CN219601431U - Shock attenuation of heavy load AGV dolly, prevent device that heels - Google Patents

Abstract

The utility model discloses a shock absorption and anti-tilting device of a heavy-load AGV trolley, which comprises two layers of cargo plates, wherein a plurality of hydraulic cylinders are hinged between the two layers of cargo plates, IMU sensors are arranged below the upper layer of cargo plates of the two layers of cargo plates, a plurality of pressure sensors are arranged at four corners below the lower layer of cargo plates of the two layers of cargo plates, the movement of the hydraulic cylinders, the information acquisition of the IMU sensors and the pressure sensors are controlled by a micro controller, different preset conditions can be set in advance according to different attributes of cargoes, the pressure of the cargo plates is monitored by the plurality of pressure sensors in real time during the cargo conveying process, the barycenter deviation condition of the cargo plates is obtained by combining data calculation of the plurality of pressure sensors, and when the barycenter deviation exceeds a preset range, the barycenter of the cargo plates is adjusted by controlling the up-down movement of the hydraulic cylinders by the micro controller, so that the target AGV trolley is prevented from tilting.

Description

Shock attenuation of heavy load AGV dolly, prevent device that heels

Technical Field

The utility model relates to the technical field of AGV logistics carrying equipment, in particular to a vibration reduction and anti-roll device of a heavy-load AGV trolley.

Background

AGV (Automated Guided Vehicle) is a robot which can automatically travel along a pre-planned route by an electromagnetic or optical automatic navigation device, and has safety protection and various carrying functions. In recent years, in order to meet diversified demands, multifunctional AGVs with automatic obstacle avoidance, automatic charging, automatic loading and unloading and the like are also appeared on the market, and due to the advantages of high automation degree, low use cost, high safety and the like, the AGVs are widely applied to the manufacturing industry, wherein the heavy-load AGVs gradually become one of core equipment of the manufacturing industry by virtue of the characteristics of high bearing, intelligence and flexibility.

Current AGV damping device simple structure can not in time adjust the cooperation along with carrying cargo kind change, road conditions change, leads to heavy load AGV service scenario limitation, and is higher to working road conditions requirement, can only be applied in smooth steady place in many cases, has greatly restricted heavy load AGV's service field Jing Rouxing.

Disclosure of Invention

The utility model aims to solve the problems and provide a heavy-load AGV trolley device with a flexible vibration reduction function and an anti-roll function.

In order to realize the functions, the utility model adopts the following technical scheme:

the utility model provides a heavy load AGV dolly shock attenuation, anti-side device, includes two-layer cargo carrying board, and it has a plurality of pneumatic cylinders to articulate between the two-layer cargo carrying board, and the upper strata cargo carrying board below of two-layer cargo carrying board is provided with the IMU sensor, and the lower floor cargo carrying board below four corners department of double-layer cargo carrying board is provided with a plurality of pressure sensor, and the removal of pneumatic cylinder, IMU sensor and pressure sensor's information acquisition are controlled by microcontroller.

Furthermore, twelve hydraulic cylinder bases are welded on the two layers of cargo plates respectively, the positions of the hydraulic cylinder bases on the two cargo plates are different in layout, a trapezoid shape is formed between the two hydraulic cylinders on the two sides of the front end, a trapezoid shape is formed between the two hydraulic cylinders on the two sides of the rear end, and a trapezoid shape is formed between the two adjacent hydraulic cylinders on the same side in the middle position.

Compared with the prior art, the utility model has the following beneficial effects:

(1) When the target AGV trolley conveys different types of cargoes, different preset conditions can be set in advance according to different attributes of the cargoes, in the cargo conveying process, the IMU sensor monitors the cargo vibration data in real time, when the fact that the cargo vibration data exceeds a preset range is detected, the micro controller controls the hydraulic cylinder to move up and down, and therefore the effects of reducing cargo vibration and conveying more stably are achieved.

(2) When the target AGV trolley conveys different types of cargoes, different preset conditions can be set in advance according to different attributes of the cargoes, in the cargo conveying process, the pressure of the cargo carrying plate is monitored in real time by a plurality of pressure sensors, the barycenter deviation condition of the cargo carrying plate is obtained through data calculation by combining the plurality of pressure sensors, and when the barycenter deviation exceeds a preset range, the barycenter of the cargo carrying plate is adjusted through up-and-down movement of the hydraulic cylinder under the control of the micro controller, so that the target AGV trolley is prevented from tilting.

Drawings

FIG. 1 is a front view of the present utility model;

FIG. 2 is a left side view of the present utility model;

FIG. 3 is a flow chart of the operation control method of the present utility model;

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

Referring to fig. 1-2, a shock attenuation of heavy load AGV dolly, prevent device that heels, including two-layer cargo carrying board 1, articulated have a plurality of pneumatic cylinders 2 between the two-layer cargo carrying board 1, the upper strata cargo carrying board below of two-layer cargo carrying board 1 is provided with IMU sensor 3, and the lower floor cargo carrying board below four corners department of two-layer cargo carrying board 1 is provided with a plurality of pressure sensor 4, and the removal of pneumatic cylinder 2, IMU sensor 3 and the information acquisition of pressure sensor 4 are controlled by the microcontroller.

Furthermore, twelve hydraulic cylinder bases 5 are welded on the two layers of cargo plates 1 respectively, the position layouts of the hydraulic cylinder bases 5 of the two layers of cargo plates 1 are different, when the two layers of cargo plates are installed, the two cargo plates are parallel to each other, the middle is connected through the hydraulic cylinder 2, and as the position layouts of the hydraulic cylinder bases 5 on the two layers of cargo plates 1 are different, the two different hydraulic cylinders 2 are in a trapezoid shape when the two layers of cargo plates 1 are connected, namely: the two hydraulic cylinders 2 on the two sides of the front end are in a trapezoid shape, the two hydraulic cylinders 2 on the two sides of the rear end are in a trapezoid shape, and the two adjacent hydraulic cylinders 2 on the same side in the middle position are in a trapezoid shape.

Fig. 3 shows the working process of the present utility model, including S101-105:

the method comprises the following steps of (1) setting an IMU sensor 3 below an upper cargo plate of a double-layer cargo plate 1, and setting four pressure sensors 4 below a lower cargo plate to obtain AGV trolley running state information and loaded cargo basic information;

the method comprises the following steps of (1) a module S102, wherein vibration data and centroid deviation preset conditions of a target AGV are respectively set based on running state information and cargo information;

the module S103, during the running process of the target AGV, the IMU sensor 3 monitors vibration data of the pallet, and the four pressure sensors 4 monitor pressure information of four positions of the pallet;

the module S104, the monitoring data of the IMU sensor 3 and the pressure sensor 4 are respectively transmitted to the micro controller, and the micro controller judges whether the vibration direction and the vibration size exceed a preset range or not and judges whether the center deviation condition of the AGV exceeds the preset range or not;

the module S105, when the vibration data detected by the IMU sensor 3 exceeds the preset range, the microcontroller controls all the hydraulic cylinders 2 to move up and down at the same time, the moving direction of the hydraulic cylinders 2 is the same as the moving direction of the cargo due to vibration, so that the upper cargo plate can move along with the movement of the cargo, the cargo is prevented from colliding with the upper cargo plate during vibration to damage the cargo, and finally the cargo is restored to a stable state; when the data difference value detected by the four pressure sensors 4 exceeds a preset range, the micro controller controls the hydraulic cylinder 2 to move up and down, and the mass center of the cargo carrying plate is adjusted so as to achieve the purpose of avoiding the side tilting of the target AGV.

Claims (2)

1. The utility model provides a heavy load AGV dolly shock attenuation, prevents device that heels which characterized in that: including two-layer cargo carrying plate (1), articulated between two-layer cargo carrying plate (1) have a plurality of pneumatic cylinders (2), and the upper strata cargo carrying plate below of two-layer cargo carrying plate (1) is provided with IMU sensor (3), and the lower floor cargo carrying plate below four corners department of two-layer cargo carrying plate (1) is provided with a plurality of pressure sensor (4), and the removal of pneumatic cylinder (2), the information acquisition of IMU sensor (3) and pressure sensor (4) are controlled by microcontroller.

2. The heavy-duty AGV cart shock absorbing and anti-roll device of claim 1 wherein: the two hydraulic cylinders (2) at the two sides of the front end are in a trapezoid shape, the two hydraulic cylinders (2) at the two sides of the rear end are in a trapezoid shape, and the two adjacent hydraulic cylinders (2) at the same side in the middle position are in a trapezoid shape.