CN113104770A - Multifunctional AGV capable of avoiding obstacles and obstacle avoiding method thereof - Google Patents
Multifunctional AGV capable of avoiding obstacles and obstacle avoiding method thereof Download PDFInfo
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- CN113104770A CN113104770A CN202110265204.8A CN202110265204A CN113104770A CN 113104770 A CN113104770 A CN 113104770A CN 202110265204 A CN202110265204 A CN 202110265204A CN 113104770 A CN113104770 A CN 113104770A
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- Prior art keywords
- vehicle body
- obstacle avoidance
- trolley
- wheel
- blocked
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- 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
- B66F9/065—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 non-masted
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- 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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- 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
- B66F9/07568—Steering arrangements
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- 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
- B66F9/07572—Propulsion arrangements
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- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The invention discloses a multifunctional AGV (automatic guided vehicle) capable of avoiding obstacles, which relates to the technical field of AGV trolleys and comprises a vehicle body, wherein driving wheels and steering wheels are fixedly arranged on the vehicle body, a plurality of obstacle avoiding sensors are also fixedly arranged on the periphery of the vehicle body, and an obstacle avoiding device is fixedly arranged on the periphery of the vehicle body and can stretch up and down to lift part or the whole vehicle body. The inside of automobile body is fixed and is provided with elevating gear, and elevating gear's top is fixed and is provided with the layer board that carries cargo, and the layer board that carries cargo can reciprocate under elevating gear's effect. A movement detection device is fixedly arranged on the vehicle body and used for detecting the movement state of the trolley. The obstacle avoidance device can stretch up and down to lift part or the whole vehicle body, so that the purpose of avoiding or passing over obstacles is easily realized, and the adaptability of the trolley in a complex environment is improved. In addition, the cargo supporting plate can move up and down under the action of the lifting device, and the structure can further improve the environment adaptability of the trolley.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to a multifunctional AGV trolley capable of avoiding obstacles and an obstacle avoiding method thereof.
Background
The AGV car is a transport car equipped with automatic guiding devices such as electromagnetic or optical devices, can run along a specified guiding path, has car programming and parking devices, safety protection and various transfer functions, and along with the requirements of industrial automation and intellectualization, various industries, particularly the industries such as warehousing industry and transportation industry, realizes the automation of the whole process of loading, unloading and carrying goods and materials, reduces the dependence on manpower, improves the safety in the working process, and increasingly expands the requirements of clean production and the like.
In the prior art, the information acquisition and transmission technology of the trolley are mature, but when a chassis of the trolley is stumbled by a barrier, the front wheel is difficult to steer to avoid the barrier, so that the normal operation of the trolley is influenced.
Disclosure of Invention
In order to solve the problems, the invention provides a multifunctional AGV capable of avoiding obstacles, which comprises a vehicle body, wherein a driving wheel and a steering wheel are fixedly arranged on the vehicle body, a plurality of obstacle avoiding sensors are fixedly arranged on the periphery of the vehicle body, and an obstacle avoiding device is fixedly arranged on the periphery of the vehicle body and can stretch up and down to lift part or the whole vehicle body;
a lifting device is fixedly arranged inside the vehicle body;
the top of the lifting device is fixedly provided with a cargo carrying supporting plate;
the cargo supporting plate can move up and down under the action of the lifting device;
the trolley is characterized in that a motion detection device is fixedly arranged on the trolley body and used for detecting the motion state of the trolley. The obstacle avoidance device is fixedly arranged on the periphery of the car body, can stretch up and down to lift part of or the whole car body, so that the purpose of avoiding or passing over obstacles is easily achieved, and the adaptability of the trolley in a complex environment is improved. In addition, the lifting device is fixedly arranged in the car body, the top of the lifting device is fixedly provided with the cargo carrying supporting plate, the cargo carrying supporting plate can move up and down under the action of the lifting device, materials with different thicknesses or heights can be transported by the structure, loading and unloading are facilitated, and the environment adaptability of the car is further improved.
Preferably, the obstacle avoidance device comprises a fixed side plate, and the fixed side plate is fixedly connected to the outside of the vehicle body through a bolt;
a first mounting frame is fixedly arranged on the outer side of the fixed side plate, a threaded rod is rotatably connected to the first mounting frame, and a first stepping motor is fixedly arranged on the first mounting frame;
the output end of the first stepping motor is fixedly connected with one end of the threaded rod;
a second mounting frame is fixedly arranged on the outer side of the fixed side plate, a sliding rod is fixedly connected to the second mounting frame, and a lifting plate is arranged on the sliding rod in a sliding manner;
the lifting plate is in threaded connection with the threaded rod;
the outer side of the lifting plate is provided with a wheel carrier which is of an inverted L-shaped structure;
the bottom of the wheel carrier is provided with a roller;
the outer side of the wheel carrier is fixedly connected with a second stepping motor, and the output end of the second stepping motor is fixedly connected with the rotating shaft of the roller. Such structure can drive the threaded rod rotatory through the rotation of first step motor, because threaded rod and lifter plate threaded connection, the lifter plate can reciprocate along threaded rod and slide bar, and when the downstream, the gyro wheel contacts with ground, lifts up the automobile body to it is rotatory to drive the gyro wheel through second step motor rotation, realizes the rotation or the rectilinear movement of whole automobile body.
Preferably, the threaded rod is rotatably arranged in the middle of the lifting plate in a penetrating manner;
the lifting plate is fixedly provided with two wheel carriers, and the wheel carriers are symmetrically fixed on two sides of the lifting plate by taking the threaded rod as a center.
Preferably, the lifting device comprises a rotating shaft seat which is fixedly arranged in the vehicle body;
the two rotating shaft seats are symmetrically arranged, and the two rotating shaft seats are respectively connected with a first rotating rod in a rotating mode;
two ends of the first rotating rod are respectively hinged with a first connecting rod;
the first connecting rod is hinged with the second connecting rod;
one end of the second connecting rod is rotatably connected with a rotating wheel;
a second rotating rod is fixedly connected between the two second connecting rods;
the middle part of the first rotating rod is hinged with one end of the electric telescopic rod;
the other end of the electric telescopic rod is hinged with the second rotating rod;
a first supporting plate is connected between the two first connecting rods;
a second support plate is fixedly arranged between the other ends of the two second connecting rods respectively; the first supporting plate and the second supporting plate are movably connected with the bottom of the loading supporting plate. By controlling the extension and retraction of the electric telescopic rod, the X-shaped scissors mechanism can be driven to drive the cargo carrying supporting plate to realize lifting, the structure is simple and easy to realize, and the control is convenient.
Preferably, the vehicle body is of a hollow cuboid structure, and a power motor and a transmission are fixedly arranged in the vehicle body;
the output end of the power motor is fixedly connected with the input end of the speed changer, and the output end of the speed changer is in transmission connection with the driving wheel;
the motion detection device is a rotary encoder, and the rotary encoder is connected with the steering wheel and is used for detecting the rotation state of the steering wheel; the steering wheel is a wheel without power, the motion state of the trolley, such as forward movement or backward movement, can be judged according to the rotation condition of the steering wheel, and whether the trolley is blocked can be judged by combining a control signal of a power motor. For example, the power motor is controlled to rotate, but the steering wheel does not rotate, and the rotary encoder does not rotate, so that the structure can know that either the power motor fails or the trolley is blocked by things.
A storage battery pack and a central control device are fixedly arranged in the vehicle body;
the steering mechanism is fixedly arranged in the car body, the steering wheels are connected with the steering mechanism, the steering mechanism is composed of electromagnets or steering engines, and the deflection angle of the steering wheels can be controlled so as to control the steering of the whole car.
Preferably, a set of obstacle avoidance device is fixedly arranged on each of the front side and the rear side of the vehicle body.
Preferably, the left side and the right side of the vehicle body are respectively and fixedly provided with a set of obstacle avoidance device.
Preferably, the cargo pallet is sized to match the contour of the vehicle body;
and side baffles are arranged on the periphery of the loading supporting plate.
The invention also provides an obstacle avoidance method based on the multifunctional AGV capable of avoiding the obstacle, which comprises the following steps of:
s1, judging whether the trolley is blocked or not through the combination of the motion detection device and the obstacle avoidance sensor;
s2, if the judgment result is that the trolley is blocked, the step S3 is carried out to carry out obstacle crossing operation, and if the trolley is not blocked, the trolley continues to run according to the original running route;
s3, controlling the obstacle avoidance device positioned in front of the vehicle body to extend downwards to lift the front part of the vehicle body;
s4, after the front part of the vehicle body is lifted up, controlling a second stepping motor to drive the roller to rotate, and at the moment, rotating the vehicle body along the driving wheel;
s5, controlling the obstacle avoidance device positioned in front of the vehicle body to retract, and recovering the state of the vehicle body;
s6, controlling the driving wheel to rotate and judging whether the trolley is blocked or not through the combination of the motion detection device and the obstacle avoidance sensor;
s7, if the vehicle is judged not to be blocked, continuing to travel according to the original set route, and if the vehicle is blocked, entering the step S8;
s8, stopping the rotation of the driving wheels, and then controlling two sets of obstacle avoidance devices positioned in front of and behind the vehicle body to extend downwards to lift the whole vehicle body;
s9, simultaneously controlling the rollers of the two sets of extended obstacle avoidance devices to rotate in the same direction, and moving the vehicle body to one side to cross an obstacle by the four rollers;
s10, stopping driving of the roller after the roller rotates for a period of time, and then controlling the two sets of extended obstacle avoidance devices to retract;
s11, controlling the driving wheel to rotate again, judging whether the trolley is still blocked through the combination of the motion detection device and the obstacle avoidance sensor, if so, entering the step S12, and if not, continuing to travel according to the original set route;
s12, stopping rotation of the driving wheels, and controlling two sets of obstacle avoidance devices positioned on the left side and the right side of the vehicle body to extend downwards to lift the whole vehicle body;
s13, simultaneously controlling the rollers of the two sets of extended obstacle avoidance devices to rotate in the same direction, and moving the vehicle body to one side to cross an obstacle by the four rollers;
s14, stopping driving of the roller after the roller rotates for a period of time, and then controlling the two sets of extended obstacle avoidance devices to retract;
and S15, controlling the driving wheel to rotate again, judging whether the trolley is still blocked or not through the combination of the motion detection device and the obstacle avoidance sensor, giving an alarm if the trolley is still blocked, and continuing to travel according to the original set route if the trolley is judged not to be blocked.
Preferably, the method for judging whether the trolley is blocked by combining the motion detection device and the obstacle avoidance sensor comprises the following steps:
firstly, whether an obstacle avoidance sensor receives an obstacle signal is detected, and if the obstacle signal exists, the trolley is blocked;
if the obstacle avoidance sensor has no signal, the judgment is carried out according to the combination of the control signal of the power motor and the motion detection device: the power motor is in a working state, but the motion detection device does not have a motion signal, which indicates that the trolley is blocked.
The invention has the following beneficial effects:
(1) the utility model discloses a dolly chassis, including dolly chassis, the barrier sensor is kept away to the rethread, can discern and avoid the barrier, keep away the barrier device through being provided with, when the dolly chassis is caught unable removal by the barrier, send out the instruction through well accuse device, control first step motor work, the drive threaded rod rotates, thereby it descends to drive the lifter plate, wheel carrier and gyro wheel on the lifter plate descend thereupon, and make dolly automobile body front portion by jack-up, the work of accuse device control second step motor in the rethread drives the gyro wheel and rolls, make the dolly automobile body can use the drive wheel to rotate as rotation center, thereby can avoid the barrier of automobile body bottom.
(2) Through being provided with elevating gear, after the dolly transports goods to appointed place, through well accuse device control electric telescopic handle shrink for contained angle between first connecting rod and the second connecting rod diminishes, is jack-up the layer board that carries cargo at top to suitable height, makes things convenient for in staff's operation, has increased the application scene of dolly.
Drawings
FIG. 1 is a schematic diagram of the general structure of the first embodiment;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a schematic structural view of the vehicle body;
fig. 4 is a schematic structural diagram of an obstacle avoidance device;
FIG. 5 is a schematic structural view of the lifting device;
FIG. 6 is a schematic structural view of the second embodiment;
FIG. 7 is a schematic structural diagram of the third embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described clearly and completely with reference to fig. 1 to 7 of the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example one
As shown in fig. 1, the multifunctional AGV cart capable of avoiding obstacles comprises a cart body 1, wherein a driving wheel 2 and a steering wheel 3 are fixedly arranged on the cart body 1, a plurality of obstacle avoidance sensors 4 are fixedly arranged in front of the cart body 1, an obstacle avoidance device 5 is fixedly arranged in front of the cart body 1, and the obstacle avoidance device 5 can stretch up and down to lift the front portion of the cart body 1.
The inside of automobile body 1 is fixed and is provided with elevating gear 6, and elevating gear 6's top is fixed and is provided with the layer board 7 that carries cargo, and the layer board 7 that carries cargo can reciprocate under elevating gear 6's effect, and the size of the layer board 7 that carries cargo matches with the profile phase of automobile body 1, is provided with the side shield around the layer board 7 that carries cargo.
In addition, a movement detection device is fixedly arranged on the vehicle body 1 and used for detecting the movement state of the trolley.
More specifically, the present invention is to provide a novel,
as shown in fig. 3, the vehicle body 1 is a hollow rectangular parallelepiped structure, and a power motor 8 and a transmission 9 are fixedly provided inside the vehicle body. The output end of the power motor 8 is fixedly connected with the input end of the speed changer 9, and the output end of the speed changer 9 is in transmission connection with the driving wheel 2. The motion detection means is a rotary encoder (not shown) connected to the steering wheel 3 for detecting the turning state of the steering wheel 3; the steering wheel 3 is a wheel without power, the motion state of the trolley can be judged according to the rotation condition of the steering wheel, such as forward movement or backward movement, and whether the trolley is blocked can be judged by combining a control signal of a power motor. For example, the power motor is controlled to rotate, but the steering wheel 3 does not rotate, and the rotary encoder does not rotate, so that the structure can know that either the power motor fails or the trolley is blocked by things.
In addition, a battery pack 10 and a center control device 11 are fixedly provided inside the vehicle body 1. The central control device 11 is electrically connected with the motor and the sensor on the vehicle body through a lead, and the central control device 11 can be realized by a single chip microcomputer or a PLC and is used for controlling the actuator in the whole trolley and receiving corresponding sensor signals. A steering mechanism is further fixedly arranged in the car body 1, the steering wheel 3 is connected with the steering mechanism, the steering mechanism is composed of an electromagnet or a steering engine, and the deflection angle of the steering wheel 3 can be controlled so as to control the steering of the whole car.
As shown in fig. 4, the obstacle avoidance device 5 includes a fixed side plate 501, and the fixed side plate 501 is fixedly connected to the outside of the vehicle body 1 by bolts. The outside of fixed curb plate 501 is fixed and is provided with first mounting bracket 502, and the last swivelling joint of first mounting bracket 502 has threaded rod 503, and fixed first step motor 504 that is provided with above the first mounting bracket 502. The output end of the first stepping motor 504 is fixedly connected with one end of the threaded rod 503. A second mounting rack 505 is further fixedly arranged on the outer side of the fixed side plate 501, a sliding rod 506 is fixedly connected to the second mounting rack 505, and a lifting plate 507 is slidably arranged on the sliding rod 506. The lifting plate 507 is in threaded connection with the threaded rod 503. The outer side of the lifting plate 507 is provided with a wheel carrier 508, and the wheel carrier 508 is of an inverted L-shaped structure. The bottom of the wheel carriage 508 is provided with a roller 509. The outer side of the wheel frame 508 is fixedly connected with a second stepping motor 510, and the output end of the second stepping motor 510 is fixedly connected with the rotating shaft of the roller 509. In order to ensure balance, in this embodiment, a threaded rod 503 is preferably rotatably inserted into the middle of the lifting plate 507, two wheel carriers 508 are fixedly disposed on the lifting plate 507, and the wheel carriers 508 are symmetrically fixed on both sides of the lifting plate 507 with the threaded rod 503 as the center. In such a structure, the threaded rod 503 can be driven to rotate by the rotation of the first stepping motor 504, the lifting plate 507 can move up and down along the threaded rod 503 and the sliding rod 506 due to the threaded connection between the threaded rod 503 and the lifting plate 507, when the lifting plate moves down, the roller 509 contacts with the ground to lift the vehicle body 1, and the roller 509 is driven to rotate by the rotation of the second stepping motor 510, so that the rotation or linear movement of the whole vehicle body is realized.
As shown in fig. 5, the lifting device 6 includes a spindle base 601, and the spindle base 601 is fixedly provided in the vehicle body 1. The two rotating shaft seats 601 are symmetrically arranged, and the two rotating shaft seats 601 are respectively connected with a first rotating rod 602 in a rotating mode. Two ends of the first rotating rod 602 are respectively hinged with a first connecting rod 603, the first connecting rod 603 is hinged with a second connecting rod 604, and one end of the second connecting rod 604 is rotatably connected with a rotating wheel 605. A second rotating rod 606 is fixedly connected between the two second connecting rods 604. The middle part of the first rotating rod 602 is hinged to one end of an electric telescopic rod 607, the other end of the electric telescopic rod 607 is hinged to a second rotating rod 606, and a first supporting plate 608 is connected between the two first connecting rods 603. A second support plate 609 is fixedly arranged between the other ends of the two second connecting rods 604 respectively; the first support plate 608 and the second support plate 609 are movably connected to the bottom of the pallet 7. By controlling the extension and retraction of the electric telescopic rod 607, the X-shaped scissors mechanism can be driven to drive the cargo carrying supporting plate 7 to realize the lifting, the structure is simple and easy to realize, and the control is convenient.
When the trolley works, the trolley runs according to a specified guide path, the obstacle avoidance sensor 4 is always in a working state, the trolley can identify and avoid obstacles in front, when a chassis of the trolley is caught by the obstacles and cannot move, an instruction is sent through the central control device 11 to control the first stepping motor 504 to work, the driving threaded rod 503 rotates, so that the lifting plate 507 is driven to descend, the wheel frame 508 and the roller 509 on the lifting plate 507 descend along with the descending, the front part of the trolley body 1 is jacked up, the second stepping motor 510 is controlled to work through the central control device 11 to drive the roller 509 to roll, the trolley body 1 can rotate by taking the driving wheel 2 as a rotation center, and the obstacles at the bottom of the trolley body can be avoided.
The obstacle avoidance device 5 is fixedly arranged on the periphery of the car body 1, and the obstacle avoidance device 5 can stretch up and down to lift part or the whole car body 1, so that the purpose of avoiding or passing over obstacles is easily achieved, and the adaptability of the trolley in a complex environment is improved. In addition, a lifting device 6 is fixedly arranged in the vehicle body 1, a loading supporting plate 7 is fixedly arranged at the top of the lifting device 6, and the loading supporting plate 7 can move up and down under the action of the lifting device 6.
Example two
As shown in fig. 6, on the basis of the first embodiment, a set of obstacle avoidance devices 5 is respectively and fixedly arranged on the front side and the rear side of the vehicle body 1.
EXAMPLE III
As shown in fig. 7, on the basis of the second embodiment, a set of obstacle avoidance devices 5 is further fixedly arranged on the left side and the right side of the vehicle body 1 respectively.
Above-mentioned multi-functional AGV dolly that can keep away the barrier when keeping away the barrier, adopts following step:
step S1, judging whether the trolley is blocked or not through the combination of the motion detection device and the obstacle avoidance sensor 4;
step S2, if the judgment result is that the trolley is blocked, the step S3 is carried out to carry out obstacle crossing operation, and if the trolley is not blocked, the trolley continues to run according to the original running route;
step S3, controlling the obstacle avoidance device 5 positioned in front of the vehicle body 1 to extend downwards to lift the front part of the vehicle body 1;
step S4, after the front portion of the vehicle body 1 is lifted, controlling the second stepping motor 510 to drive the roller 509 to rotate, and at this time, the vehicle body rotates along the driving wheel 2;
step S5, controlling the obstacle avoidance device 5 positioned in front of the vehicle body 1 to retract, and recovering the state of the vehicle body 1;
step S6, controlling the driving wheel 2 to rotate and judging whether the trolley is blocked or not through the combination of the motion detection device and the obstacle avoidance sensor 4;
step S7, if the vehicle is judged not to be blocked, continuing to travel according to the original set route, and if the vehicle is blocked, entering step S8;
step S8, stopping the rotation of the driving wheel 2, and then controlling two sets of obstacle avoidance devices 5 positioned in front of and behind the vehicle body 1 to extend downwards to lift the whole vehicle body 1;
step S9, simultaneously controlling the rollers 509 of the two sets of the extended obstacle avoidance devices 5 to rotate in the same direction, and enabling the four rollers 509 to move the vehicle body to one side to cross the obstacle;
step S10, stopping driving of the roller 509 after the roller 509 rotates for a period of time, and then controlling the two sets of extended obstacle avoidance devices 5 to retract;
step S11, controlling the driving wheel 2 to rotate again, judging whether the trolley is still blocked through the combination of the motion detection device and the obstacle avoidance sensor 4, if so, entering step S12, and if not, continuing to travel according to the original set route;
step S12, stopping the rotation of the driving wheel 2, and then controlling two sets of obstacle avoidance devices 5 positioned on the left side and the right side of the vehicle body 1 to extend downwards to lift the whole vehicle body 1;
step S13, simultaneously controlling the rollers 509 of the two sets of the extended obstacle avoidance devices 5 to rotate in the same direction, and enabling the four rollers 509 to move the vehicle body to one side to cross the obstacle;
step S14, stopping driving of the roller 509 after the roller 509 rotates for a period of time, and then controlling the two sets of extended obstacle avoidance devices 5 to retract;
and step S15, controlling the driving wheel 2 to rotate again, judging whether the trolley is still blocked or not through the combination of the motion detection device and the obstacle avoidance sensor 4, giving an alarm if the trolley is still blocked, and continuing to travel according to the original set route if the trolley is judged not to be blocked.
The steps are as follows: whether the dolly is hindered is judged through the combination of motion detection device and obstacle avoidance sensor 4, include:
firstly, whether an obstacle avoidance sensor 4 receives an obstacle signal is detected, and if the obstacle signal exists, the trolley is blocked;
if the obstacle avoidance sensor 4 has no signal, the judgment is carried out according to the combination of the control signal of the power motor and the motion detection device: the power motor is in a working state, but the motion detection device does not have a motion signal, which indicates that the trolley is blocked.
The invention has the following beneficial effects:
1. through being provided with and keeping away barrier sensor, can discern and avoid the barrier, through being provided with and keep away the barrier device, when the dolly chassis is caught unable removal by the barrier, send out the instruction through well accuse device, control first step motor work, the drive threaded rod rotates, thereby it descends to drive the lifter plate, wheel carrier and gyro wheel on the lifter plate descend thereupon, and make dolly automobile body front portion by jack-up, the work of rethread well accuse device control second step motor drives the gyro wheel and rolls, make the dolly automobile body can use the drive wheel to rotate as rotation center, thereby can avoid the barrier of automobile body bottom.
2. Through being provided with elevating gear, after the dolly transports goods to appointed place, through well accuse device control electric telescopic handle shrink for the contained angle between first connecting rod and the second connecting rod diminishes, is jack-up the layer board that carries cargo at top to suitable height, makes things convenient for in staff's operation, has increased the application scene of dolly.
Claims (10)
1. The utility model provides a can keep away multi-functional AGV dolly of barrier, includes automobile body (1), fixed drive wheel (2) and directive wheel (3) of being provided with on automobile body (1), the periphery of automobile body (1) is still fixed to be provided with a plurality of obstacle sensor (4), its characterized in that of keeping away:
the obstacle avoidance device (5) is fixedly arranged on the periphery of the vehicle body (1), and the obstacle avoidance device (5) can stretch up and down to lift part of or the whole vehicle body (1);
a lifting device (6) is fixedly arranged in the vehicle body (1);
a cargo carrying supporting plate (7) is fixedly arranged at the top of the lifting device (6);
the cargo supporting plate (7) can move up and down under the action of the lifting device (6);
and the car body (1) is fixedly provided with a motion detection device for detecting the motion state of the trolley.
2. A multi-functional AGV cart capable of avoiding obstacles according to claim 1, further comprising:
the obstacle avoidance device (5) comprises a fixed side plate (501), and the fixed side plate (501) is fixedly connected to the outer part of the vehicle body (1) through a bolt;
a first mounting frame (502) is fixedly arranged on the outer side of the fixed side plate (501), a threaded rod (503) is rotatably connected to the first mounting frame (502), and a first stepping motor (504) is fixedly arranged on the first mounting frame (502);
the output end of the first stepping motor (504) is fixedly connected with one end of the threaded rod (503);
a second mounting rack (505) is further fixedly arranged on the outer side of the fixed side plate (501), a sliding rod (506) is fixedly connected to the second mounting rack (505), and a lifting plate (507) is arranged on the sliding rod (506) in a sliding manner;
the lifting plate (507) is in threaded connection with the threaded rod (503);
a wheel carrier (508) is arranged on the outer side of the lifting plate (507), and the wheel carrier (508) is of an inverted L-shaped structure;
the bottom of the wheel carrier (508) is provided with a roller (509);
the outer side of the wheel frame (508) is fixedly connected with a second stepping motor (510), and the output end of the second stepping motor (510) is fixedly connected with the rotating shaft of the roller (509).
3. A AGV cart with multiple functions for avoiding obstacles according to claim 2, wherein:
the middle part of the lifting plate (507) is rotatably provided with the threaded rod (503) in a penetrating way;
the lifting plate (507) is fixedly provided with two wheel frames (508), and the wheel frames (508) are symmetrically fixed on two sides of the lifting plate (507) by taking the threaded rod (503) as a center.
4. A multifunctional AGV with obstacle avoidance function according to any one of claims 1 to 3, wherein:
the lifting device (6) comprises a rotating shaft seat (601), and the rotating shaft seat (601) is fixedly arranged in the vehicle body (1);
two rotating shaft seats (601) are symmetrically arranged, and first rotating rods (602) are respectively rotatably connected to the two rotating shaft seats (601);
two ends of the first rotating rod (602) are respectively hinged with a first connecting rod (603);
the first connecting rod (603) is hinged with the second connecting rod (604);
one end of the second connecting rod (604) is rotatably connected with a rotating wheel (605);
a second rotating rod (606) is fixedly connected between the two second connecting rods (604);
the middle part of the first rotating rod (602) is hinged with one end of an electric telescopic rod (607);
the other end of the electric telescopic rod (607) is hinged with the second rotating rod (606);
a first supporting plate (608) is connected between the two first connecting rods (603);
a second support plate (609) is fixedly arranged between the other ends of the two second connecting rods (604) respectively; the first support plate (608) and the second support plate (609) are movably connected with the bottom of the loading pallet (7).
5. A multi-functional AGV according to claim 4 wherein:
the vehicle body (1) is of a hollow cuboid structure, and a power motor (8) and a transmission (9) are fixedly arranged in the vehicle body;
the output end of the power motor (8) is fixedly connected with the input end of the speed changer (9), and the output end of the speed changer (9) is in transmission connection with the driving wheel (2);
the motion detection device is a rotary encoder which is connected with the steering wheel (3) and is used for detecting the rotation state of the steering wheel (3);
a storage battery pack (10) and a central control device (11) are fixedly arranged in the vehicle body (1);
still fixedly provided with steering mechanism in automobile body (1), steering wheel (3) are connected with steering mechanism, steering mechanism comprises electro-magnet or steering wheel, thereby can control the angle of deflection of steering wheel (3) and control turning to of whole dolly.
6. A multi-functional AGV according to claim 5 wherein:
and the front side and the rear side of the vehicle body (1) are respectively and fixedly provided with a set of obstacle avoidance device (5).
7. A multi-functional AGV according to claim 6 wherein:
and the left side and the right side of the vehicle body (1) are respectively and fixedly provided with a set of obstacle avoidance device (5).
8. A multi-functional AGV cart capable of avoiding obstacles according to claim 1, further comprising:
the size of the cargo supporting plate (7) is matched with the contour of the vehicle body (1);
side baffles are arranged on the periphery of the upper surface of the cargo carrying supporting plate (7).
9. An obstacle avoidance method of a multifunctional AGV capable of avoiding obstacles according to claim 7, comprising the steps of:
s1, judging whether the trolley is blocked or not through the combination of the motion detection device and the obstacle avoidance sensor (4);
s2, if the judgment result is that the trolley is blocked, the step S3 is carried out to carry out obstacle crossing operation, and if the trolley is not blocked, the trolley continues to run according to the original running route;
s3, controlling the obstacle avoidance device (5) positioned in front of the vehicle body (1) to extend downwards to lift the front part of the vehicle body (1);
s4, after the front part of the vehicle body (1) is lifted, controlling a second stepping motor (510) to drive a roller (509) to rotate, and at the moment, rotating the vehicle body along a driving wheel (2);
s5, controlling the obstacle avoidance device (5) positioned in front of the vehicle body (1) to retract, and recovering the state of the vehicle body (1);
s6, controlling the driving wheel (2) to rotate and judging whether the trolley is blocked or not through the combination of the motion detection device and the obstacle avoidance sensor (4);
s7, if the vehicle is judged not to be blocked, continuing to travel according to the original set route, and if the vehicle is blocked, entering the step S8;
s8, stopping the rotation of the driving wheel (2), and then controlling two sets of obstacle avoidance devices (5) positioned in front of and behind the vehicle body (1) to extend downwards to lift the whole vehicle body (1);
s9, simultaneously controlling the rollers (509) of the two sets of the extended obstacle avoidance devices (5) to rotate in the same direction, and enabling the four rollers (509) to move the vehicle body to one side to cross the obstacle;
s10, stopping driving of the roller (509) after the roller (509) rotates for a period of time, and then controlling the two sets of extended obstacle avoidance devices (5) to retract;
s11, controlling the driving wheel (2) to rotate again, judging whether the trolley is still blocked through the combination of the motion detection device and the obstacle avoidance sensor (4), if so, entering the step S12, and if not, continuing to advance according to the original set route;
s12, stopping the rotation of the driving wheel (2), and then controlling two sets of obstacle avoidance devices (5) positioned on the left side and the right side of the vehicle body (1) to extend downwards to lift the whole vehicle body (1);
s13, simultaneously controlling the rollers (509) of the two sets of the extended obstacle avoidance devices (5) to rotate in the same direction, and enabling the four rollers (509) to move the vehicle body to one side to cross the obstacle;
s14, stopping driving of the roller (509) after the roller (509) rotates for a period of time, and then controlling the two sets of extended obstacle avoidance devices (5) to retract;
and S15, controlling the driving wheel (2) to rotate again, judging whether the trolley is still blocked through the combination of the motion detection device and the obstacle avoidance sensor (4), giving an alarm if the trolley is still blocked, and continuing to travel according to the original set route if the trolley is judged not to be blocked.
10. An obstacle avoidance method according to claim 9, wherein:
whether the trolley is blocked or not is judged by combining the motion detection device with the obstacle avoidance sensor (4), and the method comprises the following steps:
firstly, whether an obstacle avoidance sensor (4) receives an obstacle signal is detected, and if the obstacle signal exists, the trolley is blocked;
if the obstacle avoidance sensor (4) has no signal, the judgment is carried out according to the combination of the control signal of the power motor and the motion detection device: the power motor is in a working state, but the motion detection device does not have a motion signal, which indicates that the trolley is blocked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110265204.8A CN113104770A (en) | 2021-03-11 | 2021-03-11 | Multifunctional AGV capable of avoiding obstacles and obstacle avoiding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110265204.8A CN113104770A (en) | 2021-03-11 | 2021-03-11 | Multifunctional AGV capable of avoiding obstacles and obstacle avoiding method thereof |
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| Publication Number | Publication Date |
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| CN113104770A true CN113104770A (en) | 2021-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110265204.8A Withdrawn CN113104770A (en) | 2021-03-11 | 2021-03-11 | Multifunctional AGV capable of avoiding obstacles and obstacle avoiding method thereof |
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| CN (1) | CN113104770A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753037A (en) * | 2021-08-25 | 2021-12-07 | 北庭星云科技(北京)有限公司 | Artificial intelligence keeps away barrier chassis |
| CN115845309A (en) * | 2022-11-30 | 2023-03-28 | 国网福建省电力有限公司 | Automatic pursuit rescue device that puts out a fire |
-
2021
- 2021-03-11 CN CN202110265204.8A patent/CN113104770A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753037A (en) * | 2021-08-25 | 2021-12-07 | 北庭星云科技(北京)有限公司 | Artificial intelligence keeps away barrier chassis |
| CN113753037B (en) * | 2021-08-25 | 2023-08-25 | 刘荣 | Artificial intelligence keeps away barrier chassis |
| CN115845309A (en) * | 2022-11-30 | 2023-03-28 | 国网福建省电力有限公司 | Automatic pursuit rescue device that puts out a fire |
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Application publication date: 20210713 |
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