
An AGV (Automated Guided Vehicle) is a Vehicle equipped with an electromagnetic or optical automatic guide device, and is capable of traveling along a predetermined guide path. With the progress of information technology and the maturity of automation level, the application of the AGV is more and more common, and the AGV is widely applied to various fields of transportation, stacking and logistics.
For example, CN201920154817.2 discloses an AGV cart, which includes an automatic guidance and power system for controlling the forward movement of the cart body. The automatic guided vehicle is characterized in that a receiving and feeding mechanism and an AGV controller are arranged on the vehicle body, and the AGV uses the receiving and feeding mechanism to carry and convey the goods.
The AGV is used as a new technology product and a high value-added product, has high requirements on safety, and not only is the safety of goods reflected, but also the safety protection of a vehicle body is reflected. In the prior art, in order to avoid collision of the AGVs during driving, an obstacle avoidance sensor is often used. If optical obstacle avoidance sensors are arranged at different heights, obstacles are detected in real time by infrared reflection technology, so that collision is avoided.
However, such a technical solution has certain drawbacks, on one hand, inductors need to be installed at different heights, the number of inductors is often two or more, and the production and use costs are increased. On the other hand, such a technical solution is often poor in detection effect at a low height position.
Disclosure of Invention
The invention aims to provide a mechanical anti-collision device suitable for an AGV and the AGV.
The technical purpose of the invention is realized by the following technical scheme: the utility model provides a mechanical buffer stop suitable for AGV, contains the base plate, its characterized in that: install low level buffer stop on the base plate, low level buffer stop contain with base connection's peripheral slab, one end with the base connection other end with the elastic support piece that the internal surface of peripheral slab contradicts and both ends respectively with the connection rope that the different positions of peripheral slab are connected, it contains the rope body to connect the rope, low level buffer stop still contains the sensor, the sensor contains the confession the mouth that passes through that the rope body passes.
Preferably, the peripheral plate includes a front collision portion and a side collision portion, and the connection string has one end connected to the front collision portion and the other end connected to the side collision portion.
Preferably, the elastic support member has one end connected to the base plate and the other end connected to the head-on collision portion.
Preferably, the two sets of elastic supporting pieces are connected with the frontal collision part.
Preferably, the elastic support member includes a base connected to the base plate, a pushing head connected to the peripheral plate, a guide shaft connected to the pushing head, and an elastic body having one end abutting against the base and the other end abutting against the guide shaft.
Preferably, the elastic support member further includes a sleeve mounted on the inner surface of the base and on the outer surface of the guide shaft.
Preferably, the connection rope further comprises a connection nail, and the rope body is connected with the peripheral plate through the connection nail.
Preferably, the connection rope further comprises a tension adjusting member connected to the rope body and capable of adjusting the length of the connection rope.
Preferably, the sensor is mounted on the substrate.
Preferably, in the connecting rope, a part from the front collision part to the sensor is a first rope segment, a part from the sensor to the side collision part is a second rope segment, an included angle between the first rope segment and an axis in the width direction of the AGV is 90-135 degrees, and an included angle between the second rope segment and the axis in the width direction of the AGV is 0-45 degrees.
Preferably, the connecting ropes are arranged in two sets and arranged in a mirror symmetry mode.
The utility model provides a AGV, contains the automobile body, install the mechanical buffer stop who is applicable to AGV on the automobile body.
Preferably, the vehicle body is provided with an obstacle avoidance radar.
Preferably, the installation height of the obstacle avoidance radar is higher than that of the low-level collision avoidance device.
In conclusion, the invention has the following beneficial effects:
1. and the mechanical detection is adopted, the structure is simple, and the use cost is controllable.
2. Strengthen the collision position to AGV, and be good to AGV's low level protection effect very much.
3. In the collision process, the sensor does not directly receive the impact force, but obtains signals through the movement of the connecting rope, so that the sensor is not disposable and has long service life.
4. The low-position anti-collision device has good self-shape-returning capability after being impacted.
Description of the drawings:
FIG. 1 is a schematic diagram of a first embodiment;
FIG. 2 is a schematic view of the low impact prevention device of FIG. 1;
fig. 3 is a top view of fig. 2.
In the figure:
1. the vehicle comprises a vehicle body, 2, an obstacle avoidance radar, 3, a low-position anti-collision device, 4, a peripheral plate, 41, a front collision part, 42, a side collision part, 5, a base plate, 6, a sensor, 61, a through opening, 7, an elastic supporting piece, 71, a pushing head, 72, a guide shaft, 73, a shaft sleeve, 74, an elastic body, 75, a base, 8, a connecting rope, 81, a rope body, 82, a tension adjusting piece, 83 and a connecting nail.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
As shown in fig. 2 and 3, fig. 2 and 3 are specific implementation structures of the low-position collision avoidance device 3. The base plate 5 is fixedly mounted on the vehicle body 1, and the outer peripheral plate 4 is mounted on the outer side of the base plate 5. The peripheral plate 4 is made of a metal material, such as 65 mn, which has good metal ductility, deformability and resilience. The center-most portion of the peripheral plate 4 faces the front of the AGV body and is a front collision portion 41, and the side collision portions 42 are provided on both sides of the peripheral plate facing the lateral direction of the AGV body.
The elastic support members 7 give elastic support to the frontal collision portion 41 in the front-rear direction, and the elastic support members 7 are provided in two sets in this case, one left and one right, supporting the frontal collision portion 41. Wherein, base 75 is connected with base plate 5, and guide shaft 72 is located the inside of base 75, and the end of guide shaft 72 is connected with pushing head 71. An elastic body 74 is provided between the base 75 and the guide shaft 72, and the elastic body 74 may be a compression spring. The elastic force of the elastic body 74 is applied to the inner surface of the frontal collision portion 41 through the push head 71. The guide shaft 72 ensures the direction of force application. The guide shaft 72 is provided with a sleeve 73 on the outside and the base 75 on the inside, which acts like a bearing, and a self-lubricating sleeve can be used to facilitate relative sliding between the components.
The connecting rope 8 and the sensor 6 are matched for use, and in the scheme, the connecting rope 8 and the sensor 6 are respectively provided with two sets and are arranged in the width direction of the AGV car body 1, namely the directions of two sides.
Specifically, the connecting cord 8 includes a cord body 81, and both ends of the cord body 81 are connected to the front collision portion 41 and the side collision portion 42 by connecting nails 83, respectively. The sensor 6 can be mounted on the substrate 5, the sensor 6 is a mechanical sensor and comprises a detection head, the detection head is provided with a through opening 61, and the rope body 81 passes through the through opening 61. The sensor 6 can obtain a sensing signal by detecting the movement of the head itself.
The connecting rope 8 itself can use common steel wire rope, the rope body 81 is also connected with a tension adjusting piece 82, and the tension adjusting piece 82 can adopt the matching of bolt and screw rod and other parts to adjust the length of itself. The tension adjusting member 82 may be connected at one end to the string body 81 and at the other end to a connecting pin 83. The tension of the entire rope 81 is adjusted by adjusting the length of the tension adjusting member 82 itself.
The entire rope 81 is divided into two pieces in shape due to the pulling of the sensor 6. The part from the front collision part 41 to the sensor 6 is a rope segment I, namely a bo segment in the figure, and the part from the sensor 6 to the side collision part 42 is a rope segment II, namely an oa segment in the figure.
In actual use, when the AGV encounters a frontal collision, such as a collision in the direction a in fig. 3, the frontal collision portion 41 deforms inward, the section bo of the connecting rope 8 is shortened and the section oa of the connecting rope is lengthened due to the tension of the rope, the detecting head of the sensor 6 is pulled in the direction oa by the rope body 81, and the sensor 6 obtains a signal, which is recognized and defined as a frontal collision signal.
When the AGV encounters a side collision, such as a collision in the direction B in fig. 3, the side collision part 42 deforms inward, the section bo of the connecting rope 8 is lengthened due to the tension of the rope, the section oa is shortened, the detection head of the sensor 6 is pulled in the direction ob by the rope body 81, and the sensor 6 obtains a signal, which is recognized as a side collision signal.
In this identification process, sensor 6 does not have the straight face all the time and meets the impact force of collision, relies on the removal of rope to obtain sensing signal, and sensor 6 is difficult for destroying, possesses good life.
In the present case, the entire low-level collision avoidance apparatus 3 has good self-deformation capability after being impacted, in addition to protection of the vehicle body 1 and effective detection of collision. Specifically, the extensibility and elasticity of the peripheral plate 4, the supporting force of the elastic supporting member 7 and the tension of the connecting rope 8 are matched with each other, so that the peripheral plate 4 has good self-shape recovery capability without the influence of external force after collision.
Further, through the test of the applicant, the included angle between the first rope segment and the AGV vehicle width axis in the horizontal direction, namely the included angle between ob and L in FIG. 3, is 90-135 degrees. The included angle between the second rope segment and the axis in the width direction of the AGV, namely the included angle between oa and L in the third drawing is 0-45 degrees. Such an inclined arrangement can further achieve both the tension holding of the string 81, the detection sensitivity holding of the sensor 6, and the tension support of the shape recovery.
Claims (14)
1. The utility model provides a mechanical buffer stop suitable for AGV, contains base plate (5), its characterized in that: install low level buffer stop (3) on base plate (5), low level buffer stop (3) contain with peripheral board (4), one end that base plate (5) are connected the other end with elasticity support piece (7) and both ends that the internal surface of peripheral board (4) contradicts respectively with connection rope (8) that peripheral board (4) different positions are connected, it contains rope body (81) to connect rope (8), low level buffer stop (3) still contain sensor (6), sensor (6) contain the confession pass through mouth (61) that rope body (81) passed.
2. The mechanical bump guard of claim 1, wherein: peripheral board (4) contain head-on collision portion (41) and side collision portion (42), connect rope (8) one end with head-on collision portion (41) are connected, the other end with side collision portion (42) are connected.
3. A mechanical bump guard for an AGV according to claim 2, further comprising: one end of the elastic supporting piece (7) is connected with the base plate (5), and the other end of the elastic supporting piece is connected with the front collision part (41).
4. A mechanical bump guard for an AGV according to claim 3, wherein: the two sets of elastic supporting pieces (7) are connected with the frontal collision part (41).
5. The mechanical bump guard of claim 1, wherein: elasticity support piece (7) contain with base (75) that base plate (5) are connected, with push head (71) that peripheral board (4) are connected, with guiding axle (72) and one end that push head (71) are connected with base (75) are contradicted, the other end with elastomer (74) that guiding axle (72) contradict.
6. The mechanical bump guard of claim 5, wherein: the elastic supporting piece (7) further comprises a shaft sleeve (73), and the shaft sleeve (73) is arranged on the inner surface of the base (75) and on the outer surface of the guide shaft (72).
7. The mechanical bump guard of claim 1, wherein: the connecting rope (8) further comprises a connecting nail (83), and the rope body (81) is connected with the peripheral plate (4) through the connecting nail (83).
8. The mechanical bump guard of claim 1, wherein: the connecting rope (8) also comprises a tension adjusting piece (82) which is connected with the rope body (81) and can adjust the length of the connecting rope.
9. The mechanical bump guard of claim 1, wherein: the sensor (6) is mounted on the substrate (5).
10. A mechanical bump guard for an AGV according to claim 2, further comprising: in the connecting rope (8), the part from the front collision part (41) to the sensor (6) is a first rope segment, the part from the sensor (6) to the side collision part (42) is a second rope segment, the included angle between the first rope segment and the axis of the AGV in the width direction is 90-135 degrees, and the included angle between the second rope segment and the axis of the AGV in the width direction is 0-45 degrees.
11. The mechanical bump guard of claim 1, wherein: the connecting ropes (8) are arranged in two sets and are arranged in a mirror symmetry mode.
12. An AGV comprising a vehicle body (1), characterized in that: the car body (1) is provided with a mechanical bump guard for AGVs according to any of claims 1-11.
13. An AGV according to claim 12, characterised in that: the vehicle body (1) is provided with an obstacle avoidance radar (2).
14. An AGV according to claim 13, characterised in that: the installation height of the obstacle avoidance radar (2) is higher than that of the low-position anti-collision device (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180825.1A CN111252708B (en) | 2020-03-16 | 2020-03-16 | Mechanical anti-collision device suitable for AGV and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180825.1A CN111252708B (en) | 2020-03-16 | 2020-03-16 | Mechanical anti-collision device suitable for AGV and AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111252708A true CN111252708A (en) | 2020-06-09 |
| CN111252708B CN111252708B (en) | 2024-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010180825.1A Active CN111252708B (en) | 2020-03-16 | 2020-03-16 | Mechanical anti-collision device suitable for AGV and AGV |
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| Country | Link |
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| CN (1) | CN111252708B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10230560A1 (en) * | 2002-07-05 | 2004-06-24 | Volkswagen Ag | Motor vehicle impact sensor, especially for supporting, expanding active restraining systems, has at least 2 cords between vehicle and traction sensors providing traction signals to evaluation circuit |
| CN103935365A (en) * | 2014-05-14 | 2014-07-23 | 袁培江 | Intelligent anti-collision system of novel automated guided vehicle for material handling |
| EP2845835A1 (en) * | 2013-09-06 | 2015-03-11 | N & B KNAUF et Cie S.C.S./E.C.V. | Lifting device |
| CN204917859U (en) * | 2015-09-09 | 2015-12-30 | 合肥泰禾光电科技股份有限公司 | Anticollision AGV fork truck |
| CN205575486U (en) * | 2016-01-14 | 2016-09-14 | 广东科达洁能股份有限公司 | Fork truck formula AGV's buffer stop |
| KR101712518B1 (en) * | 2016-06-22 | 2017-03-07 | 디에스중공업(주) | device for reducing collision of Forklift |
| CN107085975A (en) * | 2017-06-23 | 2017-08-22 | 李�诚 | Railroad bridge collision warning system |
| CN212269390U (en) * | 2020-03-16 | 2021-01-01 | 诺力智能装备股份有限公司 | Mechanical anti-collision device suitable for AGV and AGV |
-
2020
- 2020-03-16 CN CN202010180825.1A patent/CN111252708B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10230560A1 (en) * | 2002-07-05 | 2004-06-24 | Volkswagen Ag | Motor vehicle impact sensor, especially for supporting, expanding active restraining systems, has at least 2 cords between vehicle and traction sensors providing traction signals to evaluation circuit |
| EP2845835A1 (en) * | 2013-09-06 | 2015-03-11 | N & B KNAUF et Cie S.C.S./E.C.V. | Lifting device |
| CN103935365A (en) * | 2014-05-14 | 2014-07-23 | 袁培江 | Intelligent anti-collision system of novel automated guided vehicle for material handling |
| CN204917859U (en) * | 2015-09-09 | 2015-12-30 | 合肥泰禾光电科技股份有限公司 | Anticollision AGV fork truck |
| CN205575486U (en) * | 2016-01-14 | 2016-09-14 | 广东科达洁能股份有限公司 | Fork truck formula AGV's buffer stop |
| KR101712518B1 (en) * | 2016-06-22 | 2017-03-07 | 디에스중공업(주) | device for reducing collision of Forklift |
| CN107085975A (en) * | 2017-06-23 | 2017-08-22 | 李�诚 | Railroad bridge collision warning system |
| CN212269390U (en) * | 2020-03-16 | 2021-01-01 | 诺力智能装备股份有限公司 | Mechanical anti-collision device suitable for AGV and AGV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111252708B (en) | 2024-10-01 |
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