CN117885669A - AGV transfer robot with keep away barrier buffer stop - Google Patents
AGV transfer robot with keep away barrier buffer stop Download PDFInfo
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- CN117885669A CN117885669A CN202410297338.1A CN202410297338A CN117885669A CN 117885669 A CN117885669 A CN 117885669A CN 202410297338 A CN202410297338 A CN 202410297338A CN 117885669 A CN117885669 A CN 117885669A
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- 238000010586 diagram Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
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Abstract
The invention discloses an AGV (automatic guided vehicle) carrying robot with an obstacle avoidance and collision avoidance device, which relates to the technical field of AGV robots and comprises the following components: the robot comprises a robot main body, wherein a main body shell is nested outside the robot main body, a containing cavity for containing a conveying object is arranged inside the robot main body, and an infrared probe is fixed at the head of the robot main body; the obstacle avoidance and anti-collision mechanism is arranged below the headstock of the robot main body; and the control system is fixed inside the headstock of the robot main body. According to the AGV carrying robot, when the AGV carrying robot encounters sudden obstacles or obstacles exist in the advancing direction of the AGV carrying robot, the obstacles collide with the guide wheels firstly and then transmit impact force to the main carrier or the side carrier, and the impact force can be effectively buffered along with the shrinkage of the elastic bag body and the action of the elastic shock absorber and the spiral spring, so that the anticollision performance of the robot is improved.
Description
Technical Field
The invention relates to the technical field of AGV robots, in particular to an AGV transfer robot with an obstacle avoidance and collision prevention device.
Background
AGV (Automated Guided Vehicle) is an unmanned automated guided vehicle. The trolley can automatically run along a preset path under the control of the computer system to finish the carrying and the transportation of goods. AGVs have the characteristics of automation, intellectualization, high efficiency and the like, and are widely applied to modern logistics systems.
However, the existing AGV transfer robot detects the obstacle in the running process, generally selects an obstacle avoidance mode of detouring or stopping, so that the working timeliness of the robot is reduced, meanwhile, the obstacle avoidance and collision avoidance capability of the robot when dealing with the sudden obstacle is poor, in addition, the obstacle avoidance modes of the existing AGV transfer robot aiming at various obstacles are basically consistent, and the obstacle avoidance can not be effectively carried out on different types of obstacles.
Therefore, it is necessary to provide an AGV transfer robot with an obstacle avoidance and collision avoidance device to solve the problems set forth in the background art.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides the following technical solutions: an AGV transfer robot with obstacle avoidance and collision avoidance, comprising:
the robot comprises a robot main body, wherein a main body shell is nested outside the robot main body, a containing cavity for containing a conveying object is arranged inside the robot main body, and an infrared probe is fixed at the head of the robot main body;
the obstacle avoidance and anti-collision mechanism is arranged below the headstock of the robot main body; and
and the control system is fixed inside the headstock of the robot main body.
Further preferably, the control system comprises a ground control system, a vehicle-mounted control system and a navigation system, wherein the vehicle-mounted control system can receive a feedback signal of the infrared probe to control the movement of the obstacle avoidance and anti-collision mechanism.
Further, preferably, the obstacle avoidance and collision avoidance mechanism includes a collision avoidance buffer assembly disposed inside the robot main body, and a guide assembly is disposed on the collision avoidance buffer assembly.
Further, preferably, the crash cushion assembly includes:
the main truss is fixed inside the robot main body, a preset cylinder body is fixedly arranged at the center of the main truss, the two sides of the main truss are all connected with a bogie in a universal mode, and arc plates are all connected in the bogie at the two sides in a universal mode;
one end of the deflection shaft is arranged in the arc-shaped plate in a universal rotation mode, and the other end of the deflection shaft is arranged in the main truss in a universal rotation mode;
the elastic shock absorbers are symmetrically arranged, one ends of the two groups of elastic shock absorbers are hinged with the bogie, the other ends of the two groups of elastic shock absorbers are hinged with the limiting support, and the two groups of elastic shock absorbers are sleeved with coil springs;
the preset shafts are arranged in two, and one ends of the preset shafts are arranged in the arc-shaped plates.
Further, preferably, the guide assembly includes:
the two main carrier frames are connected with each other sequentially through a first telescopic bag body, a connecting truss plate and a second telescopic bag body;
the two side carrier frames are connected with the main carrier frame through elastic bag bodies;
the guide wheels are uniformly arranged in the connecting truss plates, the main carrier frames and the side carrier frames in a rotating mode.
Further, preferably, the first telescopic bag body, the second telescopic bag body and the elastic bag body are made of rubber materials, the first telescopic bag body and the second telescopic bag body can be transversely telescopic and arranged in the main carrier, and the elastic bag body can be transversely telescopic and arranged in the main carrier and the side carrier.
Further, as preferable, the two sets of limit brackets are hinged to the main carrier, the other end of the preset shaft is arranged in the side carrier in a universal rotation manner, and the output end of the preset cylinder body is hinged to the connecting truss plate.
Further, preferably, the obstacle avoidance and collision avoidance mechanism extends out of the head of the main body casing, and the main body casing is also enclosed at the lower end of the obstacle avoidance and collision avoidance mechanism.
Compared with the prior art, the AGV carrying robot with the obstacle avoidance and collision prevention device has the following beneficial effects:
according to the invention, when the infrared probe detects an obstacle, the robot can adaptively adjust according to feedback information, the robot is decelerated to travel, the light-load obstacle is guided to a non-working area along with the travel of the robot by the guide wheel, the heavy-load obstacle is marked by the robot, the robot is wound around the distance along the heavy-load obstacle and travels along the direction of the side carrier to be the length of the vehicle body, and finally the travel of the established route is restored under the control of the control system, so that the robot can adaptively adjust the strain of different obstacles, and the obstacle avoidance function of the robot is enhanced.
According to the invention, when the AGV carrying robot encounters a sudden obstacle or an obstacle exists in the advancing direction of the AGV carrying robot, the obstacle firstly collides with the guide wheel and then transmits the impact force to the main carrier or the side carrier, and the impact force can be effectively buffered along with the contraction of the elastic bag body and the action of the elastic shock absorber and the spiral spring, so that the anticollision performance of the robot is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of an AGV transfer robot with an obstacle avoidance bumper;
FIG. 2 is a schematic view of an obstacle avoidance and collision avoidance mechanism of an AGV transfer robot with an obstacle avoidance and collision avoidance device;
FIG. 3 is a schematic view of the crash cushion assembly of FIG. 2;
FIG. 4 is a schematic view of the guide assembly of FIG. 2;
FIG. 5 is a schematic diagram showing the positions of a transfer robot and an obstacle;
FIG. 6 is a second schematic diagram of the positions of the transfer robot and the obstacle;
FIG. 7 is a schematic view of a travel path of a transfer robot and a heavy obstacle;
in the figure: 1. a robot main body; 2. a receiving chamber; 3. an obstacle avoidance and anti-collision mechanism; 4. a control system; 5. an obstacle; 31. an anti-collision buffer assembly; 32. a guide assembly; 311. a main truss; 312. a bogie; 313. a deflection shaft; 314. an elastic damper; 315. a coil spring; 316. a limit bracket; 317. presetting a cylinder body; 321. a main carrier; 322. connecting truss plates; 323. an elastic bladder; 324. a side carrier; 325. and a guide wheel.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 7, in an embodiment of the present invention, an AGV transfer robot with an obstacle avoidance and collision avoidance device includes:
the robot comprises a robot main body 1, wherein a main body shell is nested outside the robot main body 1, a containing cavity 2 for containing a conveying object is arranged inside the robot main body 1, and an infrared probe is fixed at the head of the robot main body 1;
an obstacle avoidance and collision prevention mechanism 3 mounted below the head of the robot body 1; and
a control system 4 fixed inside the head of the robot body 1;
as shown in fig. 5, when the robot is working, the road surface on which the robot is running needs to be divided into an a area and a B area, the a area is a non-working area, and the B area is a working area, and the road surface is formed by combining ABA areas in a complete set, which can be an ABA area, an ABABA area, and the like;
that is, the infrared probe can detect the position of the obstacle in zone B, i.e., the obstacle is in a lateral or straight ahead position of the robot when the obstacle is present.
As a preferred embodiment, the control system 4 includes a ground control system, a vehicle-mounted control system and a navigation system, where the vehicle-mounted control system can receive the feedback signal of the infrared probe to control the motion of the obstacle avoidance and collision avoidance mechanism 3, the ground control system mainly controls the path management, traffic management, automatic charging, etc. of the robot, the vehicle-mounted control system mainly controls the navigation calculation, guidance implementation, vehicle walking, loading and unloading operations, etc. of the robot, and the navigation system provides the absolute or relative position and heading of the system for the AGV handling robot, which is not repeated in the prior art.
Referring to fig. 2, in the present embodiment, the obstacle avoidance and collision avoidance mechanism 3 includes a collision avoidance buffer assembly 31 disposed inside the robot main body 1, and a guiding assembly 32 is disposed on the collision avoidance buffer assembly 31.
Referring to fig. 2 and 3, in the present embodiment, the crash cushion 31 includes:
the main truss 311 is fixed inside the robot main body 1, a preset cylinder 317 is fixedly arranged in the center of the main truss 311, the two sides of the main truss 311 are all connected with a bogie 312 in a universal manner, and arc plates are all connected in the bogies 312 on the two sides in a universal manner;
a deflection shaft 313 having one end provided in the arc plate in a universal rotation manner and the other end provided in the main truss 311 in a universal rotation manner;
the elastic shock absorbers 314 are two groups symmetrically arranged, one ends of the two groups of elastic shock absorbers 314 are hinged with the bogie 312, the other ends of the two groups of elastic shock absorbers 314 are hinged with the limiting brackets 316, and the two groups of elastic shock absorbers 314 are sleeved with the spiral springs 315;
the preset shafts are provided with two preset shafts, and one ends of the preset shafts are arranged in the arc-shaped plates;
that is, after the limit bracket 316 receives the impact force (when an abrupt obstacle appears or the robot has an obstacle in the traveling direction), the impact force can be buffered under the cooperation of the elastic shock absorber 314 and the coil spring 315, so that the improvement of the anti-collision performance of the robot is facilitated.
Referring to fig. 2 and 4, in the present embodiment, the guiding assembly 32 includes:
the two main carrier frames 321 are arranged in total, and the two main carrier frames 321 are connected with the two telescopic bag bodies through the first telescopic bag body, the connecting truss plate 322 and the two telescopic bag bodies in sequence;
two side carrier frames 324 are provided, and the two side carrier frames 324 are connected with the main carrier frame 321 through elastic bag bodies 323;
the guide wheels 325 are uniformly rotatably disposed in the connecting truss 322, the main carrier 321 and the side carrier 324, that is, when the robot encounters a heavy-load obstacle and the obstacle is located right in front of the robot, the guide wheels 325 on the connecting truss 322 can passively roll during the running process of the robot, so that the robot can advance and sideslip until the obstacle contacts with the guide wheels 325 in the main carrier 321.
Further, as a preferred embodiment, the first telescopic bag body, the second telescopic bag body and the elastic bag body 323 are made of rubber materials, the first telescopic bag body and the second telescopic bag body can be transversely telescopic and arranged in the main carrier 321, and the elastic bag body 323 can be transversely telescopic and arranged in the main carrier 321 and the side carrier 324.
In addition, as shown in fig. 2, as a preferred embodiment, two sets of the limiting brackets 316 are hinged to the main carrier 321, the other ends of the preset shafts are all arranged in the side carrier 324 in a universal rotation manner, and the output ends of the preset cylinders 317 are hinged to the connecting truss plates 322;
in the actual implementation process, when the obstacle 5 is a light-load obstacle and the infrared probe detects that the obstacle is located at the side of the robot main body 1, as shown in fig. 5, the robot is directly passed through in deceleration, and the light-load obstacle is guided to the area a by the guide wheel 325 along with the travel of the robot;
when the obstacle 5 is a light-load obstacle and the infrared probe detects that the obstacle is located right in front of the robot main body 1, the handling process of the robot is divided into I, II two stages, as shown in fig. 6, stage I: the robot is firstly decelerated, the preset cylinder 317 is stretched, the connecting truss plate 322 is stretched forwards, the first telescopic bag body and the second telescopic bag body are expanded, the elastic bag body 323 is contracted, and the II phase is as follows: the main carrier 321 deflects until the main carrier is at the same inclination as the side carrier 324, and the light-load obstacle is guided to the area A by the guide wheels 325 along with the travel of the robot;
when the obstacle 5 is a heavy-load obstacle and the infrared probe detects that the obstacle is located at the side of the robot main body 1, as shown in fig. 5, the robot directly passes through the speed reduction, the heavy-load obstacle is marked by the robot and is fed back to the control system 4, and the robot moves around the heavy-load obstacle along the direction of the side carrier 324 for a distance of the length of the vehicle body;
when the obstacle 5 is a heavy load obstacle and the infrared probe detects that the obstacle is located right in front of the traveling direction of the robot main body 1, the handling process of the robot is divided into three stages I, II, and III, as shown in fig. 6 and 7, stage I: the robot is firstly decelerated, the preset cylinder 317 is stretched, the connecting truss plate 322 is stretched forwards, the first telescopic bag body and the second telescopic bag body are expanded, the elastic bag body 323 is contracted, the main carrier 321 is deflected, after the limit bracket 316 is impacted, the spiral spring 315 is compressed, the elastic shock absorber 314 is contracted, the bogie 312 is deflected around the main truss 311, the side carrier 324 is contracted in opening angle, and the II phase: the robot continues to travel, at this time, the robot travels along the main carrier 321 and then along the side carrier 324, at this time, the heavy-load obstacle is marked by the robot and fed back to the control system, stage III: the distance the robot travels along the heavy obstacle in the direction of the side carrier 324 at that time to the length of the vehicle body;
it should be explained that, when the obstacle 5 is a heavy-load obstacle, the robot takes the travelling distance of the heavy-load obstacle in the direction of the side carrier 324 as the length of the vehicle body, on one hand, the side carrier 324 is guaranteed to avoid completely from the obstacle 5, and on the other hand, after the travelling distance of the robot is guaranteed to be fixed, the feedback information obtained by the control system 4 is fixed so as to calculate the optimal route, and the robot is enabled to recover the established route, as shown in fig. 7, by taking the upward trend of the robot around the heavy-load obstacle as an example, the robot needs to turn left or straight no matter the subsequent route, the robot must turn left, and the synchronized tail of the robot must bypass the obstacle 5; the robot needs to directly select straight running and then run along the established line when the subsequent line turns right.
As the preferred embodiment, keep away barrier anticollision institution 3 stretch out main part shell's locomotive department, and be located keep away barrier anticollision institution 3's lower extreme also encloses and be equipped with main part shell prevents that AGV transfer robot from rolling into the wheel with the light-load barrier in.
In the specific implementation, the AGV carrying robot firstly places an object in the accommodating cavity 2 and then moves along a set line, and when the infrared probe detects that an obstacle is positioned at the side of the robot main body 1, the robot is decelerated and directly passes through; when the infrared probe detects that the obstacle is positioned right in front of the robot main body 1, the robot is firstly decelerated, the preset cylinder 317 is lengthened, the connecting truss plate 322 is forwards extended, the first telescopic bag body and the second telescopic bag body are expanded, the elastic bag body 323 is contracted, the main carrier 321 is deflected, the robot continues to move forward, then the light-load obstacle is guided to the area A along with the advancing of the robot by the guide wheel 325, the heavy-load obstacle is firstly marked by the robot, and the advancing of the robot along the direction of the heavy-load obstacle in the direction of the side carrier 324 is recovered to the advancing of the established route under the data processing and control of the control system 4 finally.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. AGV transfer robot with keep away barrier buffer stop, its characterized in that: it comprises the following steps:
the robot comprises a robot main body (1), wherein a main body shell is nested outside the robot main body (1), a containing cavity (2) for containing a conveying object is arranged inside the robot main body (1), and an infrared probe is fixed at the head of the robot main body (1);
the obstacle avoidance and anti-collision mechanism (3) is arranged below the headstock of the robot main body (1); and
the control system (4) is fixed in the headstock of the robot main body (1);
the obstacle avoidance and anti-collision mechanism (3) comprises an anti-collision buffer assembly (31) arranged in the robot main body (1), and a guide assembly (32) is arranged on the anti-collision buffer assembly (31);
the guide assembly (32) includes:
the two main carrier frames (321) are arranged in total, and the two main carrier frames (321) are connected with the two telescopic bag bodies through the first telescopic bag body and the connecting truss plate (322) in sequence;
the two side carrier frames (324) are arranged in total, and the two side carrier frames (324) are connected with the main carrier frame (321) through the elastic bag body (323);
the guide wheels (325) are uniformly arranged in the connecting truss plates (322), the main carrier frames (321) and the side carrier frames (324) in a rotating way.
2. The AGV transfer robot with an obstacle avoidance and collision avoidance device of claim 1 wherein: the control system (4) comprises a ground control system, a vehicle-mounted control system and a navigation system, wherein the vehicle-mounted control system can receive feedback signals of the infrared probe to control the movement of the obstacle avoidance and anti-collision mechanism (3).
3. The AGV transfer robot with an obstacle avoidance and collision avoidance device of claim 1 wherein: the crash cushion assembly (31) includes:
the main truss (311) is fixed inside the robot main body (1), a preset cylinder body (317) is fixedly arranged at the center of the main truss (311), the two sides of the main truss (311) are all connected with the bogies (312) in a universal mode, and arc plates are all connected in the bogies (312) at the two sides in a universal mode;
one end of the deflection shaft (313) is arranged in the arc-shaped plate in a universal rotation mode, and the other end of the deflection shaft is arranged in the main truss (311) in a universal rotation mode;
the elastic shock absorbers (314) are two groups which are symmetrically arranged, one ends of the two groups of elastic shock absorbers (314) are hinged with the bogie (312), the other ends of the two groups of elastic shock absorbers are hinged with the limiting support (316), and the two groups of elastic shock absorbers (314) are sleeved with the spiral springs (315);
the presetting shaft is provided with two presetting shafts, and one ends of the presetting shafts are arranged in the arc-shaped plate.
4. The AGV transfer robot with an obstacle avoidance and collision avoidance device of claim 1 wherein: the first telescopic bag body, the second telescopic bag body and the elastic bag body (323) are made of rubber materials, the first telescopic bag body and the second telescopic bag body can transversely stretch and retract to be arranged in the main carrier (321), and the elastic bag body (323) can transversely stretch and retract to be arranged in the main carrier (321) and the side carrier (324).
5. The AGV transfer robot with an obstacle avoidance and collision avoidance device as set forth in claim 3 wherein: the two groups of limiting brackets (316) are hinged with the main carrier (321), the other end of the preset shaft is arranged in the side carrier (324) in a universal rotation mode, and the output end of the preset cylinder body (317) is hinged with the connecting truss plate (322).
6. The AGV transfer robot with an obstacle avoidance and collision avoidance device of claim 1 wherein: the obstacle avoidance and anti-collision mechanism (3) stretches out of the headstock of the main body shell, and the main body shell is also arranged at the lower end of the obstacle avoidance and anti-collision mechanism (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410297338.1A CN117885669B (en) | 2024-03-15 | 2024-03-15 | AGV transfer robot with keep away barrier buffer stop |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410297338.1A CN117885669B (en) | 2024-03-15 | 2024-03-15 | AGV transfer robot with keep away barrier buffer stop |
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| CN117885669A true CN117885669A (en) | 2024-04-16 |
| CN117885669B CN117885669B (en) | 2024-05-17 |
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