CN210038544U

CN210038544U - Laser telescopic mechanism and AGV dolly

Info

Publication number: CN210038544U
Application number: CN201920983763.0U
Authority: CN
Inventors: 叶磊
Original assignee: Suzhou Jiuwu Interchange Intelligent Technology Co ltd
Current assignee: Suzhou Jiuwu Intelligent Technology Co ltd
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-02-07
Anticipated expiration: 2029-06-27

Abstract

The utility model discloses a laser telescoping mechanism, which comprises a bottom plate and two laser telescoping modules which are mirror images of each other; the laser telescopic module comprises a ball screw unit, a linear guide rail unit and a detection unit; the ball screw unit comprises a screw rod and a motor which are both arranged on the bottom plate, and a nut is arranged on the screw rod; the linear guide rail unit comprises a rail arranged on the bottom plate, a sliding block is arranged on the rail in a sliding mode, an adapter plate is arranged on the sliding block, and the adapter plate is fixed on the nut at the same time; the detection unit comprises an extension rod arranged on the adapter plate, the tail end of the extension rod is provided with a laser sensor and a cylindrical protective cover, the laser sensor is located in the protective cover, the top of the protective cover is provided with a U-shaped opening, and the extension rods of the two laser telescopic modules are coaxial. An AGV trolley is provided with a laser telescoping mechanism. The detection range of the device is adjustable, the size is small, the use is flexible, and the safety is high.

Description

Laser telescopic mechanism and AGV dolly

Technical Field

The utility model relates to a laser detection, concretely relates to laser telescopic machanism and AGV dolly.

Background

For an intelligent factory, as a large number of AGV carts are gradually applied, a clear example of safety accident problem caused by lack of safety protection measures is often found, and for this reason, when an intelligent tool is operated in an actual factory, the safety of the operation of the intelligent tool must be highly emphasized.

Generally, in the aspect of safety protection, the AGV dolly generally can be configured with anticollision institution, front end main laser sensor, side direction laser sensor, ultrasonic sensor and even adopts the 3D camera on complete machine structural layout. The anti-collision mechanism is in a passive protection mode and prevents the robot body from being damaged when colliding with a foreign object, when the robot collides with an obstacle, the anti-collision mechanism triggers a limit sensor in the mechanism, and after detecting a trigger signal, the robot control unit informs the robot to stop moving immediately. When the front-end main laser sensor and the side laser sensor work, a fan-shaped detection plane with a certain scanning distance is formed, and when an obstacle enters the scanning plane, the robot also stops immediately. Ultrasonic sensors emit ultrasonic waves to the surroundings when they are in operation, and will also trigger the sensor when an obstacle enters the sensor sensing area. In recent years, with the development of vision technology, 3D vision cameras are gradually applied, and robots are equipped with 3D cameras to recognize and detect three-dimensional images of surrounding objects in real time, and inform the robots of moving or stopping by accurately judging obstacles.

However, most robots currently used in factories cannot guarantee their own safety in operation with absolute reliability only with existing sensor devices. Due to the structural reason, the robot still has a blind area when identifying the barrier, and potential safety hazards exist.

Some companies have made some improvements in improving the safety of the robot itself, but the overall size of the robot is greatly increased, which limits the robot to pass through narrow passages.

In China, the AGV is disclosed as CN109677312A and has a patent name of AGV and a control method for double-layer conveying two-dimensional code navigation, the AGV is used for recognizing a landmark two-dimensional code based on a visual sensor, performing composite navigation positioning by combining inertial navigation and is provided with a double-layer conveying belt object stage, and is accurate in positioning, strong in stability and high in reliability. However, in the aspect of safety, the front obstacle is detected only by the laser sensor arranged in front of the robot body, no safety detection equipment is arranged on two sides of the robot, and a blind area exists in the side obstacle detection, so that potential safety hazards exist.

The patent publication No. CN109018072A, the patent publication No. CN108790639A and the patent publication No. CN109018072A are named as an AGV trolley with accurate positioning and a jacking traction mechanism of the AGV trolley, which respectively relate to a full-backpack mobile robot and a half-backpack mobile robot. When the robot carries the skip car, the robot body firstly needs to drill under the skip car, then lifts or hangs the skip car, and then drives the skip car to move synchronously. There is a serious safety problem here, because the skip overall dimension is wider, there is not any safety equipment in the width direction when with AGV dolly synchronous motion, and the huge appearance very easily touches the unknown barrier in side direction, causes the incident.

In the foreign aspect, the publication number is US020170072558A1, the patent name is "METHOD AND APPARATUS FORATUTONOMOUS CONVEYANCE FOR TRANSPORT CARTS", a semi-backpack type mobile robot in the form of a cross structure is provided, besides front side main laser, the robot is provided with a laser sensor at each of the left, middle AND right ends of the cross structure, AND then the situation of obstacles in the two sides AND the back of the robot can be detected in real time, so that the safety of the robot in operation is greatly improved. However, because the skip car has a relatively large size, in order to ensure reliable detection of lateral obstacles, the width between two lateral laser scanning planes must be greater than the width of the skip car, and the width direction of the cross for fixing lateral laser beams must be structurally greater than the width of the robot body, so that the robot is limited in passing through a narrow space due to the large structural size of the cross. Publication No. US9592609B2 entitled AUTONOMOUS MOBILE ROBOTFOR HANDLING JOB ASSIGNMENTSIN A PHYSICAL ENVIRONMENT INHABITED BY STATIONARY AND NON-STATIONARYOBSTACLES, discloses a MOBILE robot integrated with an object stage, AND two sides of the object stage are provided with laser sensors to ensure the lateral safety of the robot. Because both sides are to laser sensor fixed mounting on the side board, two laser scanning face distances are fixed unchangeable, so can not adjust.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a laser telescoping mechanism and AGV dolly, it can survey the scope adjustable, small in size uses in a flexible way, and the security is high.

In order to solve the technical problem, the utility model provides a laser telescopic mechanism, which comprises a bottom plate and two laser telescopic modules which are mirror images of each other; the laser telescopic module comprises a ball screw unit, a linear guide rail unit and a detection unit; the ball screw unit comprises a screw rod and a motor which are both arranged on a bottom plate, the screw rod is connected to the free end of the motor, and a nut is arranged on the screw rod; the linear guide rail unit comprises a rail arranged on the bottom plate, a sliding block is arranged on the rail in a sliding mode, an adapter plate is arranged on the sliding block, and the adapter plate is fixed on the nut at the same time; the detection unit comprises an extension rod arranged on the adapter plate, the tail end of the extension rod is provided with a laser sensor and a cylindrical protective cover, the laser sensor is located in the protective cover, the top of the protective cover is provided with a U-shaped opening, and the extension rods of the two laser telescopic modules are coaxial.

Preferably, the bottom plate is movably provided with an adjusting plate, the adjusting plate is provided with a sensor, and the nut is provided with an induction sheet matched with the sensor.

Preferably, the two adjusting plates are respectively positioned at two ends of the screw rod, and a first photoelectric sensor and a second photoelectric sensor are respectively arranged on the two adjusting plates.

Preferably, a U-shaped supporting plate is arranged on the bottom plate, and the supporting plate is covered above the laser telescopic module.

Preferably, a bearing seat is arranged on the bottom plate, a locking nut is arranged in the bearing seat, and the screw rod is locked in the locking nut.

Preferably, the bearing seat comprises a left bearing seat and a right bearing seat, the left bearing seat and the right bearing seat are respectively located at two ends of the bottom plate, locking nuts are arranged in the left bearing seat and the right bearing seat, and the screw rod is locked in the two locking nuts.

Preferably, the bottom plate is provided with a flange frame, the motor is fixed on the flange frame through screws, and the free end of the motor can rotatably penetrate through the flange frame.

Preferably, a coupling is arranged at the free end of the motor, and the screw rod is arranged on the coupling.

An AGV trolley is provided with a laser telescoping mechanism.

Preferably, the AGV comprises an AGV trolley main body, the laser telescopic mechanism is arranged at the bottom of the AGV trolley main body, and a telescopic opening for the laser sensor to pass through is formed in a shell of the AGV trolley main body.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a laser telescoping mechanism possesses modularization, flexible stroke is adjustable, compact structure, convenient integrated, the little advantage in occupation space, and the integrated AGV dolly that has this laser telescoping mechanism can therefore not increase body overall dimension.

2. The utility model discloses a laser telescoping mechanism possesses the commonality to different materials, can come to carry out the preconditioning to flexible stroke through the position that changes distal end photoelectric sensor according to the actual width of material, guarantees that actual during operation both sides laser scanning face interval is greater than the material width.

3. The utility model discloses a laser telescoping mechanism has protected laser sensor when guaranteeing detection range, avoids accidental collision to damage.

4. The utility model discloses a AGV dolly can stretch out laser sensor when the transportation material, and the distance of stretching out guarantees that two laser scanning face intervals are greater than the material width, can protect the both sides of robot, has improved the security when the robot moves greatly.

5. The utility model discloses a AGV dolly can withdraw laser sensor inside the main part when the body independently moves to through the narrow passageway that is close with body width, use in a flexible way.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only 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 schematic structural view of a laser telescoping mechanism;

FIG. 2 is an isometric view of the internal structure of the laser telescoping mechanism;

FIG. 3 is a top view of the internal structure of the laser telescoping mechanism;

FIG. 4 is a schematic view of the AGV configuration with the laser telescoping mechanism retracted;

FIG. 5 is a schematic view of the AGV configuration with the laser telescoping mechanism retracted;

FIG. 6 is a schematic diagram of an AGV car operating on a piggyback material cart.

Wherein, 100-laser telescopic module, 1-ball screw unit, 1-1-screw, 1-2-nut, 2-linear guide rail unit, 2-1-rail, 2-2-slide block, 3-bearing seat, 3-1 left bearing seat, 3-2 right bearing seat, 4-locking nut, 5-motor, 6-flange frame, 7-coupler, 8-adapter plate, 9-extension bar, 10-laser fixing plate, 11-laser sensor, 12-protective cover, 13-sensor, 13-1-photoelectric sensor I, 13-2-photoelectric sensor II, 14-induction sheet, 15-adjusting plate, 16-bottom plate, 17-supporting plate, 200-AGV trolley main body, 300-material vehicle.

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. All other embodiments obtained by a person skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 3, the present embodiment discloses a laser telescopic mechanism including a base plate 16, and a support plate 17 and a laser telescopic module 100 provided thereon.

The bottom plate 16 is provided with a support plate 17. The supporting plate 17 is U-shaped. The support plate 17 is masked above the laser telescopic module 100. The support plate 17 may be fixedly coupled to the base plate 16 by screws. The upper plane of the supporting plate 17 may be provided with a driving control unit to form a modular whole with the laser telescopic module 100. The support plate 17 can isolate the laser telescopic module 100 from the outside, forming a good protection.

The laser telescopic module 100 includes a ball screw unit 1, a linear guide unit 2, and a detection unit.

The ball screw unit 1 comprises a screw 1-1, a nut 1-2, a bearing seat 3, a locking nut 4 and a motor 5. The bearing housing 3 and the motor 5 are both arranged on the base plate 16. The lock nut 4 is disposed in the bearing housing 3. The screw rod 1-1 is locked in the locking nut 4 and is connected with the free end of the motor 5. The nut 1-2 is arranged on the screw rod 1-1. The motor 5 can drive the screw rod 1-1 to rotate so as to drive the nut 1-2 to do linear reciprocating motion.

Specifically, the bearing seat 3 includes a left bearing seat 3-1 and a right bearing seat 3-2. The left bearing seat 3-1 and the right bearing seat 3-2 are respectively arranged at two ends of the bottom plate 16. And locking nuts 4 are arranged in the left bearing seat 3-1 and the right bearing seat 3-2. The screw rod 1-1 is locked in the two locking nuts 4.

As a further improvement of the present invention, the flange frame 6 is provided on the bottom plate 16. The electric motor 5 is fixed on the flange frame 6 through screws, and the free end of the electric motor can rotatably penetrate through the flange frame 6. The flange bracket 6 can provide support for the motor 5 and stabilize the operation of the motor 5.

As a further improvement of the present invention, the free end of the motor 5 is provided with a coupling 7. The screw rod 1-1 is connected to the coupler 7. The coupling 7 can separate the driving end from the load end, so that overload damage to parts is avoided.

As a further improvement of the present invention, an adjusting plate 15 is movably disposed on the bottom plate 16. The adjustment plate 15 is provided with a sensor 13. The nut 1-2 is provided with a sensing piece 14 matched with the sensor 13. The sensor 13 and the induction sheet 14 can limit the telescopic stroke, so that the overrun is avoided; the position of sensor 13 can be adjusted to adjusting plate 15, only need to guarantee to stretch out and draw back the interval of two laser central planes to the material of different width be greater than the material width can, it is convenient to adjust.

As a further improvement of the present invention, the adjusting plates 15 are provided with two, which are respectively located at two ends of the lead screws 1-1. The two adjusting plates 15 are respectively provided with a first photoelectric sensor 13-1 and a second photoelectric sensor 13-2. The position and the distance between the first photoelectric sensor 13-1 and the second photoelectric sensor 13-2 are adjusted, so that the telescopic stroke, the telescopic starting point and the telescopic end point can be changed, and the use is flexible and convenient.

The linear guide rail unit 2 comprises a rail 2-1, a sliding block 2-2 and an adapter plate 8.

The track 2-1 is arranged on the bottom plate 16 and is parallel to the screw rod 1-1. The track 2-1 is provided with a slide block 2-2 in a sliding way. One end of the adapter plate 8 is arranged on the sliding block 2-2, and the other end is arranged on the nut 1-2. The adapter plate 8 can linearly reciprocate under the drive of the motor 5. The sensor strip 14 may be arranged on the adapter plate 8.

The detection unit comprises an extension bar 9 and a laser sensor 11.

The extension bar 9 is arranged on the adapter plate 8 and is parallel to the rail 2-1. A laser sensor 11 is arranged at the end of the extension bar 9. The laser sensor 11 can detect surrounding obstacles, and the extension bar 9 can extend or retract the detection position of the laser sensor 11.

Specifically, one end of the extension bar 9 is fixed to the adapter plate 8 by a screw. The other end of the protruding rod 9 is provided with a vertical laser fixing plate 10. The laser sensor 11 is disposed on the laser fixing plate 10.

As a further improvement of the present invention, the laser fixing plate 10 is provided with a cylindrical protective cover 12. The laser sensor 11 is located within a protective cover 12. The side of the protective cover 12 above is provided with a U-shaped opening. The protective cover 12 can well protect the laser sensor 11 and avoid external collision damage; the U-shaped opening enables the laser scanning surface generated by the laser sensor 11 during operation to be projected to the outside.

As a further improvement of the present invention, the laser telescopic module 100 has two mirror images. The extension bars 9 in the two laser telescopic modules 100 are coaxial. The device can simultaneously detect the obstacles on two sides, and has compact structure and small volume.

Example 2

Referring to fig. 4 to 6, the present embodiment discloses an AGV cart including the laser telescoping mechanism and an AGV cart main body 200 according to embodiment 1.

The laser telescoping mechanism is arranged at the bottom of the AGV trolley main body 200. The AGV trolley main body 200 is provided with a telescopic opening on the shell at two sides. The laser telescopic module 100 in the laser telescopic mechanism drives the laser sensor 11 to extend outwards from the telescopic opening. The AGV cart body 200 lifts the material cart 300 at the bottom of the material cart 300.

The embodiment needs to be supplemented with that: the utility model discloses constitute by concrete hardware structures such as sensor, some hardware has the participation of software program in the operation process, and the software program of supplementary local operation is current software program that can duplicate, does not constitute the innovation point of this application.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A laser telescopic mechanism is characterized by comprising a bottom plate and two laser telescopic modules which are mirror images of each other;

the laser telescopic module comprises a ball screw unit, a linear guide rail unit and a detection unit;

the ball screw unit comprises a screw rod and a motor which are both arranged on a bottom plate, the screw rod is connected to the free end of the motor, and a nut is arranged on the screw rod;

the linear guide rail unit comprises a rail arranged on the bottom plate, a sliding block is arranged on the rail in a sliding mode, an adapter plate is arranged on the sliding block, and the adapter plate is fixed on the nut at the same time;

the detection unit comprises an extension rod arranged on the adapter plate, the tail end of the extension rod is provided with a laser sensor and a cylindrical protective cover, the laser sensor is located in the protective cover, the top of the protective cover is provided with a U-shaped opening, and the extension rods of the two laser telescopic modules are coaxial.

2. The laser telescoping mechanism of claim 1, wherein an adjusting plate is movably arranged on the bottom plate, a sensor is arranged on the adjusting plate, and a sensing piece matched with the sensor is arranged on the nut.

3. The laser telescoping mechanism of claim 2, wherein the two adjusting plates are respectively located at two ends of the screw rod, and the two adjusting plates are respectively provided with a first photoelectric sensor and a second photoelectric sensor.

4. The laser telescoping mechanism of claim 1, wherein a "U" shaped support plate is disposed on the base plate, the support plate being masked over the laser telescoping module.

5. The laser telescoping mechanism of claim 1, wherein the base plate is provided with a bearing seat, a lock nut is provided in the bearing seat, and the lead screw is locked in the lock nut.

6. The laser telescoping mechanism of claim 5, wherein the bearing seat comprises a left bearing seat and a right bearing seat, the left bearing seat and the right bearing seat are respectively positioned at two ends of the bottom plate, locking nuts are respectively arranged in the left bearing seat and the right bearing seat, and the screw rod is locked in the two locking nuts.

7. The laser telescoping mechanism of claim 1, wherein a flange frame is provided on the base plate, the motor is fixed to the flange frame by screws, and a free end thereof rotatably passes through the flange frame.

8. The laser telescoping mechanism of claim 7, wherein the free end of the motor is provided with a coupling, and the lead screw is provided on the coupling.

9. An AGV cart, characterized in that a laser telescopic mechanism according to any one of claims 1-8 is installed.

10. The AGV trolley according to claim 9, comprising an AGV trolley main body, wherein the laser telescoping mechanism is arranged at the bottom of the AGV trolley main body, and a housing of the AGV trolley main body is provided with a telescoping port for the laser sensor to pass through.