CN212354209U

CN212354209U - Self-navigation mobile robot

Info

Publication number: CN212354209U
Application number: CN202020787083.4U
Authority: CN
Inventors: 刘凤龙; 王若男
Original assignee: Shengfa Xinyuan Tianjin Automation Equipment Co ltd
Current assignee: Shengfa Xinyuan Tianjin Automation Equipment Co ltd
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2021-01-15
Anticipated expiration: 2030-05-13

Abstract

The utility model discloses a self-navigation mobile robot, which belongs to the technical field of safety protection of self-navigation transport trolleys, and comprises a trolley body, a driving device and a safety protection system, wherein the safety protection system comprises a non-contact obstacle sensor, a contact safety device and an acousto-optic alarm device, the contact safety device comprises a stop protection device arranged at the trolley head and a buffer device arranged at the trolley tail, the stop protection device comprises an anti-collision bar fixed at the front end of the trolley head, the bottom end of the trolley head is provided with a containing cavity, a micro switch is arranged in the containing cavity, one end of a trigger rod is connected with the anti-collision bar buffer device and comprises a fixed block fixed at the trolley tail, the surface of the fixed block is provided with a T-shaped groove, a first slide block and a second slide block are arranged in the T-shaped groove in a sliding manner, an arc-shaped anti-collision strip is arranged between, the utility model discloses the security performance is good, detection range is wide, possess the shutdown protect function.

Description

Self-navigation mobile robot

Technical Field

The utility model relates to a from navigation mobile robot for from navigation transport trolley safety protection technical field.

Background

In an automated storage system, the AGV carts are the key pieces of equipment for the system. The conventional self-Guided mobile robot, i.e., AGV (Automated Guided Vehicle), also called as an Automated Guided Vehicle (AGV), is equipped with an electromagnetic or optical automatic guiding device, can travel along a predetermined guiding path, and has safety protection and various transfer functions. The existing AGV trolley often generates the collision accident with the barrier or the collision between trolleys in the running process, so that the collision prevention measures are required to be designed, however, the existing collision prevention measures are not perfect, although the collision buffer device can reduce the impact force and play a role in buffering, the AGV trolley still collides with the barrier, cannot actively avoid in advance, and cannot reduce the collision rate. Once collision happens, the AGV cannot make corresponding safety action according to the speed of the AGV and the speed of the obstacle, and the danger is high.

Disclosure of Invention

The utility model discloses the technical problem that needs to solve provides a barrier detection range wide, in time shutdown protection, possess audible-visual annunciator function from navigation mobile robot.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

a self-navigation mobile robot comprises a vehicle body, a driving device and a safety protection system, wherein the safety protection system comprises a non-contact obstacle sensor, a contact type safety device and an acousto-optic alarm device, the contact type safety device comprises a shutdown protection device arranged at a vehicle head and a buffer device arranged at the vehicle tail, the shutdown protection device comprises an anti-collision bar fixed at the front end of the vehicle head, a containing cavity is arranged at the bottom end of the vehicle head, a micro switch is arranged in the containing cavity, one end of a trigger rod is connected with the anti-collision bar, the other end of the trigger rod can slidably extend into the containing cavity, a spring is sleeved outside the trigger rod, one end of the spring is fixedly connected with the anti-collision bar, the other end of the spring is fixedly connected with the vehicle head, the buffer device comprises a fixed block fixed at the vehicle tail, and a T-, the T-shaped groove is internally provided with a first sliding block and a second sliding block in a sliding manner, an arc-shaped anti-collision strip is arranged between the first sliding block and the second sliding block, and two ends of the arc-shaped anti-collision strip are hinged to the first sliding block and the second sliding block respectively.

The utility model discloses technical scheme's further improvement lies in: the non-contact obstacle sensors are ultrasonic sensors arranged on two sides of the vehicle head and infrared sensors arranged in the middle of the vehicle head.

The utility model discloses technical scheme's further improvement lies in: the audible and visual alarm device comprises a signal indicator light and an audible alarm, the signal indicator light is arranged on the top of the vehicle head, and the audible alarm is arranged on the surface of the vehicle head.

Due to the adoption of the technical scheme, the utility model discloses the technological progress who gains is:

the non-contact obstacle sensor, the contact safety device and the sound-light alarm device are matched with each other, the non-contact type enlarges the detection range of the obstacle, the contact safety device increases the detection of the obstacle with lower height and the obstacle in a detection blind area, the sound-light alarm device sends out an alarm in time when the equipment is shut down to guide a worker to maintain, the shutdown protection device uses an anti-collision bar and a micro switch, the anti-collision bar touches the obstacle, the anti-collision bar drives a trigger rod to enter a containing cavity to trigger the micro switch, the micro switch causes the shutdown protection equipment to avoid collision, a spring sleeved outside the trigger rod absorbs the collision and helps the anti-collision bar to reset, the buffer device is fixed at the tail of the vehicle, the arc anti-collision bar is matched with a first slide block and a second slide block, the collision from the rear of the equipment is absorbed by the arc anti-collision bar, and the arc anti-collision bar pushes the, the impact received by the equipment is weakened. A plurality of ultrasonic sensor blind areas are little, and detection precision is high, and coverage is wide, and low in cost has reduced equipment cost, has compensatied ultrasonic sensor's detection blind area through infrared sensor. Audible-visual alarm device includes signal indicator lamp and audible-visual annunciator, and the signal indicator lamp setting is convenient for the staff discovery at the locomotive top, and audible-visual annunciator is convenient for arouse the staff to pay attention to the maintenance of equipment that comes. The first sliding block and the second sliding block are fixed with the T-shaped groove through springs, the springs absorb impact energy, equipment is effectively protected, and the service life is prolonged. Through fixing the slide shaft in the T type groove, the slide shaft runs through first slider and second slider, avoids first slider and second slider to be difficult to bear violent impact departure T type groove.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the bumper of the present invention;

FIG. 3 is a schematic view of the shutdown protection device of the present invention

FIG. 4 is a schematic view of a buffering device according to the present invention;

fig. 5 is a top view of the present invention;

wherein, 1, a vehicle head; 2. a non-contact obstacle sensor; 3. a shutdown protection device; 4. a buffer device; 5. an audible and visual alarm device; 6. an anti-collision bar; 7. an accommodating chamber; 8. a microswitch; 9. a trigger lever; 10. a fixed block; 11. a T-shaped groove; 12. a first slider; 13. a second slider; 14. an arc-shaped anti-collision strip; 15. and a signal indicator light.

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 only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

As shown in fig. 1, a self-navigation mobile robot, including drive arrangement, safety protection system includes non-contact obstacle sensor 2, contact safety device and reputation alarm device 5, and non-contact obstacle sensor 2 includes ultrasonic sensor and infrared sensor, and ultrasonic sensor sets up in locomotive 1 both sides, and infrared sensor sets up in locomotive 1 middle, and non-contact obstacle sensor 2 divides into the district of slowing down and stop zone with the place ahead monitoring area, and detection distance 400 cm. The ultrasonic sensor is responsible for surveying the scope of 35cm to 400cm, and infrared sensor is as ultrasonic sensor's supplement, is used for making up ultrasonic sensor's blind area, and 35cm is to the detection of less within range promptly, and infrared sensor still is used for detecting the workman that appears in the equipment the place ahead, utilizes the infrared ray that the human body distributes to judge fast, protection workman life safety. The driving device is driven by two groups of differential driving steering devices, the differential driving steering devices are connected with the vehicle body through bearing rotary supports, each wheel is provided with a driving motor, and other wheels play a role in bearing for the follow-up wheels. The battery adopts a lead-acid power storage battery or a lithium iron phosphate battery.

The contact type safety device comprises a shutdown protection device 3 arranged at the head 1 of the vehicle and a buffer device 4 arranged at the tail of the vehicle. The shutdown protection device 3 is a forced shutdown safety device, and has the function that the shutdown protection device contacts with other objects to deform the objects to a certain extent, so that the corresponding limiting devices are triggered to forcibly power off and shutdown the objects, and belongs to a terminal safety protection barrier. Shut down protection device 3 sets up apart from ground height 10cm in locomotive 1 below, 1 bottom of locomotive is equipped with and holds chamber 7, the end that holds chamber 7 is provided with micro-gap switch 8, micro-gap switch 8 is connected with the control relay of control automobile body drive circuit disconnection, anticollision thick stick 6 is close to 1 one side fixedly connected with trigger bar 9 of locomotive, the trigger bar 9 other end stretches into and holds the intracavity 7 and with hold chamber 7 sliding connection, trigger bar 9 is located and holds between chamber 7 and the anticollision thick stick 6 partial outside cover and be equipped with the spring, spring one end is fixed on anticollision thick stick 6, the spring other end is fixed on locomotive 1. When the bumper 6 of locomotive 1 contacts the barrier, bumper 6 moves to locomotive 1 direction, and bumper 6 drives trigger bar 9, and trigger bar 9 triggers micro-gap switch 8, and micro-gap switch 8 connection control relay controls the disconnection of drive circuit and realizes forcing parking protection. And (4) removing the fault, resetting the anti-collision rod, releasing the microswitch 8 and continuously operating the equipment. The width more than or equal to automobile body width of anticollision thick stick 6, anticollision thick stick 6 has elasticity and compliance, produces the collision accident, and anticollision thick stick 6 stops in time the dolly and absorbs the impact energy, can not cause big injury to equipment self, and then reduces the loss that the collision caused.

The buffer device 4 is used for alleviating the damage of the impact from the rear to the equipment, the buffer device 4 comprises a fixed block 10 fixed at the tail of the vehicle, a T-shaped groove 11 is formed in the surface of the fixed block 10, a first slide block 12 and a second slide block 13 are slidably mounted in the T-shaped groove 11, one end of the first slide block 12 is fixedly connected with the T-shaped groove 11 through a spring, the other end of the first slide block 12 is fixedly connected with the second slide block 13 through a spring, one end of the second slide block 13 is fixedly connected with the T-shaped groove 11 through a spring, two ends of an arc-shaped anti-collision strip 14 are respectively hinged on the first slide block 12 and the second slide block 13, the arc-shaped anti-collision strip 14 is made of an elastic material, the object behind the equipment impacts the arc-shaped anti-collision strip 14, the arc-shaped anti-collision strip 14 deforms, the two ends of the arc-collision strip 14 push the first slide block 12 and, thereby driving the arc-shaped anti-collision strip 14 to reset.

Audible and visual alarm device 5 includes signal indicator 15 and audible alarm, and signal indicator 15 sets up at 1 top of locomotive, and signal indicator 15 possesses the ability of sending red light and green glow, and audible alarm sets up on 1 surface in the locomotive. When the trolley normally runs, the signal indicating lamp 15 emits green light, the trolley abnormally runs, the signal indicating lamp 15 emits red light, the sound alarm emits alarm sound, attention of an operator is attracted, and faults are found and solved in time.

In a preferred embodiment, a sliding shaft is fixed in a T-shaped groove 11 of a fixed block 10, the sliding shaft penetrates through a first sliding block 12 and a second sliding block 13, the first sliding block 12 and the second sliding block 13 slide on the sliding shaft, a spring is fixed between the first sliding block 12 and the second sliding block 13, two ends of an arc-shaped bumper strip 14 are respectively hinged to the first sliding block 12 and the second sliding block 13, an object impacts the arc-shaped bumper strip 14, the arc-shaped bumper strip 14 deforms, two ends of the arc-shaped bumper strip 14 push the first sliding block 12 and the second sliding block 13 to move towards the groove wall direction of the T-shaped groove 11, and after the device is recovered to be normal, the spring pushes the first sliding block 12 and the second sliding block 13 to be far away.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects 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.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a from navigation mobile robot, includes automobile body, drive arrangement and safety protection system, its characterized in that: the safety protection system comprises a non-contact obstacle sensor (2), a contact safety device and an audible and visual alarm device (5), the contact safety device comprises a shutdown protection device (3) installed on a vehicle head (1) and a buffer device (4) installed on the vehicle tail, the shutdown protection device (3) comprises an anti-collision bar (6) fixed at the front end of the vehicle head (1), a containing cavity (7) is arranged at the bottom end of the vehicle head (1), a micro switch (8) is arranged in the containing cavity (7), one end of a trigger rod (9) is connected with the anti-collision bar (6), the other end of the trigger rod (9) can slide and extend into the containing cavity (7), a spring is sleeved outside the trigger rod (9), one end of the spring is fixedly connected with the anti-collision bar (6), the other end of the spring is fixedly connected with the vehicle head (1), the buffer device (4) comprises a fixed block (10) fixed on the vehicle tail, fixed block (10) surface is opened there are T type groove (11), slidable mounting has first slider (12) and second slider (13) in T type groove (11), first slider (12) with be provided with arc anticollision strip (14) between second slider (13), arc anticollision strip (14) both ends articulate respectively first slider (12) with on second slider (13).

2. A self-navigating mobile robot as recited in claim 1, wherein: the non-contact obstacle sensors (2) are ultrasonic sensors arranged on two sides of the vehicle head (1) and infrared sensors arranged in the middle of the vehicle head (1).

3. A self-navigating mobile robot as recited in claim 1, wherein: the audible and visual alarm device (5) comprises a signal indicator lamp (15) and an audible alarm, wherein the signal indicator lamp (15) is arranged at the top of the vehicle head (1), and the audible alarm is arranged on the surface of the vehicle head (1).

4. A self-navigating mobile robot as recited in claim 1, wherein: the first sliding block (12) and the second sliding block (13) are fixed with the T-shaped groove (11) through springs respectively.

5. A self-navigating mobile robot as recited in claim 1, wherein: and a sliding shaft is fixed in the T-shaped groove (11), and the sliding shaft penetrates through the first sliding block (12) and the second sliding block (13).