CN216067546U

CN216067546U - Intelligent AGV robot anti-collision device

Info

Publication number: CN216067546U
Application number: CN202121755569.0U
Authority: CN
Inventors: 何兴波; 宁史朋; 刘波; 韩春洪; 史康杰; 袁满; 周登国; 梁强
Original assignee: Changzhou Zeda Robot Technology Co ltd
Current assignee: Changzhou Zeda Robot Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2022-03-18
Anticipated expiration: 2031-07-30

Abstract

This scheme belongs to AGV robot technical field, concretely relates to intelligence AGV robot buffer stop. The device also comprises a protection unit; the protection unit comprises a first air cylinder, a plurality of first springs, a damping plate, a first connecting rod, two air bags, two air guide pipes and a first piston matched with the first air cylinder; the speed reduction unit comprises a second cylinder, a third cylinder second connecting rod, a plurality of second springs, a movable rod, a speed reduction plate, a second piston matched with the second cylinder and a third piston matched with the third cylinder. The anti-collision device has the advantages of sensitive response, stable working performance and simple operation; meanwhile, due to the combined action of multiple aspects, the anti-collision effect of the device is good.

Description

Intelligent AGV robot anti-collision device

Technical Field

This scheme belongs to AGV robot technical field, concretely relates to intelligence AGV robot buffer stop.

Background

The AGV robot can travel along a prescribed guide path, has safety protection and various transfer functions, and is a robot transport vehicle that does not require a driver in industrial application and uses a rechargeable battery as a power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the unmanned transport vehicle can move and operate according to the information brought by the electromagnetic rail. The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. Compared with other equipment commonly used in material conveying, the AGV has the advantages that fixing devices such as rails and supporting frames do not need to be laid in the moving area of the AGV, and the AGV is not limited by sites, roads and spaces.

Generally, a plurality of AGV robots usually work simultaneously in an industrial field, and once the robot loses signals or fails, the AGV robots may collide randomly, and in order to prevent the AGV from being damaged by collision and other safety problems, the AGV robots need special collision protection devices.

Chinese patent publication No. CN213109560U discloses an anti-collision device for an AGV trolley, which comprises an installation shell and an anti-collision shell, wherein the installation shell is provided with a circle of T-shaped grooves, and a transverse anti-collision shell is arranged outside the installation shell. Still include a plurality of anticollision strip subassemblies and a plurality of buffering anticollision wheel subassembly, the anticollision strip subassembly includes the anticollision strip, slider and spring, the anticollision strip both ends respectively articulate there is a slider of installing in T type inslot, the top is supported and is leaned on the inboard of crashproof shell, buffering anticollision wheel subassembly includes crashproof wheel, first branch, second branch, the corner at the automobile body is installed to the crashproof wheel to with the articulated of first branch and second branch, the other end and the slider of first branch and second branch are articulated, be provided with the spring between each slider. In the scheme, the safety system of the trolley is controlled by adopting the pressure sensor, so that the anti-collision function of the trolley is started, the use cost and the manufacturing cost of the trolley are high, and the anti-collision function of the AGV trolley is automatically lost once the sensor fails; simultaneously through the crashproof function of pressure sensor control dolly for the crashproof function of dolly needs certain reaction time, makes the crashproof function reaction of dolly untimely like this, and in the comprehensive use, the anticollision effect of dolly is not good.

SUMMERY OF THE UTILITY MODEL

This scheme provides a response sensitive intelligent AGV robot buffer stop.

In order to achieve the purpose, the scheme provides an intelligent AGV robot collision avoidance device which comprises a robot body;

the device also comprises a protection unit;

the protection unit comprises a first air cylinder, a plurality of first springs, a damping plate, a first connecting rod, two air bags, two air guide pipes and a first piston matched with the first air cylinder; the two air bags are symmetrically arranged on two sides of the robot body, and each air bag is provided with an opening; the first air cylinder is fixedly arranged at the end part of the robot body, and two openings are formed in one surface, close to the robot body, of the first air cylinder; one end of each air duct is communicated with one opening on the first air cylinder, and the other end of each air duct is communicated with the opening on the air bag; the first piston is arranged in the first cylinder in a sliding mode; the first springs are arranged in the first air cylinder, one ends of the first springs are fixedly connected with the cylinder wall of the first air cylinder, and the other ends of the first springs are fixedly connected with the first piston; a first opening is formed in one surface, far away from the robot body, of the first air cylinder; one end of the first connecting rod penetrates through the first opening and is fixedly connected with a first piston in the first cylinder; the other end of the first connecting rod is suspended outside the first cylinder, and the other end of the first connecting rod is fixedly connected with the damping plate.

The principle of the scheme is as follows: the protection unit in this scheme not only can play the effect of bradyseism, anticollision, through starting gasbag work, can also further play the effect of protection, the effect of reinforcing robot anticollision.

The method specifically comprises the following steps: when the robot body is collided, the robot body firstly collides with the damping plate and presses the damping plate. The first connecting rod fixedly connected with the damping plate enables the first piston in the first cylinder to move, the first springs are compressed, and gas in the first cylinder is conveyed into the air bag through the air guide pipe, so that the air bag is started to work. The inflated air bag can play a better role in protecting and preventing collision for the robot body. When the object striking the robot leaves the damping plate, the compressed first spring returns, the first piston returns correspondingly, and the damping plate returns to the initial state. The gas in the air bag returns to the first air cylinder, and the air bag is tightened. When an object impacts the damping plate again, the process is repeated.

The beneficial effect of this scheme lies in: after an object impacts the damping plate, the damping plate can play a certain role in collision prevention, shock absorption and robot protection. Meanwhile, the vibration plate starts the air bag to work, so that the air bag is inflated. The inflated air bag can not only protect the robot body, but also further enable the robot body to have a better anti-collision effect. The anti-collision device has the advantages of sensitive response, stable working performance and simple operation; meanwhile, due to the combined action of multiple aspects, the anti-collision effect of the device is good. In the scheme, the plurality of first springs are arranged, so that the reaction is rapid and sensitive when the first piston is reset; simultaneously a plurality of first springs can make the robot have better crashproof effect.

The speed reducer comprises a first cylinder, a second cylinder, a third cylinder, a first connecting rod, a plurality of first springs, a movable rod, a speed reducing plate, a first piston matched with the first cylinder and a third piston matched with the third cylinder; the second air cylinder is fixedly arranged on the robot body and is positioned below the first air cylinder; the third cylinder is fixedly arranged on the robot body, is positioned below the second cylinder and is arranged close to the second cylinder; the second piston is arranged in a second cylinder in a sliding mode; the plurality of second springs are arranged in the second air cylinder, one ends of the second springs are fixedly connected with the cylinder wall of the second air cylinder, and the other ends of the second springs are fixedly connected with the second piston; a second opening is formed in one surface, far away from the robot body, of the second cylinder, and one end of the second connecting rod penetrates through the second opening and is fixedly connected with the second piston; the other end of the second connecting rod is fixedly connected with the damping plate; the cylinder walls of the second cylinder and the third cylinder which are adjacent are provided with through holes, and the through holes are communicated with the second cylinder and the third cylinder; a third opening is further formed in the surface, close to the ground, of the third cylinder, and one end of the movable rod penetrates through the third opening and is fixedly connected with the third piston; the other end of the movable rod is located outside the third cylinder, and the other end of the movable rod is fixedly connected with the speed reducing plate.

The speed reduction unit in the scheme can further achieve the technical effects of protection and collision prevention on the robot. After the object strikes the shock attenuation board on, the shock attenuation board is supported and is pressed, and the second connecting rod makes the second piston remove, and a plurality of second springs are compressed, and gas in the second cylinder enters into the third cylinder through the through-hole, and the third piston in the third cylinder is promoted. And the third piston moves downwards, and in the process of moving downwards of the third piston, the movable rod moves downwards synchronously until the speed reducing plate on the movable rod is abutted against the ground. The robot can achieve the technical effects of speed reduction and braking by making the speed reduction plate abut against the ground. The robot is decelerated and braked in such a way, so that the force of the robot being impacted can be greatly reduced. Through setting up a plurality of second springs in this scheme for when the second piston resets, the reaction is rapid, and a plurality of second springs can give the better crashproof effect of robot simultaneously.

Further, the shock attenuation board is flexible shock attenuation board, and the one side that the robot body was kept away from to the shock attenuation board is the convex surface. The flexible damping plate has a better cushioning effect, and can better reduce the received impact force. The one side of keeping away from the robot with the shock attenuation board sets up to the convex surface, more accords with mechanical properties, can give the better crashproof effect of shock attenuation board.

Further, the air bag is an elastic air bag. The elastic air bag can enable the air bag to have a better self-recovery effect, and meanwhile, the elastic air bag has a better anti-collision effect.

Furthermore, a resistance piece is further arranged on the speed reducing plate. This scheme is through setting up the resistance piece, has increased the coefficient of friction of speed reduction board and bottom surface, can be so that the speed reduction unit has the effect of better speed reduction, brake to reach the technological effect that further improves the robot anticollision.

Furthermore, the resistance piece is a plurality of convex nails which are uniformly and fixedly arranged on the speed reducing plate. The convex nail is cheap and easy to obtain and replace, and can generate larger friction effect.

Drawings

FIG. 1 is a front view of an embodiment of the present invention.

Fig. 2 is a side view of an embodiment of the present invention.

Detailed Description

The following is further detailed by the specific embodiments:

reference numerals in the drawings of the specification include: the robot comprises a robot body 1, a first cylinder 2, a second cylinder 3, a first piston 4, a first connecting rod 5, a second piston 6, a second connecting rod 7, a damping plate 8, a first spring 9, a third cylinder 10, a third piston 11, a movable rod 12, a speed reducing plate 13, a second spring 14, an air duct 15 and an air bag 16.

The embodiment is basically as shown in the attached figures 1 and 2: an intelligent AGV robot anti-collision device comprises a robot body 1,

the device also comprises a protection unit;

the protection unit comprises a first cylinder 2, a plurality of first springs 9, a damping plate 8, a first connecting rod 5, two air bags 16, two air ducts 15 and a first piston 4 matched with the first cylinder 2; the two air bags 16 are symmetrically arranged on two sides of the robot body 1, and the air bags 16 and the robot body 1 are fixedly arranged in a welding mode. Each air bag 16 is provided with an opening; the first cylinder 2 is fixedly arranged at the end part of the robot body 1, and two openings are arranged on the cylinder surface of the first cylinder 2 close to the robot body 1; two openings are provided corresponding to the air bag 16.

One end of each air duct 15 is communicated with an opening on the first air cylinder 2, and the other end of the air duct 15 is communicated with an opening on the air bag 16; thus, the two air bags 16 are communicated with the first air cylinder 2 through the two air ducts 15. The first piston 4 is slidably disposed in the first cylinder 2, and the first piston 4 is horizontally movable. A plurality of first springs 9 are arranged in the first cylinder 2, one end of each first spring 9 is fixedly connected with the cylinder wall of the first cylinder 2, and the other end of each first spring 9 is fixedly connected with the first piston 4. A first opening is formed in one surface, far away from the robot body 1, of the first air cylinder 2; one end of the first connecting rod 5 penetrates through the first opening and is fixedly connected with the first piston 4 in the first cylinder 2. The other end of the first connecting rod 5 is suspended outside the first cylinder 2, and the other end of the first connecting rod 5 is fixedly connected with the damping plate 8. In the scheme, the first springs 9 are arranged, so that the reaction is rapid and sensitive when the first piston 4 is reset; meanwhile, the robot can have a better anti-collision effect due to the plurality of first springs 9.

The air bag 16 in this scheme is elastic air bag 16, and elastic air bag 16 can make air bag 16 have better self-healing effect, and when the object struck on air bag 16, elastic air bag 16 had better crashproof effect simultaneously. The damping plate 8 is a flexible damping plate 8, and one surface of the damping plate 8, which is far away from the robot body 1, is a convex surface. The flexible damping plate 8 has a better damping effect and can better reduce the received impact force. The one side of keeping away from the robot with damper plate 8 sets up to the convex surface, more accords with mechanical properties, can give damper plate 8 better crashproof effect. A plurality of first springs 9 in this scheme evenly set up in first cylinder 2, and this scheme is equipped with four first springs 9 altogether, and the equipartition is in the four corners department of first cylinder 2. The first spring 9 and the cylinder wall of the first cylinder 2 and the first spring 9 and the first piston 4 are fixedly connected in a welding mode.

The device also comprises a speed reducing unit, wherein the speed reducing unit comprises a second cylinder 3, a third cylinder 10, a second connecting rod 7, a plurality of second springs 14, a movable rod 12, a second piston 6 matched with the second cylinder 3 and a third piston 11 matched with the third cylinder 10. The second cylinder 3 is fixedly arranged on the robot body 1, and the second cylinder 3 is positioned below the first cylinder 2. The third cylinder 10 is fixedly arranged on the robot body 1, the third cylinder 10 is positioned below the second cylinder 3, and the third cylinder 10 is arranged close to the second cylinder 3. A second piston 6 is slidably disposed in the second cylinder 3, and the second piston 6 is horizontally movable.

A plurality of second springs 14 are arranged in the second cylinder 3, one end of each second spring 14 is fixedly connected with the cylinder wall of the second cylinder 3, and the other end of each second spring 14 is fixedly connected with the second piston 6. The second cylinder 3 is provided with a second opening on the surface far away from the robot body 1, and one end of the second connecting rod 7 penetrates through the second opening and is fixedly connected with the second piston 6. The other end of the second connecting rod 7 is fixedly connected with the damping plate 8. The cylinder walls of the second cylinder 3 and the third cylinder 10 which are adjacent are provided with through holes which are communicated with the second cylinder 3 and the third cylinder 10; a third opening is further formed in the surface, close to the ground, of the third cylinder 10, and one end of the movable rod 12 penetrates through the third opening and is fixedly connected with the third piston 11; the other end of the movable rod 12 is located outside the third cylinder 10, and the other end of the movable rod 12 is fixedly connected with the speed reduction plate 13. The third cylinder 10 is filled with gas, and when the second piston 6 of the second cylinder 3 is compressed, the gas in the second cylinder 3 enters the third cylinder 10 and moves the third piston 11 up and down.

In the scheme, four second springs 14 are arranged, and the four second springs 14 are uniformly distributed at four corners of the second cylinder 3. The second spring 14 and the cylinder wall of the second cylinder 3 and the second spring 14 and the second piston 6 are fixedly connected in a welding mode. Through setting up four second spring 14 in this scheme for when second piston 6 resets, the reaction is rapid, and four second spring 14 can give the better crashproof effect of robot simultaneously.

In this embodiment, a resistance member is provided to increase the friction coefficient between the speed reduction plate 13 and the ground when the speed reduction unit is operated. The friction effect between the speed reducing plate 13 and the ground can be increased through the resistance piece, and then the robot can be decelerated and braked better. The resistance piece in this scheme includes a plurality of protruding nails, and a plurality of protruding nails are fixed to be set up on the air brake 13. The convex nail is cheap and easy to obtain and replace, and can generate larger friction effect.

The method comprises the following specific operations: when the robot is hit by a foreign object, the robot firstly hits the damping plate 8, the damping plate 8 is compressed, meanwhile, the first connecting rod 5 and the second connecting rod 7 synchronously move, the first connecting rod 5 drives the first piston 4 to move, and the first springs 9 are compressed. The second connecting rod 7 moves the second piston 6 and the second springs 14 are compressed. The gas in the first cylinder 2 enters the air bags 16 at two sides of the robot body 1 through the gas guide tube 15, and the gas expands the air bags 16. The gas in the second cylinder 3 enters the third cylinder 10 and causes the third piston 11 in the third cylinder 10 to move downward, the movable rod 12 moving downward in synchronization. Until the speed reduction plate 13 at the other end of the movable rod 12 is in contact with the ground.

In this scheme, the foreign object strikes back on the shock attenuation board 8, and shock attenuation board 8 self can play certain bradyseism, crashproof effect. Meanwhile, the damping plate 8 starts the air bag 16 to inflate, and the inflated air bag 16 can further protect and prevent the robot body 1 from collision. Through the speed reduction unit in this scheme, can make the air brake 13 offset with ground, play the technological effect of speed reduction, brake to robot body 1 to the impact degree that the robot received by the striking in-process that has significantly reduced. Further, the robot is protected and prevented from collision.

The buffer stop of this scheme has improved the anticollision effect of robot simultaneously from the multi-angle for the anticollision device anticollision of this scheme is effectual, and buffer stop reaction is sensitive simultaneously, and the comprehensive excellent in use effect of device.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The intelligent AGV robot anti-collision device comprises a robot body (1);

the method is characterized in that: the device also comprises a protection unit;

the protection unit comprises a first cylinder (2), a plurality of first springs (9), a damping plate (8), a first connecting rod (5), two air bags (16), two air ducts (15) and a first piston (4) matched with the first cylinder (2) for use; the two air bags (16) are symmetrically arranged on two sides of the robot body (1), and each air bag (16) is provided with an opening; the first air cylinder (2) is fixedly arranged at the end part of the robot body (1), and two openings are formed in one surface, close to the robot body (1), of the first air cylinder (2); one end of each air duct (15) is communicated with one opening on the first cylinder (2), and the other end of each air duct (15) is communicated with an opening on the air bag (16); the first piston (4) is arranged in the first cylinder (2) in a sliding manner; a plurality of first springs (9) are arranged in the first air cylinder (2), one ends of the first springs (9) are fixedly connected with the cylinder wall of the first air cylinder (2), and the other ends of the first springs (9) are fixedly connected with the first piston (4); a first opening is formed in one surface, far away from the robot body (1), of the first air cylinder (2); one end of a first connecting rod (5) penetrates through the first opening and is fixedly connected with a first piston (4) in the first cylinder (2); the other end of the first connecting rod (5) is suspended outside the first cylinder (2), and the other end of the first connecting rod (5) is fixedly connected with the damping plate (8).

2. The intelligent AGV robot bump guard of claim 1, wherein: the device also comprises a speed reducing unit, wherein the speed reducing unit comprises a second cylinder (3), a third cylinder (10), a second connecting rod (7), a plurality of second springs (14), a movable rod (12), a speed reducing plate (13), a second piston (6) matched with the second cylinder (3) and a third piston (11) matched with the third cylinder (10); the second air cylinder (3) is fixedly arranged on the robot body (1), and the second air cylinder (3) is positioned below the first air cylinder (2); the third air cylinder (10) is fixedly arranged on the robot body (1), the third air cylinder (10) is positioned below the second air cylinder (3), and the third air cylinder (10) and the second air cylinder (3) are arranged in a close proximity mode; the second piston (6) is arranged in the second cylinder (3) in a sliding manner; a plurality of second springs (14) are arranged in the second cylinder (3), one ends of the second springs (14) are fixedly connected with the cylinder wall of the second cylinder (3), and the other ends of the second springs (14) are fixedly connected with the second piston (6); a second opening is formed in one surface, far away from the robot body (1), of the second cylinder (3), and one end of the second connecting rod (7) penetrates through the second opening and is fixedly connected with the second piston (6); the other end of the second connecting rod (7) is fixedly connected with a damping plate (8); the cylinder walls of the second cylinder (3) and the third cylinder (10) which are adjacent are provided with through holes, and the through holes are communicated with the second cylinder (3) and the third cylinder (10); a third opening is further formed in the surface, close to the ground, of the third cylinder (10), and one end of the movable rod (12) penetrates through the third opening and is fixedly connected with the third piston (11); the other end of the movable rod (12) is positioned outside the third cylinder (10), and the other end of the movable rod (12) is fixedly connected with the speed reducing plate (13).

3. The intelligent AGV robot bump guard of claim 1, wherein: the damping plate (8) is a flexible damping plate (8), and one surface, far away from the robot body (1), of the damping plate (8) is a convex surface.

4. The intelligent AGV robot bump guard of claim 1, wherein: the air bag (16) is an elastic air bag (16).

5. The intelligent AGV robot bump guard of claim 2, wherein: and the speed reducing plate (13) is also provided with a resistance piece.

6. The intelligent AGV robot collision avoidance device of claim 5, wherein: the resistance pieces are a plurality of convex nails which are uniformly and fixedly arranged on the speed reducing plate (13).