CN216748539U

CN216748539U - Obstacle avoidance and sudden stop mechanism of unmanned carrying vehicle

Info

Publication number: CN216748539U
Application number: CN202122831133.1U
Authority: CN
Inventors: 汤阳超
Original assignee: Meidensha (hangzhou) Electric System Co ltd
Current assignee: Meidensha (hangzhou) Electric System Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-06-14
Anticipated expiration: 2031-11-18

Abstract

The utility model discloses an obstacle avoidance and emergency stop mechanism of an unmanned carrier, which comprises a carrier body, wherein a PLC (programmable logic controller) and an AVG (automatic voltage regulator) controller are respectively arranged in the carrier body, an obstacle sensor used for detecting obstacles positioned in front of the carrier body is arranged at the front end of the carrier body, auxiliary sensors used for detecting obstacles around the carrier body are respectively arranged at the left side and the right side of the carrier body, the signal output ends of the obstacle sensors and the signal output ends of the auxiliary sensors are respectively and electrically connected with the signal input end of the PLC controller, and the signal output end of the AVG controller is electrically connected with the signal input end of the auxiliary sensor. The utility model overcomes the problems of high production cost and complex operation of the traditional automatic guided vehicle. The utility model has the advantages of long service life, high stability, low production cost, convenient use and the like.

Description

Obstacle avoidance and sudden stop mechanism of unmanned carrying vehicle

Technical Field

The utility model relates to the field of AGV carrying trolley structures, in particular to an obstacle avoidance and scram mechanism of an unmanned carrying vehicle.

Background

In order to avoid collision with an obstacle during operation of a conventional automated guided vehicle, an obstacle sensor is generally provided to detect the obstacle at the vehicle head. However, because the actual factory environment is complex, an auxiliary obstacle avoidance sensor is often required to be added to detect an obstacle. The plurality of obstacle sensors need a plurality of corresponding AGV controllers to process parking switch signals, when the signals for controlling the AGV to park are excessive, the number of signal input points of the AGV controllers needs to be increased, the cost of products is increased, and the control of software and circuits is more complicated.

In addition to the stop signal input of the obstacle sensor, there are also an external emergency stop button signal input and an internal stop signal input judged by the software control system, and the addition of these other emergency stop signals also causes complication of the control and the circuit.

SUMMERY OF THE UTILITY MODEL

The utility model provides an obstacle avoidance and sudden stop mechanism of an unmanned carrier, which has the advantages of low production cost and simple operation, and aims to solve the problems of high production cost and complex operation of the traditional unmanned carrier in the prior art.

The obstacle avoidance and sudden stop mechanism of the unmanned carrier comprises a carrier body, wherein a PLC (programmable logic controller) and an AVG (automatic voltage regulation) controller are respectively arranged in the carrier body, an obstacle sensor used for detecting obstacles in front of the carrier body is arranged at the front end of the carrier body, auxiliary sensors used for detecting obstacles around the carrier body are respectively arranged on the left side and the right side of the carrier body, the signal output end of the obstacle sensor and the signal output end of the auxiliary sensor are respectively and electrically connected with the signal input end of the PLC controller, and the signal input end of the auxiliary sensor is electrically connected with the signal output end of the AVG controller.

The obstacle sensor and the auxiliary sensor both adopt ultrasonic radars, and the model number of the ultrasonic radars is DPK-15.

Based on the MKII type AGV, when the obstacle sensors sense a plurality of obstacles, the PLC starts the auxiliary sensors, and when the PLC judges that the current environment needs to brake the carrier body, the PLC sends signals to the AVG controller to brake the carrier body.

When a user needs to brake the carrier body remotely, the antenna is arranged to receive an external stop signal, the PLC is used for processing the input of the external stop signal, and the signal is sent to the AVG controller to brake the carrier body.

When a user needs to brake the carrier body on the spot, the AVG controller is controlled to brake the carrier body emergently through the emergency stop button by installing the emergency stop button.

In practical situations, the number of external stop requirements is likely to be large or small, and the utility model utilizes single signal input force to unify all obstacle avoidance stop signals, thereby simplifying control and increasing the reliability of obstacle avoidance stop.

Preferably, the top of the carrier body is provided with an antenna for receiving wireless signals, a signal transmitting end of the antenna is electrically connected with a signal receiving end of the PLC, the tail end of the carrier body is provided with a dustproof emergency stop button for emergency braking, and a relay for controlling the auxiliary sensor is electrically connected between the auxiliary sensor and the AVG controller.

Preferably, pin 1 of the obstacle sensor is electrically connected with pin 1 of the PLC controller, pin 2 of the obstacle sensor is electrically connected with pin 2 of the auxiliary sensor and one end of the dustproof emergency stop button, the other end of the dustproof emergency stop button is electrically connected with pin 3 of the AVG controller, pin 2 of the PLC controller is electrically connected with pin 1 of the relay, pin 3 of the PLC controller is electrically connected with pin 1 of the antenna, pin 4 of the PLC controller is electrically connected with pin 2 of the antenna, pin 1 of the auxiliary sensor is electrically connected with pin 4 of the relay, pin 2 of the relay is electrically connected with pin 2 of the AVG controller, and pin 3 of the relay is electrically connected with pin 1 of the AVG controller.

Preferably, the dustproof emergency stop button comprises a button as a main body, a button groove for installing the button is formed in the outer portion of the button, and a contactor matched with the button for use is arranged at the bottom of the button groove.

Preferably, the left side and the right side of the button are respectively provided with a dustproof assembly for blocking dust in the air from entering, and the left side and the right side of the opening of the button groove are respectively provided with a baffle plate matched with the dustproof assembly for use.

Preferably, a return spring for returning the button is arranged between the bottom of the groove of the button groove and the bottom of the button.

Preferably, the dustproof assembly comprises a dustproof support used for supporting, a dustproof plate used in cooperation with the baffle is arranged at the front end of the dustproof support, and a rubber gasket used for blocking dust is attached to the upper end of the dustproof plate.

The cooperation of dust guard and baffle is used, can let the button stop the dust when not using and get into in the button to improve the life of button.

Utilize the rubber gasket both can block in partial dust gets into the button, can absorb partial pressure when the button resets again to improve the life of button, improve the stability of button.

The button can be automatically reset after the button is released by hands by utilizing the reset spring.

The utility model has the following beneficial effects: long service life, high stability, low production cost and convenient use.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic diagram of the circuit principle of the present invention.

Fig. 3 is a schematic structural view of the dustproof emergency stop button of the present invention.

The carrier comprises a carrier body 1, a PLC (programmable logic controller) 2, an AVG (automatic voltage regulator) controller 3, an obstacle sensor 4, an auxiliary sensor 5, an antenna 6, a dustproof emergency stop button 7, a relay 8, a button 9, a button groove 10, a contactor 11, a baffle 12, a reset spring 13, a dustproof support 14, a dustproof plate 15 and a rubber gasket 16.

Detailed Description

The technical scheme of the utility model is further specifically described by the following embodiments and the accompanying drawings.

Example (b): the utility model is further explained with reference to fig. 1, fig. 2 and fig. 3, the obstacle avoidance and emergency stop mechanism of the automated guided vehicle of the present embodiment includes a vehicle body 1, a PLC controller 2 and an AVG controller 3 are respectively disposed in the vehicle body 1, an obstacle sensor 4 for detecting an obstacle located in front of the vehicle body 1 is disposed at a front end of the vehicle body 1, auxiliary sensors 5 for detecting obstacles around the vehicle body 1 are respectively disposed at left and right sides of the vehicle body 1, a signal output end of the obstacle sensor 4 and a signal output end of the auxiliary sensor 5 are respectively electrically connected to a signal input end of the PLC controller 2, and a signal input end of the auxiliary sensor 5 is electrically connected to a signal output end of the AVG controller 3.

The carrier body 1 top be equipped with the antenna 6 that is used for receiving wireless signal, the signal transmission end of antenna 6 and the signal receiving terminal electric connection of PLC controller 2, carrier body 1 tail end be equipped with the dustproof scram button 7 that is used for emergency braking, auxiliary sensor 5 and AVG controller 3 between electric connection have the relay 8 that is used for controlling auxiliary sensor 5.

Pin 1 of obstacle sensor 4 and pin 1 electric connection of PLC controller 2, pin 2 of obstacle sensor 4 respectively with auxiliary sensor 5's pin 2 and dustproof emergency stop button 7's one end electric connection, the other end of dustproof emergency stop button 7 and AVG controller 3's pin 3 electric connection, PLC controller 2's pin 2 and relay 8's pin 1 electric connection, PLC controller 2's pin 3 and antenna 6's pin 1 electric connection, PLC controller 2's pin 4 and antenna 6's pin 2 electric connection, auxiliary sensor 5's pin 4 and relay 8's pin 4 electric connection, relay 8's pin 2 and AVG controller 3's pin 2 electric connection, relay 8's pin 3 and AVG controller 3's pin 1 electric connection.

The dustproof emergency stop button 7 comprises a button 9 serving as a main body, a button groove 10 used for installing the button 9 is formed outside the button 9, and a contactor 11 matched with the button 9 for use is arranged at the bottom of the button groove 10.

The left side and the right side of the button 9 are respectively provided with a dustproof component for blocking dust in the air from entering, and the left side and the right side of the opening of the button groove 10 are respectively provided with a baffle 12 matched with the dustproof component for use.

A return spring 13 for returning the button 9 is arranged between the bottom of the groove of the button groove 10 and the bottom of the button 9.

The dustproof assembly comprises a dustproof support 14 used for supporting, a dustproof plate 15 used with the baffle 12 in a matched mode is arranged at the front end of the dustproof support 14, and a rubber gasket 16 used for blocking dust is attached to the upper end of the dustproof plate 15.

The above description is only an embodiment of the present invention, but the structural features of the present invention are not limited thereto, and any changes or modifications within the scope of the present invention by those skilled in the art are covered by the present invention.

Claims

1. The utility model provides an unmanned carrying vehicle keeps away barrier scram mechanism, includes carrier body (1), characterized by, carrier body (1) in be equipped with PLC controller (2) and AVG controller (3) respectively, the front end of carrier body (1) be equipped with obstacle sensor (4) that are used for detecting the obstacle that is located carrier body (1) the place ahead, carrier body (1) the left and right sides be equipped with auxiliary sensor (5) that are used for detecting obstacle around carrier body (1) respectively, the signal output part of obstacle sensor (4) and the signal output part of auxiliary sensor (5) respectively with the signal input part electric connection of PLC controller (2), the signal input part of auxiliary sensor (5) and the signal output part electric connection of AVG controller (3).

2. The obstacle avoidance and emergency stop mechanism of the unmanned transportation vehicle as claimed in claim 1, wherein an antenna (6) for receiving wireless signals is installed on the top of the transportation vehicle body (1), a signal transmitting end of the antenna (6) is electrically connected with a signal receiving end of the PLC controller (2), a dustproof emergency stop button (7) for emergency braking is installed at the tail end of the transportation vehicle body (1), and a relay (8) for controlling the auxiliary sensor (5) is electrically connected between the auxiliary sensor (5) and the AVG controller (3).

3. The obstacle avoidance and emergency stop mechanism of the unmanned transportation vehicle as claimed in claim 2, wherein pin 1 of the obstacle sensor (4) is electrically connected to pin 1 of the PLC controller (2), pin 2 of the obstacle sensor (4) is electrically connected to pin 2 of the auxiliary sensor (5) and one end of the dust-proof emergency stop button (7), respectively, the other end of the dust-proof emergency stop button (7) is electrically connected to pin 3 of the AVG controller (3), pin 2 of the PLC controller (2) is electrically connected to pin 1 of the relay (8), pin 3 of the PLC controller (2) is electrically connected to pin 1 of the antenna (6), pin 4 of the PLC controller (2) is electrically connected to pin 2 of the antenna (6), pin 1 of the auxiliary sensor (5) is electrically connected to pin 4 of the relay (8), and the 2 pin of the relay (8) is electrically connected with the 2 pin of the AVG controller (3), and the 3 pin of the relay (8) is electrically connected with the 1 pin of the AVG controller (3).

4. The obstacle avoidance and scram mechanism of the unmanned transportation vehicle as claimed in claim 2, wherein the dustproof scram button (7) comprises a button (9) as a main body, a button groove (10) for installing the button (9) is arranged outside the button (9), and a contactor (11) matched with the button (9) is arranged at the bottom of the button groove (10).

5. The obstacle avoidance and scram mechanism of the automated guided vehicle as claimed in claim 4, wherein the button (9) has dust-proof components for blocking dust in the air on the left and right sides, respectively, and the button slot (10) has baffles (12) on the left and right sides for cooperating with the dust-proof components.

6. The obstacle avoidance and scram mechanism of the automated guided vehicle as claimed in claim 4, wherein a return spring (13) for returning the button (9) is provided between the bottom of the button groove (10) and the bottom of the button (9).

7. The obstacle avoidance and scram mechanism of the unmanned transportation vehicle as claimed in claim 5, wherein the dust-proof assembly comprises a dust-proof bracket (14) for supporting, a dust-proof plate (15) matched with the baffle (12) is arranged at the front end of the dust-proof bracket (14), and a rubber gasket (16) for blocking dust is adhered to the upper end of the dust-proof plate (15).