CN214623418U

CN214623418U - AGV dolly

Info

Publication number: CN214623418U
Application number: CN202121238275.0U
Authority: CN
Inventors: 李元景; 崔锦; 李泰文; 胡斌; 曹春美
Original assignee: Tsinghua University; Nuctech Co Ltd
Current assignee: Tsinghua University; Nuctech Co Ltd
Priority date: 2021-06-03
Filing date: 2021-06-03
Publication date: 2021-11-05
Anticipated expiration: 2031-06-03

Abstract

The application discloses AGV dolly, AGV dolly includes: automobile body, first sensor and bearing mechanism, bearing mechanism set up in the automobile body, first sensor is used for detecting whether the AGV dolly moves to preset position, bearing mechanism can make set up in bearing mechanism's carried thing leaves the AGV dolly. Whether this application detects the AGV dolly through first sensor and moves to preset position and bearing mechanism and place luggage on safety inspection equipment, avoids passenger or airport staff to carry luggage to safety inspection equipment's A end when reinspection, reduces passenger's physical activity or staff's intensity of labour, helps improving the passenger to the satisfaction of airport service.

Description

AGV dolly

Technical Field

The application relates to the field of security inspection, especially, relate to an AGV dolly.

Background

The airport security inspection is mainly used for preventing passengers from taking guns, military or police instruments and imitations thereof, explosive articles, control tools, inflammable and explosive articles, corrosive articles, toxic articles, radioactive articles and other articles which are harmful to flight safety onto airplanes through personal, carrying with them by hand, consigning the carried articles and consigning the goods.

The passenger will carry with oneself and put the thing and place and accomplish first safety inspection back on safety inspection equipment, need passenger or staff to take once more and carried the thing, will be carried the thing and place again and carry out reinspection on the safety inspection equipment. The physical activity of the passengers or the labor intensity of the workers are increased by the reinspection, which is troublesome and hard.

Accordingly, there is a need to provide an AGV (fully Automated Guided Vehicle) cart that at least partially addresses the above-mentioned problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a AGV dolly, the AGV dolly include: a vehicle body, a first sensor and a bearing mechanism,

the bearing mechanism is arranged on the vehicle body,

the first sensor is used to detect whether the AGV cart is moving to a predetermined position,

the bearing mechanism can enable the loaded object arranged on the bearing mechanism to leave the AGV trolley.

In an implementable manner, the first sensor comprises a transmitter and a receiver,

the transmitter is arranged on the bearing mechanism, the receiver is arranged on the safety detection equipment, and the position of the transmitter and the position of the receiver can be just opposite.

As an implementable manner, the first sensor comprises a distance sensor or a pressure sensor.

As a realizable mode, the device also comprises a second sensor arranged on the vehicle body,

the second sensor is used for detecting an obstacle in the forward direction or the backward direction of the vehicle body.

In an implementation, the second sensor comprises a laser sensor, an electro-optical distance meter, a voice device,

the laser sensor is used for detecting the obstacle;

the photoelectric distance meter is used for acquiring the distance between the obstacle and the vehicle body;

the voice device is used for sending out an alarm and playing the state of the AGV.

In an implementation, the carrier mechanism is a belt transfer assembly.

As an achievable mode, the belt transmission assembly comprises a belt structure and a mounting frame, the cross section of the mounting frame is in a U shape, and the belt structure is arranged in the mounting frame.

In an implementation manner, the device further comprises a third sensor arranged on the mounting frame,

the third sensor is used for detecting whether the bearing object leaves the belt structure.

As an implementation mode, the lifting device further comprises a lifting mechanism arranged between the bearing mechanism and the vehicle body, and the lifting mechanism is an electric push rod or a hydraulic push rod.

The vehicle body further comprises a safety structure arranged on the vehicle body, and the safety structure is used for absorbing and buffering external impact force.

The above-mentioned scheme that this application provided detects whether the AGV dolly moves to preset position and bearing mechanism through first sensor and places luggage on safety inspection equipment, avoids passenger or airport staff to carry luggage to safety inspection equipment's A end when reinspection, reduces passenger's physical activity or staff's intensity of labour, helps improving the passenger to the satisfaction of airport service.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of an AGV configuration according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an AGV and safety inspection device configuration according to an embodiment of the present application;

FIG. 3 is a top view of FIG. 2;

100. the AGV comprises an AGV trolley 11, a bearing mechanism 111, a belt structure 112, a mounting frame 1121, a first frame plate 1122, a second frame plate 12, a lifting mechanism 13, a trolley body 14, a first sensor 15, a second sensor 151, a laser sensor 152, a photoelectric distance meter 16, a third sensor 17, a charging plug 18 and a safety structure;

200. safety detection equipment, 300, the object to be carried, 400, an operation button, 500, an information code, 600 and a visual locator.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. It should be noted that, for the convenience of description, only the portions relevant to the application are shown in the drawings.

In the description of the present application, it is to be understood that the terms "radial," axial, "" upper "inner," "outer," and the like refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the present application and simplifying the description, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "disposed" and "connected" are to be understood in a broad sense, e.g. either fixedly or detachably or integrally connected: may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1 to 3, an AGV, which is called an Automated Guided Vehicle, is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and loading functions. An AGV cart 100 of the present application includes: the vehicle comprises a vehicle body 13, a bearing mechanism 11 and a first sensor 14, wherein the bearing mechanism 11 is arranged on the vehicle body 13. The first sensor 14 is used to detect the movement of the AGV 100 to a predetermined position, and the carriage 11 is used to make the loaded object 300 set on the AGV leave the AGV. The supporting mechanism 11 may be a belt transmission mechanism, a crawler transmission mechanism, or a turning mechanism, for example, the supporting mechanism 11 is a turning mechanism, which changes the horizontal posture of the loaded item 300 to an inclined posture, and the loaded item 300 slides downward by its own weight to leave the AGV cart 100. The support mechanism 11 is disposed on the vehicle body 13, and the support mechanism 11 may be disposed on the vehicle body 13 in a horizontal direction, or the support mechanism 11 may be disposed on the vehicle body 13 in an inclined manner.

In fig. 3, an XYZ coordinate system is established, in which the X direction, the Y direction, and the Z direction are perpendicular to each other, the X direction is the same as the transport direction of the security inspection apparatus 200, and the Z direction is vertically upward. In the related art, for security inspection of an airport, as shown in fig. 3, a head end of a security inspection apparatus 200 is an a end, a tail end of the security inspection apparatus 200 is a B end, and a passenger is located near the a end of the security inspection apparatus 200. The object 300 can be baggage, the passenger places the baggage carried with him on the a side of the security inspection apparatus 200, the baggage is transported to the B side of the security inspection apparatus 200 along the track a, and the baggage completes the first security inspection. The traveler or airport staff then moves the baggage from the side B of the security detection apparatus 200 to the side a of the security detection apparatus 200 for reinspection. The physical activity of the passengers or the labor intensity of airport staff is increased by the reinspection, so that the passengers or the airport staff are extremely inconvenient.

The AGV 100 of the present application is close to the B end of the safety inspection device 200, and after the baggage is subjected to the first security inspection, the baggage is carried to the carrying mechanism 11 of the AGV by the airport staff, or is transferred to the carrying mechanism 11 of the AGV by the belt transmission mechanism or the crawler transmission mechanism. Then the AGV moves along the track b, when the AGV moves to the end a of the safety detection device 200, the first sensor 14 detects that the AGV 100 moves to the predetermined position, and the AGV 100 stops moving. The load bearing mechanism 11 of the AGV 100 allows baggage to enter the security detection device 200 for review. The baggage is transported to the B end of the security inspection apparatus 200 along the trajectory a again, and if there is no problem in the security inspection of the baggage for two times, the traveler can take the baggage from the B end of the security inspection apparatus 200.

The AGV trolley 100 is detected to move to the preset position through the first sensor 14, and the loading mechanism 11 places the baggage on the safety detection device 200, so that the situation that the passenger or an airport worker carries the baggage to the A end of the safety detection device 200 during the retest is avoided, the physical activity of the passenger or the labor intensity of the worker is reduced, and the satisfaction degree of the passenger on airport service is improved.

In an implementation manner, the first sensor 14 includes a transmitter 141 and a receiver 142, the transmitter 141 is disposed on the carrying mechanism 11, the receiver 142 is disposed on the safety detection device 200, and the position of the transmitter 141 and the position of the receiver 142 can be directly opposite. Specifically, as shown in fig. 2, the first sensor 14 may be an optoelectronic switch, the transmitter 141 is disposed at a lower portion of the carrying mechanism 11, and the receiver 142 is disposed at a lower portion of the a end of the safety detecting device 200. When the AGV 100 moves to the a end of the safety detection device 200 along the trajectory b, the position of the transmitter 141 is opposite to the position of the receiver 142, the transmitter 141 and the receiver 142 realize signal transmission, and the control system of the AGV 100 controls the car body 13 to stop moving. If the transport line of the safety check device 200 is idle, the control system of the AGV 100 controls the movement of the loading mechanism 11, and the loading mechanism 11 allows the baggage to enter the safety check device 200.

As an implementable manner, the first sensor 14 comprises a distance sensor or a pressure sensor. For example, the first sensor 14 is a distance sensor, a sensing structure is protruded along the Y direction at the a end of the safety detection device 200, for example, the sensing structure is a circular or square boss, and if a signal transmitted by the distance sensor senses the sensing structure, the AGV moves to a predetermined position. When the AGV 100 moves along the trajectory b to the end a of the safety inspection device 200, the distance sensor detects the sensing structure, and the control system of the AGV 100 controls the car body 13 to stop moving. Or the first sensor 14 is a pressure sensor, the pressure sensor is embedded in the area of the track b close to the end a of the safety detection device 200, when the AGV 100 moves to the end a of the safety detection device 200 along the track b, the AGV 100 triggers the pressure sensor, and the control system of the AGV controls the vehicle body 13 to stop moving. If the transport line of the safety check device 200 is idle, the control system of the AGV 100 controls the movement of the loading mechanism 11, and the loading mechanism 11 allows the baggage to enter the safety check device 200.

Both the two modes can realize that the first sensor 14 detects that the AGV 100 moves to a preset position, and the detection effect is good and the cost is low.

As an implementation, the AGV 100 also includes a second sensor 15. This second sensor 15 is used for detecting the barrier of automobile body 13 direction of advance or the direction of retreating, and second sensor 15 makes the AGV dolly can the safe operation, avoids AGV dolly and barrier to bump.

Specifically, the second sensor 15 includes a laser sensor 151, an electro-optical distance meter 152, and a voice device (not shown). The laser sensor 151, the electro-optical distance meter 152 and the voice device are all electrically connected with the control system of the AGV 100. The laser sensor 151 is used to detect an obstacle; the photoelectric distance meter 152 is used for acquiring the distance between the obstacle and the vehicle body 13; the voice is used to send out an alarm and play the status of the AGV 100, for example, the AGV 100 plays the relevant information in case of low power or sudden stop. The photoelectric distance meter 152 and the laser sensor 151 are disposed on the E-side and the F-side (not shown) of the vehicle body 13, and the speaker is disposed on the E-side of the vehicle body 13, wherein the vehicle body 13 includes the E-side and the F-side, and the E-side and the F-side are opposite to each other.

The laser sensor 151 emits an optical pulse signal, detects an obstacle in the forward direction or the backward direction of the vehicle body 13, and processes the returned optical pulse signal to determine whether or not the obstacle is present. The photoelectric distance meter 152 measures the distance between the car body 13 and the obstacle, and when the obstacle is smaller than a set value, the voice device gives an alarm, and the control system of the AGV car 100 controls the running speed of the car body 13 until the stop. After the alarm is released, the control system of the AGV 100 controls the vehicle body 13 to travel normally. It should be noted that the ultrasonic sensor may also be used to detect an obstacle.

The second sensor 15 can accurately detect an obstacle in the forward direction or the backward direction of the vehicle body 13, and the traveling safety of the AGV 100 is improved.

In an implementable manner, the carrier means 11 is a belt transport assembly. The belt transmission assembly has strong transmission capacity and can transmit the carried object 300 uninterruptedly; the carried object 300 can be taken and placed in the transmission process; simple structure and low cost. It should be noted that the conveying direction of the belt conveying assembly is perpendicular to the conveying direction of the safety inspection apparatus 200.

Referring to fig. 1, specifically, the belt transporting assembly is fixedly attached to the first surface of the vehicle body 13 in a horizontal direction, and a transporting surface of the belt transporting assembly can be flush with a transporting surface of the safety inspection device 200. The belt transmission assembly comprises a belt structure 111 and a mounting frame 112, the cross section of the mounting frame 112 is U-shaped, and the belt structure 111 is arranged in the mounting frame 112. The mounting rack 112 includes a first shelf 1121 and two second shelves 1122, and one second shelf 1122, the first shelf 1121 and the other second shelf 1122 are sequentially connected end to form the mounting rack 112. The belt structure 111 is located between the two second shelves 1122, and the transmission surface of the belt structure 111 is lower than the highest point of the second shelves 1122, so that the second shelves 1122 have a protection effect on the loaded object 300 placed on the belt structure 111, and the loaded object 300 is prevented from accidentally falling. Here, "cross section" means a cross section parallel to the XZ plane; the vehicle body 13 includes a first surface and a second surface, the first surface and the second surface are arranged opposite to each other, and the second surface is parallel to the ground and close to the ground; if there is a transmission failure between the belt structure 111 and the control system of the AGV cart 100, the control can be manually operated, with the operating buttons 400 provided on the mounting brackets 112.

In a further preferred embodiment, a third sensor 16 is provided on the belt transport assembly, the third sensor 16 is electrically connected to the AGV cart control system, and the third sensor 16 is used to detect whether the loaded object 300 leaves the loading mechanism 11. The third sensors 16 are respectively disposed at both ends of the second shelf 1122, and when the belt conveyor assembly conveys the baggage to the rear end of the belt conveyor assembly, the third sensors 16 detect the baggage when the baggage is about to enter the safety inspection device 200. After confirming that the baggage leaves the AGV, the control system of the AGV controls the AGV to return to the B end of the safety inspection apparatus 200, so as to prepare for transferring the baggage next time.

As an implementation, the AGV car 100 also includes an elevator mechanism 12. The lifting mechanism 12 is located between the bearing mechanism 11 and the vehicle body 13, a fixed end of the lifting mechanism 12 is fixedly connected to a first surface of the vehicle body 13, and a movable end of the lifting mechanism 12 is connected to the bearing mechanism 11. The lifting mechanism 12 can move along the Z direction, and the length of the lifting mechanism 12 is adjusted, so that the bearing surface of the bearing mechanism 11 of the AGV 100 is flush with the transmission surface of the safety inspection equipment 200, and the AGV 100 can adapt to different types of safety inspection equipment 200.

Specifically, the lifting mechanism 12 is an electric push rod or a hydraulic push rod. The fixed end of the electric push rod or the hydraulic push rod is fixedly connected to the middle position of the first surface of the vehicle body 13, and the movable end of the electric push rod or the hydraulic push rod is fixedly connected to the middle position of the bearing mechanism 11. The electric push rod or the hydraulic push rod has stable work and accurate stroke control, and is favorable for ensuring that the transmission surface of the bearing mechanism 11 is flush with the transmission surface of the safety detection device 200. The lifting mechanism 12 may be a screw lifting mechanism, a scissor lifting mechanism, or the like.

In this manner, the AGV car 100 also includes a safety structure 18, which safety structure 18 is used to absorb and cushion external impact forces and prevent hard collisions between the AGV car 100 and the colliding objects. The safety structure 18 is disposed on the surface E and the surface F of the vehicle body 13, the safety structure 18 may be made of rubber material, silica gel material, or steel pipe, and the safety structure 18 is C-shaped, as shown in fig. 1.

In an implementation, the AGV cart 100 further includes a charging plug 17, and the charging plug 17 is disposed on the E-plane of the car body 13. When the AGV 100 needs to be charged, the AGV moves to the charging station, the charging plug 17 is in butt joint with the charging socket of the charging station, the charging operation of the AGV 100 can be completed, and the automation degree of the AGV 100 is improved.

In an implementation, the AGV cart 100 further includes a visual locator 600, the visual locator 600 is disposed on the second surface of the car body 13, and the visual locator 600 is used for scanning or identifying the information code 500, so that the AGV cart 100 runs along the information code 500. As shown in fig. 3, a plurality of information codes 500 are arranged at equal intervals in the X direction on the ground near the left side of the safety detecting device 200, the information codes 500 being at a distance D from the safety detecting device 200. Signal transmission between the visual locator 600 and the information code 500 guides the AGV to move along the track b, so that the deviation of the AGV from the running track is avoided, and the running safety of the AGV is ensured.

The above embodiments are merely illustrative of the technical solutions of the application and not restrictive, and although the present application is described in detail with reference to the embodiments, those of ordinary skill in the art should understand 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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An AGV cart, comprising: a vehicle body, a first sensor and a bearing mechanism,

the bearing mechanism is arranged on the vehicle body,

2. The AGV of claim 1, wherein said first sensor comprises a transmitter and a receiver,

3. The AGV cart of claim 1, wherein the first sensor includes a distance sensor or a pressure sensor.

4. The AGV of claim 1, further comprising a second sensor disposed on said vehicle body,

5. The AGV of claim 4, wherein said second sensor comprises a laser sensor, an electro-optical distance meter, a voice,

the laser sensor is used for detecting the obstacle;

6. The AGV of claim 1,

the bearing mechanism is a belt transmission assembly.

7. The AGV of claim 6,

the belt transmission component comprises a belt structure and a mounting rack, the cross section of the mounting rack is U-shaped,

the belt structure is arranged in the mounting frame.

8. The AGV of claim 7, further comprising a third sensor disposed on said mounting rack,

9. The AGV of claim 1,

the lifting mechanism is arranged between the bearing mechanism and the vehicle body and is an electric push rod or a hydraulic push rod.

10. The AGV of claim 1, further comprising a safety structure disposed on the vehicle body,

the safety structure is used for absorbing and buffering external impact force.