CN211603943U

CN211603943U - Safety sensing mechanism and AGV trolley

Info

Publication number: CN211603943U
Application number: CN202020746758.0U
Authority: CN
Inventors: 杨金龙; 郭承志; 贾全
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2020-09-29
Anticipated expiration: 2030-05-08

Abstract

The utility model discloses a safe perception mechanism and AGV dolly relates to AGV safety perception technical field. This safe perception mechanism includes the driving piece, scanning sensor and a plurality of position sensor, the driving piece is used for connecting in the frame of AGV dolly, and be connected with scanning sensor, and can drive scanning sensor along first direction or with the opposite second direction motion of first direction, first direction is the horizontal direction, scanning sensor is used for scanning the barrier around the AGV dolly, a plurality of position sensor all are connected with the driving piece communication, and arrange the setting along first direction in proper order, a plurality of position sensor all are used for detecting scanning sensor's position. This safety sensing mechanism and AGV dolly have the scanning area wider, can reduce the characteristics of scanning blind area.

Description

Safety sensing mechanism and AGV trolley

Technical Field

The utility model relates to a AGV safety perception technical field particularly, relates to a safety perception mechanism and AGV dolly.

Background

With the rapid growth of the industry, the intelligent modification of the manufacturing industry becomes a trend, and the Automatic Guided Vehicle (AGV) becomes the standard allocation of more and more production and manufacturing enterprises. Especially, the AGV is mainly used for carrying large-scale appliances and production raw materials in the heavy industry, the AGV effectively reduces the labor cost of enterprises, improves the production efficiency, and meanwhile, the transportation safety problem of the AGV cannot be ignored.

Heavy load AGV is mainly with bearing material frame or tray form, and general mode is: the AGV submerges into the bottom of the material frame and lifts the material frame to achieve the function of carrying the workpiece. However, the size of the material frame in the conveying mode needs to be larger than that of the AGV so as to ensure that the AGV can smoothly enter the bottom of the material frame to complete the lifting action, and therefore, the supporting legs of the material frame can shield a part of scanning area of the safety laser to form a safety blind area; the existing mode that the safety blind area is reduced or eliminated that the material frame is customized according to the size of the AGV or the AGV is customized according to the size of the material frame is poor in universality, the equipment cost is improved, and meanwhile, the utilization rate of the material frame or the AGV is reduced.

In view of this, it is very important to develop a safety sensing mechanism and an AGV car that can solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a safe sensing mechanism, it has the scanning region wider, can reduce the characteristics of scanning blind area.

Another object of the utility model is to provide an AGV dolly, it has scanning area wider, can reduce the characteristics of scanning blind area.

The utility model provides a technical scheme:

in a first aspect, an embodiment of the present invention provides a safety sensing mechanism, which includes a driving member, a scanning sensor, and a plurality of position sensors; the driving piece is used for being connected to a frame of the AGV trolley, is connected with the scanning sensor and can drive the scanning sensor to move along a first direction or a second direction opposite to the first direction, the first direction is a horizontal direction, and the scanning sensor is used for scanning obstacles around the AGV trolley; a plurality of position sensor all with the driving piece communication is connected, and arranges the setting along first direction in proper order, and is a plurality of position sensor all is used for detecting scanning sensor's position.

With reference to the first aspect, in a first implementation manner of the first aspect, the safety sensing mechanism further includes a guide structure, and the guide structure is configured to be mounted on the frame and arranged along the first direction; the scanning sensor is slidably connected to the guide structure and is capable of moving in the first direction or the second direction relative to the guide structure.

With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, the guide structure includes a guide rod and a linear bearing sleeved on the guide rod, and the guide rod is capable of sliding relative to the linear bearing along an axis direction thereof; the linear bearing is used for being connected to the frame, one end of the guide rod is connected with the scanning sensor, and the guide rod extends along the first direction.

With reference to the first aspect and the foregoing implementation manner, in a third implementation manner of the first aspect, each of the position sensors corresponds to a side surface of the guide rod to detect a position of the guide rod, so as to detect a position of the scanning sensor.

With reference to the first aspect and the foregoing implementation manner, in a fourth implementation manner of the first aspect, the safety sensing mechanism further includes a mounting plate, where the mounting plate is connected to the free end of the driving element and one end of the guide rod; the scanning sensor is connected to the mounting plate to connect the scanning sensor with the driving member and the guide bar.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in a fifth implementation manner of the first aspect, the scanning sensor is a laser obstacle scanner.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the position sensor is a micro switch or a travel switch.

With reference to the first aspect and the foregoing implementation manner, in a seventh implementation manner of the first aspect, the driving element is a linear motion mechanism, a free end of the driving element is connected to the scanning sensor, and the other end of the driving element is used for being connected to the frame.

With reference to the first aspect and the foregoing implementation manner, in an eighth implementation manner of the first aspect, the driving member is an electric push rod, a telescopic oil cylinder, a telescopic cylinder, a rack and pinion linear motion mechanism, or a screw spiral linear motion mechanism.

In a second aspect, the embodiment of the present invention further provides an AGV cart, including the safety sensing mechanism. The safety sensing mechanism comprises a driving part, a scanning sensor and a plurality of position sensors; the driving piece is used for being connected to a frame of the AGV trolley, is connected with the scanning sensor and can drive the scanning sensor to move along a first direction or a second direction opposite to the first direction, the first direction is a horizontal direction, and the scanning sensor is used for scanning obstacles around the AGV trolley; a plurality of position sensor all with the driving piece communication is connected, and arranges the setting along first direction in proper order, and is a plurality of position sensor all is used for detecting scanning sensor's position.

Compared with the prior art, the embodiment of the utility model provides a safe perception mechanism includes for prior art's beneficial effect:

this safe perception mechanism includes the driving piece, scanning sensor and a plurality of position sensor, wherein, the driving piece is used for connecting in the frame of AGV dolly, and the driving piece still is connected with scanning sensor, this driving piece can drive scanning sensor along first direction or with the opposite second direction motion of first direction, and this first direction is the horizontal direction, or said, the straight line at first direction place is located a horizontal plane, this scanning sensor is used for scanning the barrier around the AGV dolly, and a plurality of position sensor all are connected with the driving piece communication, and a plurality of position sensor arrange the setting along first direction in proper order, a plurality of position sensor all are used for detecting scanning sensor's position. So, when the AGV dolly bears the material frame, scanning sensor can scan the obstacle in the environment at AGV dolly place, and the driving piece can drive scanning sensor and remove along the first direction, in order to increase scanning sensor's scanning area, and change scanning sensor and the relative position of material frame landing leg, and then eliminate because of the landing leg of material frame shelters from the scanning blind area that forms, improve the security of AGV dolly walking, and the driving piece can drive scanning sensor motion to different positions according to the scanning sensor's that position sensor detected position, in order when the AGV dolly bears the material frame of unidimensional not, drive scanning sensor motion to different positions, improve safety sensing mechanism's commonality.

The embodiment of the utility model provides a AGV dolly is the same for prior art's beneficial effect with foretell safe perception mechanism for prior art's beneficial effect for prior art, no longer gives unnecessary details here.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.

Fig. 1 is a schematic structural diagram of the AGV trolley to which the safety sensing mechanism provided by the embodiment of the present invention is applied.

Fig. 2 is a schematic structural diagram of a safety sensing mechanism according to an embodiment of the present invention.

Icon: 100-an AGV; 20-a frame; 10-a security sensing mechanism; 12-a drive member; 13-a scanning sensor; 15-a position sensor; 17-a guide structure; 171-a guide bar; 172-linear bearings; 19-mounting a plate; a-a first direction; b-a second direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally used to place the products of the present invention, or orientations or positional relationships that are conventionally understood by those skilled in the art, and are used merely to facilitate the description of the present invention and to simplify the description, but do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The following describes in detail embodiments of the present invention with reference to the accompanying drawings.

Example (b):

referring to fig. 1, fig. 1 is a schematic structural diagram of an AGV 100 with a safety sensing mechanism 10 according to an embodiment of the present invention.

The embodiment of the utility model provides a safe sensing mechanism 10, this safe sensing mechanism 10 have the scanning area wider, can reduce the characteristics of scanning blind area. The security sensor 10 can be applied to an AGV 100 or the like.

Wherein, use safety sensing mechanism 10 to be applied to AGV dolly 100 as an example, this AGV dolly 100 includes safety sensing mechanism 10, AGV dolly 100 passes through the barrier of safety sensing mechanism 10 scanning place environment, of course, AGV dolly 100 still includes frame 20, safety sensing mechanism 10 is installed in frame 20 to can be when AGV dolly 100 back of the body burden frame, safety sensing mechanism 10 can eliminate because of the landing leg of material frame shelters from the scanning blind area that forms, improve the security that AGV dolly 100 walked.

Because AGV dolly 100 has adopted the embodiment of the utility model provides a safe perception mechanism 10, so this AGV dolly 100 also has the scanning area wider, can reduce the characteristics of scanning blind area.

The structural composition, the operation principle and the advantageous effects of the safety sensing mechanism 10 according to the embodiment of the present invention will be described in detail below.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a safety sensing mechanism 10 according to an embodiment of the present invention. In fig. 2, the direction indicated by the arrow a is the first direction a, and the direction indicated by the arrow B is the second direction B.

The safety sensing mechanism 10 comprises a driving part 12, a scanning sensor 13 and a plurality of position sensors 15, wherein the driving part 12 is used for being connected to a frame 20 of the AGV cart 100, the driving part 12 is further connected to the scanning sensor 13, the driving part 12 can drive the scanning sensor 13 to move along a first direction a or a second direction B opposite to the first direction a, the first direction a is a horizontal direction, or a straight line of the first direction a is located in a horizontal plane, the scanning sensor 13 is used for scanning obstacles around the AGV cart 100, the plurality of position sensors 15 are all in communication connection with the driving part 12, the plurality of position sensors 15 are sequentially arranged along the first direction a, and the plurality of position sensors 15 are all used for detecting the positions of the scanning sensor 13.

So, when AGV dolly 100 is born the burden and is expected the frame, scanning sensor 13 can scan the obstacle in the environment at AGV dolly 100 place, and driving piece 12 can drive scanning sensor 13 and remove along first direction A, in order to increase scanning sensor 13's scanning area, and change the relative position of scanning sensor 13 and material frame landing leg, and then eliminate because of the landing leg of material frame shelters from the scanning blind area that forms, improve the security that AGV dolly 100 walked, and driving piece 12 can drive scanning sensor 13 according to the position of scanning sensor 13 that position sensor 15 detected and move to different positions, in order when AGV dolly 100 is born the material frame of different sizes, drive scanning sensor 13 and move to different positions, improve the commonality of safe perception mechanism 10.

In this embodiment, the number of the position sensors 15 is three or more, and the position sensors 15 may be: a sensor such as a microswitch, a travel switch or a pull-cord encoder. When the driving member 12 drives the scanning sensor 13 to move along the first direction a or the second direction B, the corresponding position sensor 15 can generate a switching signal due to the change of the relative position between the position sensor 15 and the scanning sensor 13, and the driving member 12 drives the scanning sensor 13 to move until the position sensor 15 corresponding to the preset position generates the switching signal and then stops driving the scanning sensor 13 to move. Of course, the electrical connection between the position sensors 15 and the driving member 12 can be controlled by a relay contactor control system, which uses a combination of switches, relays, buttons, and the like to control the electrical appliances, so as to receive signals, perform the functions of switching circuits, and switching the driving member 12.

In addition, the safety sensing mechanism 10 may also include a main controller (not shown), through which the driving member 12 is electrically connected to the position sensors 15, so as to control the driving member 12 to start or stop according to the above-mentioned switching signal.

It should be understood that the main controller may also be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, and so on; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The main Controller may also be any conventional processor, such as a PLC (Programmable Logic Controller), a single chip, etc.

Further, the driving member 12 may be a linear motion mechanism, and a free end of the driving member 12 is connected to the scanning sensor 13, and the other end is used for being connected to the frame 20, so as to drive the scanning sensor 13 to perform linear motion along the first direction a or the second direction B, so that the scanning sensor 13 can perform scanning operation when moving along the first direction a or the second direction B.

It should be noted that in the present embodiment, the driving member 12 is an electric push rod, and in other embodiments, the driving member 12 may also be a telescopic cylinder, a rack and pinion linear motion mechanism, or a screw-type linear motion mechanism.

Further, the scanning sensor 13 is a laser obstacle scanner. Such as a laser obstacle detection scanner model UBG-E22. Moreover, the scanning sensor 13 can be vertically arranged, or the rotation axis of the turntable of the scanning sensor 13 is vertically arranged and perpendicular to the telescopic direction of the driving part 12, so that the safety blind area formed by shielding the material frame supporting legs is eliminated when the driving part 12 drives the scanning sensor 13 to move along the first direction a or the second direction B.

With continued reference to fig. 2, the safety sensing mechanism 10 may further include a guiding structure 17, the guiding structure 17 is also configured to be mounted on the frame 20, and the guiding structure 17 is also disposed along the first direction a, and the scanning sensor 13 is slidably connected to the guiding structure 17 and can move along the first direction a or the second direction B relative to the guiding structure 17.

That is, while the driving member 12 moves the scanning sensor 13 in the first direction a or the second direction B, the scanning sensor 13 slides relative to the guide structure 17, so as to ensure the stability of the scanning sensor 13 during movement through the guide structure 17.

It should be noted that, in the present embodiment, the guide structure 17 may include a guide rod 171 and a linear bearing 172 sleeved on the guide rod 171, the guide rod 171 can slide relative to the linear bearing 172 along the self-axis direction, the linear bearing 172 is used for being connected to the frame 20, one end of the guide rod 171 is connected to the scanning sensor 13, and the guide rod 171 is extended along the first direction a.

Of course, in other embodiments, the guide structure 17 may be a linear guide structure such as a linear guide rail, a guide sleeve, or a scissor mechanism.

Further, the safety sensing mechanism 10 may further include a mounting plate 19, the mounting plate 19 is connected to the free end of the driving member 12 and one end of the guiding rod 171, and the scanning sensor 13 is connected to the mounting plate 19 to connect the scanning sensor 13 with the driving member 12 and the guiding rod 171, so as to indirectly connect the scanning sensor 13 to the free end of the driving member 12 and one end of the guiding rod 171 through the mounting plate 19, thereby reducing the twisting of the free end of the driving member 12 and one end of the guiding rod 171 on the scanning sensor 13 when the driving member 12 acts.

Further, a plurality of position sensors 15 each correspond to a side surface of the guide bar 171 to detect the position of the guide bar 171, thereby detecting the position of the scanning sensor 13.

In other words, the driving member 12 drives the mounting plate 19 to move, and simultaneously the guide rod 171 and the scanning sensor 13 move synchronously, the moving direction and the moving distance of the guide rod 171 are the moving direction and the moving distance of the scanning sensor 13, and then the position of the scanning sensor 13 is obtained by measuring the position of the guide rod 171, and the position of the scanning sensor 13 is measured by measuring the position of the guide rod 171, so that the measurement range is wider, and the measurement is more stable.

The embodiment of the utility model provides a safe perception mechanism 10's theory of operation is:

the safety sensing mechanism 10 comprises a driving part 12, a scanning sensor 13 and a plurality of position sensors 15, wherein the driving part 12 is used for being connected to a frame 20 of the AGV cart 100, the driving part 12 is further connected to the scanning sensor 13, the driving part 12 can drive the scanning sensor 13 to move along a first direction a or a second direction B opposite to the first direction a, the first direction a is a horizontal direction, or a straight line of the first direction a is located in a horizontal plane, the scanning sensor 13 is used for scanning obstacles around the AGV cart 100, the plurality of position sensors 15 are all in communication connection with the driving part 12, the plurality of position sensors 15 are sequentially arranged along the first direction a, and the plurality of position sensors 15 are all used for detecting the positions of the scanning sensor 13. So, when AGV dolly 100 is born the burden and is expected the frame, scanning sensor 13 can scan the obstacle in the environment at AGV dolly 100 place, and driving piece 12 can drive scanning sensor 13 and remove along first direction A, in order to increase scanning sensor 13's scanning area, and change the relative position of scanning sensor 13 and material frame landing leg, and then eliminate because of the landing leg of material frame shelters from the scanning blind area that forms, improve the security that AGV dolly 100 walked, and driving piece 12 can drive scanning sensor 13 according to the position of scanning sensor 13 that position sensor 15 detected and move to different positions, in order when AGV dolly 100 is born the material frame of different sizes, drive scanning sensor 13 and move to different positions, improve the commonality of safe perception mechanism 10.

In summary, the following steps:

an embodiment of the utility model provides a safe sensing mechanism 10, it has the scanning region wider, can reduce the characteristics of scanning blind area.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that the features in the above embodiments may be combined with each other without conflict, and various modifications and variations of the present invention are possible. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A safety sensing mechanism is characterized by comprising a driving part (12), a scanning sensor (13) and a plurality of position sensors (15);

the driving part (12) is used for being connected to a frame (20) of the AGV trolley (100), is connected with the scanning sensor (13) and can drive the scanning sensor (13) to move along a first direction (A) or a second direction (B) opposite to the first direction (A), the first direction (A) is a horizontal direction, and the scanning sensor (13) is used for scanning obstacles around the AGV trolley (100);

a plurality of position sensor (15) all with driving piece (12) communication is connected, and arranges the setting along first direction (A) in proper order, and is a plurality of position sensor (15) all are used for detecting scanning sensor's (13) position.

2. The mechanism according to claim 1, wherein the mechanism (10) further comprises a guide structure (17), the guide structure (17) being adapted to be mounted to the frame (20) and being arranged along the first direction (a);

the scanning sensor (13) is slidably connected to the guide structure (17) and is movable relative to the guide structure (17) along the first direction (a) or the second direction (B).

3. The mechanism according to claim 2, wherein the guiding structure (17) comprises a guiding rod (171) and a linear bearing (172) sleeved on the guiding rod (171), and the guiding rod (171) can slide relative to the linear bearing (172) along the direction of the axis thereof;

the linear bearing (172) is used for being connected to the frame (20), one end of the guide rod (171) is connected with the scanning sensor (13), and the guide rod (171) extends along the first direction (A).

4. The mechanism according to claim 3, wherein a plurality of the position sensors (15) each correspond to a side of the guide bar (171) to detect the position of the guide bar (171) and thus the position of the scanning sensor (13).

5. The mechanism according to claim 3, wherein the mechanism (10) further comprises a mounting plate (19), the mounting plate (19) being connected to the free end of the drive member (12) and to one end of the guide bar (171);

the scanning sensor (13) is connected to the mounting plate (19) to connect the scanning sensor (13) with the drive member (12) and the guide bar (171).

6. The mechanism according to any of claims 1 to 5, wherein the scanning sensor (13) is a laser obstacle scanner.

7. The mechanism according to any of claims 1 to 5, wherein the position sensor (15) is a microswitch or a travel switch.

8. The mechanism according to any of claims 1-5, wherein the driving member (12) is a linear motion mechanism, and the free end of the driving member (12) is connected to the scanning sensor (13) and the other end is used for connecting to the carriage (20).

9. The mechanism of claim 8, wherein the driving member (12) is an electric push rod, a telescopic cylinder, a rack and pinion linear motion mechanism or a screw-type linear motion mechanism.

10. AGV trolley, characterized in that it comprises a safety sensor (10) according to any of claims 1 to 9.