CN217415486U

CN217415486U - Obstacle avoidance device for trolley

Info

Publication number: CN217415486U
Application number: CN202221119476.3U
Authority: CN
Inventors: 赵江民
Original assignee: Xi'an Dasheng Technology Co ltd
Current assignee: Xi'an Dasheng Technology Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-09-13
Anticipated expiration: 2032-05-11

Abstract

The application discloses a trolley obstacle avoidance device, which comprises a trolley, an emergency stop mechanism and two adjusting obstacle avoidance mechanisms; the emergency stop mechanism comprises a first sliding component, a first elastic piece, a first contact and a second contact; the first sliding component is inserted in the trolley; the first contact is arranged in the trolley; the end part of the first sliding component extending into the trolley is fixedly connected with a second contact; the first elastic piece is sleeved on the first sliding component; the two adjusting obstacle avoidance mechanisms are positioned at two sides of the first sliding assembly; the adjusting obstacle avoidance mechanism comprises a second sliding assembly, a second elastic piece, a switch, an adjusting wheel and an adjusting part; the second sliding component is inserted in the trolley; the adjusting wheel is rotatably connected to the end part of the second sliding assembly; the output end of the adjusting part is fixedly connected with the adjusting wheel; the switch is arranged inside the trolley and is electrically connected with the adjusting part. This application has realized the dolly when the sensor became invalid, can adjust through mechanical obstacle avoidance device and realize the secondary and keep away the obstacle, avoids the dolly to continue the purpose that strikes the barrier.

Description

Obstacle avoidance device for trolley

Technical Field

The application relates to a barrier technical field is kept away to the dolly, especially relates to a barrier device is kept away to dolly.

Background

Today, the application degree of the robot technology is becoming an important measurement factor for determining the mutual competition and future development among enterprises in the high-speed development of the traffic logistics industry. The automatic guided vehicle AGV has been successfully used in the logistics industry as one of the intelligent robots, and its efficiency is self-evident. Especially, in the process of transporting and transferring goods, the AGV can be fully competent. In order to ensure the safety of the AGV during transportation, the AGV needs to have an obstacle avoidance function. The automatic obstacle avoidance of the AGV refers to the fact that the AGV stops effectively and automatically avoiding the obstacle according to a certain method when the AGV senses static and dynamic objects which obstruct the AGV from passing through the sensor in the automatic driving process according to the collected state information of the obstacle, and finally reaches a destination point. Thus, the safety of an AGV car is a significant factor in its design.

The design of current AGV dolly has automatic obstacle system of keeping away, mainly include laser sensor, sound wave sensor and anticollision strip, carry out data integration through the host computer and handle, form the automatic obstacle strategy of keeping away of one set of completion, and in the practical life, under the situation of overwhelming majority, the environment that the AGV dolly is located is all dynamic, it is changeable, unknown, laser sensor, the condition of inefficacy appears easily in the sound wave sensor, the obstacle of keeping away of current AGV dolly relies on the sensor excessively, the obstacle device of keeping away of design machinery, direct contact is behind the obstacle when the sensor inefficacy, can not carry out the secondary and keep away the obstacle, lead to the AGV dolly to continue to strike the obstacle or appear reporting to the police and stop.

SUMMERY OF THE UTILITY MODEL

This application is through providing a barrier device is kept away to dolly, has solved keeping away of AGV dolly among the prior art and has hindered too much to rely on the sensor, and direct contact is behind the barrier when the sensor inefficacy, can not carry out the secondary and keeps away the barrier, leads to the AGV dolly to continue the technical problem who strikes the barrier, has realized that the dolly can adjust through the mechanical barrier device of keeping away and realize the secondary and keep away the barrier when the sensor inefficacy, avoids the dolly to continue the purpose that strikes the barrier.

The application provides a trolley obstacle avoidance device, which comprises a trolley, an emergency stop mechanism and two adjusting obstacle avoidance mechanisms; the emergency stop mechanism comprises a first sliding component, a first elastic piece, a first contact and a second contact; the first sliding component is inserted at the front end of the running direction of the trolley and is in sliding connection with the trolley; the first contact is arranged in the trolley, and the second contact is electrically connected with a driving device of the trolley; the end part of the first sliding assembly extending into the trolley is fixedly connected with the second contact, and the second contact can be driven to be in contact with the first contact; the first elastic piece is sleeved on the outer side of the first sliding assembly and can drive the first sliding assembly to reset; the two adjusting obstacle avoidance mechanisms are respectively positioned at two sides of the first sliding assembly and are arranged at the front end of the running direction of the trolley; the adjusting obstacle avoidance mechanism comprises a second sliding assembly, a second elastic piece, a switch, an adjusting wheel and an adjusting part; the second sliding component is inserted at the front end of the running direction of the trolley and is in sliding connection with the trolley; the adjusting wheel is rotatably connected to the end part of the second sliding assembly extending out of the trolley; the adjusting part is arranged on the second sliding assembly, and the output end of the adjusting part is fixedly connected with the adjusting wheel; the switch set up in inside the dolly, and with adjustment portion electric connection can be in the extrusion of second sliding component is switched on down.

In one possible implementation, the first slide assembly includes a first slide bar and a fender panel; a first slide way is arranged at the front end of the trolley in the running direction, and the first slide rod is inserted into the first slide way and is connected with the first slide way in a sliding manner; the first contact is fixedly connected to the end part of the first slide bar extending into the first slide way, and the second contact is arranged in the first slide way; the anti-collision plate is fixedly connected to the end part of the first sliding rod extending out of the first slideway; the first elastic piece is sleeved on the outer side of the first sliding rod, and two ends of the first elastic piece are respectively connected with the anti-collision plate and the trolley.

In one possible implementation, the second slide assembly includes a second slide bar and a shoulder; two second slide ways are arranged at the front end of the trolley in the running direction, and the second slide bar is inserted in the second slide ways and is in sliding connection with the second slide ways; the switch is arranged in the second slideway; the shoulder is fixedly connected to the outer side, extending out of the second slide way, of the second slide bar; the second elastic piece is sleeved on the outer side of the second sliding rod, and two ends of the second elastic piece are respectively connected with the shoulder and the trolley; the adjusting wheel is rotatably connected to the end part of the second slide bar extending out of the second slide way.

In a possible implementation manner, the trolley obstacle avoidance device further comprises a limiting sleeve; the limiting sleeve is sleeved on the outer side of the first sliding rod and is connected with the first sliding rod in a sliding mode; the end part of the limiting sleeve is fixedly connected to the front end of the trolley in the running direction; the first elastic piece is sleeved on the outer side of the limiting sleeve.

In a possible implementation manner, the first contact is a metal elastic sheet, and the second contact is made of metal.

One or more technical solutions provided in the present application have at least the following technical effects or advantages:

the system adopts the trolley, the emergency stop mechanism and the two adjusting obstacle avoidance mechanisms; the emergency stop mechanism comprises a first sliding component, a first elastic piece, a first contact and a second contact; the first sliding assembly is inserted into the front end of the running direction of the trolley and is in sliding connection with the trolley, the first contact is arranged in the trolley, the second contact is electrically connected with a driving device of the trolley, and the end part, extending into the trolley, of the first sliding assembly is fixedly connected with the second contact and can drive the second contact to be in contact with the first contact; when the front end of the trolley in operation positively impacts an obstacle, the first sliding assembly extrudes the first elastic piece, so that the first contact contacts the second contact, the driving device of the trolley is controlled to stop operating, the driving device of the trolley does not provide forward power for the trolley any longer, and the trolley is prevented from continuously impacting the obstacle;

two adjusting obstacle avoidance mechanisms are respectively arranged at two sides of the first sliding assembly and are arranged at the front end of the running direction of the trolley; the adjusting obstacle avoidance mechanism comprises a second sliding assembly, a second elastic piece, a switch, an adjusting wheel and an adjusting part; the second sliding component is inserted at the front end of the running direction of the trolley and is in sliding connection with the trolley; the adjusting wheel is rotatably connected to the end part of the second sliding assembly extending out of the trolley; the adjusting part is arranged on the second sliding assembly, and the output end of the adjusting part is fixedly connected with the adjusting wheel; the switch is arranged in the trolley, is electrically connected with the adjusting part and can be connected under the extrusion of the second sliding assembly; when the dolly operation in-process, when the adjusting wheel of the front end one side of dolly struck to the corner of barrier, second sliding assembly extrudees the second elastic component, continue to extrude the back, make the second elastic component extrude the switch, make the switch-on of power of adjustment portion, and then drive the adjusting wheel and rotate, because the mutual frictional force of adjusting wheel and barrier corner, and then make the dolly adjust to the direction of keeping away from the barrier, finally make the dolly avoid the barrier smoothly, after the adjusting wheel left the barrier, second sliding assembly was under the effect of second elastic component, outwards pop out the reset, and not at the extrusion switch, the adjustment portion no longer drives the adjusting wheel and rotates.

Effectively solved keeping away of AGV dolly among the prior art and having relied on the sensor too much, behind direct contact barrier when the sensor inefficacy, can not carry out the secondary and keep away the barrier, lead to AGV dolly to continue striking the technical problem of barrier, realized that the dolly can be adjusted through the mechanical obstacle-avoiding device and realize the secondary and keep away the barrier when the sensor inefficacy, avoid the dolly to continue the purpose that strikes the barrier.

Drawings

In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments of the present invention or the description in the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a top view of a trolley obstacle avoidance device according to an embodiment of the present disclosure;

FIG. 2 is an enlarged view of a portion of area A of FIG. 1;

fig. 3 is a left side view of a trolley obstacle avoidance device according to an embodiment of the present application;

FIG. 4 is a schematic structural view of a central region of a front end of a trolley according to an embodiment of the present disclosure when the central region impacts an obstacle in a forward direction;

FIG. 5 is a schematic view of the structure of the obstacle just before contact when the corner of the obstacle is in front of the right adjustment wheel in the forward direction of the trolley provided by the embodiment of the application;

fig. 6 is a schematic structural view of the obstacle avoidance adjustment performed after the corner of the obstacle is positioned in front of the right-side adjustment wheel in the forward direction of the trolley and is impacted according to the embodiment of the application;

fig. 7 is a schematic structural view of the obstacle avoidance adjustment performed after the corner of the obstacle is positioned in front of the left adjustment wheel in the forward direction of the trolley and is impacted according to the embodiment of the application.

Reference numerals: 1-a trolley; 11-a first slideway; 12-a second slide; 2-an emergency stop mechanism; 21-a first slide assembly; 211-a first slide bar; 212-crash shield; 22-a first elastic member; 23-a first contact; 24-a second contact; 3-adjusting an obstacle avoidance mechanism; 31-a second slide assembly; 311-a second slide bar; 312-shoulder; 32-a second elastic member; 33-a switch; 34-an adjusting wheel; 35-an adjusting part; 4-a limiting sleeve; 5-an obstacle; 6-vehicle wheels.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of the description of the embodiments of the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1-7, the trolley obstacle avoidance device provided in the embodiment of the present application includes a trolley 1, an emergency stop mechanism 2, and two adjustment obstacle avoidance mechanisms 3; the emergency stop mechanism 2 includes a first slider assembly 21, a first elastic member 22, a first contact 23, and a second contact 24; the first sliding component 21 is inserted at the front end of the running direction of the trolley 1 and is in sliding connection with the trolley 1; the first contact 23 is arranged in the trolley 1, and the second contact 24 is electrically connected with a driving device of the trolley 1; the end part of the first sliding component 21 extending into the trolley 1 is fixedly connected with a second contact 24, and the second contact 24 can be driven to be in contact with the first contact 23; the first elastic element 22 is sleeved outside the first sliding element 21 and can drive the first sliding element 21 to reset; the two adjusting obstacle avoidance mechanisms 3 are respectively positioned at two sides of the first sliding component 21 and are arranged at the front end of the running direction of the trolley 1; the adjustment obstacle avoidance mechanism 3 comprises a second sliding component 31, a second elastic piece 32, a switch 33, an adjusting wheel 34 and an adjusting part 35; the second sliding component 31 is inserted at the front end of the running direction of the trolley 1 and is connected with the trolley 1 in a sliding manner; the adjusting wheel 34 is rotatably connected to the end part of the second sliding component 31 extending out of the trolley 1; the adjusting part 35 is disposed on the second sliding component 31, and an output end of the adjusting part 35 is fixedly connected with the adjusting wheel 34; the switch 33 is disposed inside the cart 1, electrically connected to the adjustment portion 35, and capable of being turned on by the pressing of the second sliding member 31. In the embodiment of the application, the adjusting part 35 selects a motor, and specifically considers two obstacle avoidance modes when the trolley 1 collides with the obstacle 5 due to failure of a sensor in the running process of the trolley 1, wherein the first obstacle avoidance mode is that the central area of the running front end of the trolley 1 collides with the obstacle 5 in the forward direction, in this collision mode, the trolley 1 is stopped emergently by the emergency stop mechanism 2, and at this time, the trolley 1 cannot be adjusted in the automatic direction, that is, when the running front end of the trolley 1 collides with the obstacle 5 in the forward direction, the first sliding component 21 presses the first elastic component 22, so that the first contact 23 contacts the second contact 24, and the driving device of the trolley 1 is controlled to stop running, so that the driving device of the trolley 1 does not provide forward power for the trolley 1 any more, and the trolley 1 is prevented from continuously colliding with the obstacle 5; under the normal condition, the second contact 24 is a normally closed contact, so that the driving device of the trolley 1 normally runs and provides power for the forward movement of the trolley 1, and when the trolley 1 is impacted in the forward direction, the first contact 23 contacts the second contact 24, so that the second contact 24 is disconnected, and the driving device stops running forwards; the second obstacle avoidance method is that when the adjusting wheel 34 at one side of the front end of the trolley 1 collides with the corner of the obstacle 5, the direction of the trolley 1 running can be adjusted by adjusting the obstacle avoidance mechanism 3, so that the trolley 1 leaves the corner of the obstacle 5, and secondary obstacle avoidance is realized, that is, when the adjusting wheel 34 at one side of the front end of the trolley 1 collides with the corner of the obstacle 5, the second sliding component 31 extrudes the second elastic member 32, and after the extrusion continues, the second elastic member 32 extrudes the switch 33, so that the power supply of the adjusting part 35 is switched on, and further the adjusting wheel 34 is driven to rotate, and due to the mutual friction force between the adjusting wheel 34 and the corner of the obstacle 5, the trolley 1 is adjusted in the direction away from the obstacle 5, and finally the trolley 1 smoothly avoids the obstacle 5; it should be noted here that the rotation direction of the adjusting wheel 34 is taken into consideration, when the corner of the obstacle 5 is located in front of the right adjusting wheel 34 in the advancing direction of the trolley 1, the corresponding adjusting part 35 drives the adjusting wheel 34 to rotate clockwise (as shown in fig. 6), and after the adjusting wheel 34 rotates clockwise, the adjusting wheel 34 finally drives the trolley 1 to leave the obstacle 5 as a whole through the mutual friction force with the corner of the obstacle 5; similarly, when the corner of the obstacle 5 is located in front of the left adjusting wheel 34 in the advancing direction of the trolley 1, the corresponding adjusting portion 35 drives the adjusting wheel 34 to rotate counterclockwise (as shown in fig. 7), and after the adjusting wheel 34 rotates clockwise, the adjusting wheel 34 finally drives the trolley 1 to leave the obstacle 5 as a whole through the mutual friction force with the corner of the obstacle 5.

Referring to fig. 2, the first slide assembly 21 includes a first slide bar 211 and a crash board 212; the front end of the running direction of the trolley 1 is provided with a first slide way 11, and a first slide bar 211 is inserted in the first slide way 11 and is connected with the first slide way 11 in a sliding manner; the first contact 23 is fixedly connected to the end of the first sliding rod 211 extending into the first slideway 11, and the second contact 24 is arranged in the first slideway 11; the anti-collision plate 212 is fixedly connected to the end of the first slide bar 211 extending out of the first slideway 11; the first elastic member 22 is sleeved outside the first sliding rod 211, and two ends of the first elastic member 22 are respectively connected with the anti-collision plate 212 and the trolley 1. In the embodiment of the application, the anti-collision plate 212 is made of rubber, the first elastic member 22 is made of a spring, and in practical design, the distance between the first contact 23 and the second contact 24 can be designed to be smaller, that is, after the anti-collision plate 212 collides with the obstacle 5 and slightly presses the first elastic member 22, the first contact 23 is communicated with the second contact 24, and the driving device of the trolley 1 stops advancing as soon as possible; it should be noted here that the distance between the crash-proof plate 212 before and after being pressed and the trolley 1 is greater than the distance between the adjusting wheels 34 and the trolley 1 when not being pressed, so that the purpose of the design is that when the front end of the trolley 1 in the running direction has a large obstacle 5, the trolley 1 can only be stopped after being impacted by the emergency stop mechanism 2, and the two adjusting wheels 34 are prevented from rotating oppositely when contacting the large obstacle 5 at the same time.

Referring to fig. 2, the second slide assembly 31 includes a second slide bar 311 and a shoulder 312; two second slide ways 12 are arranged at the front end of the trolley 1 in the running direction, and a second slide bar 311 is inserted in the second slide ways 12 and is connected with the second slide ways 12 in a sliding manner; the switch 33 is arranged in the second slideway 12; the shoulder 312 is fixedly connected to the outer side of the second sliding rod 311 extending out of the second slideway 12; the second elastic piece 32 is sleeved outside the second sliding rod 311, and two ends of the second elastic piece 32 are respectively connected with the shoulder 312 and the trolley 1; the adjustment wheel 34 is rotatably connected to the end of the second slide bar 311 extending out of the second slideway 12. In the embodiment of the application, the second elastic member 32 is a spring, and by arranging the second elastic member 32, the trolley 1 can be buffered when the adjusting wheel 34 just contacts the obstacle 5, a U-shaped groove is formed in the front end of the second slide bar 311, so that the adjusting wheel 34 can be conveniently installed, the section of the second slide bar 311 is designed to be quadrilateral, the section of the second slide rail 12 is correspondingly quadrilateral, and the second slide bar 311 can not axially rotate when the adjusting wheel 34 is extruded due to the quadrilateral design; the switch 33 in the embodiment of the present application is a push switch 33 (self-reset push switch 33), which is turned on when pressed and turned off when not pressed.

Referring to fig. 1, 2 and 4, the obstacle avoidance device for the trolley provided by the embodiment of the present application further includes a stop collar 4; the limiting sleeve 4 is sleeved outside the first sliding rod 211 and is connected with the first sliding rod 211 in a sliding manner; the end part of the limiting sleeve 4 is fixedly connected with the front end of the trolley 1 in the running direction; the first elastic element 22 is sleeved outside the position-limiting sleeve 4. The embodiment of the application is further provided with a limit sleeve 4 for limiting the position of the anti-collision plate 212 to prevent the first contact 23 and the second contact 24 from being damaged due to excessive extrusion.

Referring to fig. 2 and 4, the first contact 23 is a metal spring, and the second contact 24 is made of metal. In the embodiment of the present application, the first contact 23 and the second contact 24 are both made of copper, and the first contact 23 is a copper elastic sheet, so that a certain extrusion active space is ensured after the first contact 23 contacts the second contact 24.

The working principle of the trolley obstacle avoidance device provided by the embodiment of the application is as follows:

when the central area of the front end of the trolley 1 in operation collides with the obstacle 5 in the forward direction, the first elastic part 22 is extruded through the anti-collision plate 212, so that the first sliding rod 211 drives the first contact 23 to move and contact the second contact 24, the driving device of the trolley 1 is controlled to stop operating, the driving device of the trolley 1 does not provide forward power for the trolley 1 any more, and the trolley 1 is prevented from continuously colliding with the obstacle 5; when the adjusting wheel 34 at one side of the front end of the trolley 1 collides with the corner of the obstacle 5, the adjusting wheel 34 drives the second sliding rod 311 to move and extrude the second elastic member 32 through the shoulder 312, after the second elastic member 32 is continuously extruded, the second elastic member 32 is extruded to the switch 33, the power supply of the adjusting part 35 is connected, and then the adjusting wheel 34 is driven to rotate, due to the mutual friction force between the adjusting wheel 34 and the corner of the obstacle 5, the trolley 1 is further adjusted towards the direction away from the obstacle 5, and finally the trolley 1 smoothly avoids the obstacle 5, after the adjusting wheel 34 leaves the obstacle 5, the second sliding component 31 is popped outwards to reset under the action of the second elastic member 32, and the switch 33 is not extruded, and the adjusting part 35 no longer drives the adjusting wheel 34 to rotate.

The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure.

Claims

1. A trolley obstacle avoidance device is characterized by comprising a trolley (1), an emergency stop mechanism (2) and two adjusting obstacle avoidance mechanisms (3);

the emergency stop mechanism (2) comprises a first sliding component (21), a first elastic piece (22), a first contact (23) and a second contact (24);

the first sliding component (21) is inserted at the front end of the running direction of the trolley (1) and is in sliding connection with the trolley (1);

the first contact (23) is arranged in the trolley (1), and the second contact (24) is electrically connected with a driving device of the trolley (1);

the end part of the first sliding component (21) extending into the trolley (1) is fixedly connected with the second contact (24), and the second contact (24) can be driven to be in contact with the first contact (23);

the first elastic piece (22) is sleeved on the outer side of the first sliding assembly (21) and can drive the first sliding assembly (21) to reset;

the two adjusting obstacle avoidance mechanisms (3) are respectively positioned at two sides of the first sliding assembly (21) and are arranged at the front end of the trolley (1) in the running direction;

the adjustment obstacle avoidance mechanism (3) comprises a second sliding assembly (31), a second elastic piece (32), a switch (33), an adjusting wheel (34) and an adjusting part (35);

the second sliding component (31) is inserted at the front end of the running direction of the trolley (1) and is in sliding connection with the trolley (1);

the adjusting wheel (34) is rotatably connected to the end part of the second sliding component (31) extending out of the trolley (1);

the adjusting part (35) is arranged on the second sliding assembly (31), and the output end of the adjusting part (35) is fixedly connected with the adjusting wheel (34);

the switch (33) is arranged inside the trolley (1), is electrically connected with the adjusting part (35), and can be connected under the extrusion of the second sliding component (31).

2. The trolley obstacle avoidance device according to claim 1, wherein the first sliding assembly (21) comprises a first sliding bar (211) and a fender (212);

the front end of the running direction of the trolley (1) is provided with a first slide way (11), and the first slide rod (211) is inserted into the first slide way (11) and is connected with the first slide way (11) in a sliding manner;

the first contact (23) is fixedly connected to the end part of the first sliding rod (211) extending into the first slide way (11), and the second contact (24) is arranged in the first slide way (11);

the anti-collision plate (212) is fixedly connected to the end part of the first sliding rod (211) extending out of the first slideway (11);

the first elastic piece (22) is sleeved on the outer side of the first sliding rod (211), and two ends of the first elastic piece (22) are connected with the anti-collision plate (212) and the trolley (1) respectively.

3. The trolley obstacle avoidance device according to claim 1, wherein the second sliding assembly (31) comprises a second sliding bar (311) and a shoulder (312);

two second slide ways (12) are arranged at the front end of the trolley (1) in the running direction, and the second slide rod (311) is inserted into the second slide ways (12) and is connected with the second slide ways (12) in a sliding manner;

the switch (33) is arranged in the second slideway (12);

the shoulder (312) is fixedly connected to the outer side of the second sliding rod (311) extending out of the second slideway (12);

the second elastic piece (32) is sleeved on the outer side of the second sliding rod (311), and two ends of the second elastic piece (32) are respectively connected with the shoulder (312) and the trolley (1);

the adjusting wheel (34) is rotatably connected to the end part of the second sliding rod (311) extending out of the second slideway (12).

4. The trolley obstacle avoidance device according to claim 2, further comprising a stop collar (4);

the limiting sleeve (4) is sleeved on the outer side of the first sliding rod (211) and is in sliding connection with the first sliding rod (211);

the end part of the limiting sleeve (4) is fixedly connected to the front end of the trolley (1) in the running direction;

the first elastic piece (22) is sleeved on the outer side of the limiting sleeve (4).

5. The trolley obstacle avoidance device according to claim 1, wherein the first contact (23) is a metal spring, and the second contact (24) is made of metal.