CN107783538A - A kind of mobile robot is plugged into the design method in berth - Google Patents
A kind of mobile robot is plugged into the design method in berth Download PDFInfo
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- CN107783538A CN107783538A CN201710828686.7A CN201710828686A CN107783538A CN 107783538 A CN107783538 A CN 107783538A CN 201710828686 A CN201710828686 A CN 201710828686A CN 107783538 A CN107783538 A CN 107783538A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000008878 coupling Effects 0.000 claims abstract description 37
- 238000010168 coupling process Methods 0.000 claims abstract description 37
- 238000005859 coupling reaction Methods 0.000 claims abstract description 37
- 230000006698 induction Effects 0.000 claims abstract description 10
- 230000007423 decrease Effects 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000009184 walking Effects 0.000 claims description 3
- 230000009194 climbing Effects 0.000 claims description 2
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000003319 supportive effect Effects 0.000 abstract 1
- 208000005374 Poisoning Diseases 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 4
- 231100000572 poisoning Toxicity 0.000 description 4
- 230000000607 poisoning effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Conveyors (AREA)
Abstract
A kind of mobile robot is plugged into the design method in berth, the berth of plugging into includes U-shaped skeleton, cylinder, lifting body, magnetic stripe, magnetic induction switch, magnetic valve, couple positioner and proximity switch, the design method is controlled by coupling the structure design auxiliary electrical of positioner, realize that AGV positioning precisions capture effectively plugging into for precision with loading and unloading robot, wherein cylinder, lifting body and magnetic switch are completed support plate lifting and acted in place, positioner is coupled using protrusion and recessed cone scheme, realize being accurately positioned for support plate, proximity switch detection support plate whether dropping place, skeleton plays a supportive role.The present invention solves the matching problem of the low positioning precision indexs of AGV and high-precision requirement needed for the crawl of loading and unloading industrial robot, and design is simple and direct and reliable and stable.
Description
Technical field
The invention belongs to field of electromechanical integration, more particularly to a kind of mobile robot is plugged into the design method in berth.
Background technology
AGV is used widely in shop logistics at present because its flexibility progressively substitutes artificial turnover, its specific works side
Formula is flexible, operating efficiency is high, the advantages that being easy to plug into other equipment.But because AGV self poisoning precision problems make it in height
Precision operation sector application is restricted, and usual AGV self poisoning precision is only decimeter grade, when the equipment of its upstream and downstream needs
During higher positioning precision, AGV is often difficult to meet to require.Such as the automatic circular flow in lathe loading and unloading machine personage material
In, loading and unloading robot captures precision in ± below 1mm, and the decimeter grade gap for being only capable of reaching with AGV is larger, therefore when using
When AGV is as shop logistics carrier, it is impossible to which directly meet loading and unloading robot picks up required precision, have impact on shop logistics
Operating, cause the reduction of automated production efficiency.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, there is provided a kind of mobile robot is plugged into
The design method in berth, AGV positioning precision is effectively improved, solve AGV positioning precisions and loading and unloading robot crawl essence
The matching problem of degree.
The object of the invention is achieved by the following technical programs：
A kind of mobile robot is plugged into the design method in berth, is comprised the following steps：
Step 1: berth of plugging into is provided with the magnetic stripe for extending to and plugging into outside berth, the magnetic stripe guiding AGV walkings；
Step 2: berth of plugging into is provided with multiple cylinders, multiple lifting bodies and a magnetic valve, host computer is to the electromagnetism
Valve, which is sent, rises instruction, cylinder described in solenoid valve control, and cylinder drives lifting body to rise, and lifting body is by the support plate on AGV
Rise；
Step 3: cylinder is provided with magnetic induction switch, cylinder rises in place, and the magnetic induction switch sends gas to host computer
Cylinder rises signal in place, and host computer receives cylinder rise, and signal post command AGV exits berth of plugging into place；
Step 4: host computer is sent to magnetic valve declines instruction, solenoid valve control cylinder, cylinder is driven under lifting body
Drop, support plate is placed on the skeleton in berth of plugging into by lifting body, plug into berth and support plate by couple positioner realize it is fixed
Position, skeleton are provided with proximity switch, and to host computer transmission support plate dropping place, signal, host computer receive support plate to the proximity switch in place
For dropping place in place after signal, order loading and unloading robot captures support plate；
Step 5: after support plate machines, host computer order loading and unloading robot puts back to support plate, and host computer is sent out to magnetic valve
Rise is sent to instruct, solenoid valve control cylinder, cylinder drives lifting body to rise, and the magnetic induction switch on cylinder is sent to host computer
Cylinder rises signal in place, and host computer is received after cylinder rises signal in place, and order AGV enters berth of plugging into；
Step 6: host computer is sent to magnetic valve declines instruction, solenoid valve control cylinder, cylinder is driven under lifting body
Support plate is placed on AGV by drop, lifting body, and AGV is provided with position sensor, and position sensor detects that support plate is believed in place
Number, sent to host computer and carry plate in-position signal, after host computer receives load plate in-position signal, order AGV exits berth of plugging into.
Above-mentioned mobile robot is plugged into the design method in berth, and the skeleton in berth of being plugged into the step 1 is U-shaped, is easy to
AGV passes in and out and plugged into.
Above-mentioned mobile robot is plugged into the design method in berth, and berth of being plugged into the step 2 is provided with four cylinders and four
Individual lifting body, four gas circuits of a magnetic valve point are realized to be controlled to four cylinders, and each cylinder drives a jacking knot
Structure.
Above-mentioned mobile robot is plugged into the design method in berth, and it is cone structure to couple positioner in the step 4.
Above-mentioned mobile robot is plugged into the design method in berth, and the coupling positioner in berth of being plugged into the step 4 is
Alignment pin is coupled, the coupling positioner of support plate is coupling locating slot.
Above-mentioned mobile robot is plugged into the design method in berth, and coupling positioner uses 40Cr steel in the step 4,
Machining accuracy is not more than ± 0.02mm, and fit precision is not more than ± 0.1mm.
Above-mentioned mobile robot is plugged into the design method in berth, and berth of being plugged into the step 4 positions provided with four couplings
Device, positioned at the surface of skeleton contact support plate；Support plate is provided with four coupling positioners, positioned at the surface of support plate contact skeleton.
Above-mentioned mobile robot is plugged into the design method in berth, and berth of being plugged into the step 4 is provided with two close to opening
Close, positioned at the surface that skeleton contacts with support plate.
Above-mentioned mobile robot is plugged into the design method in berth, and the U-shaped skeleton both sides in berth of being plugged into the step 4 are each
Provided with two coupling positioners.
The present invention has the advantages that compared to prior art：
(1) present invention is equipped with coupling positioner plugging on berth and support plate, greatly improves support plate and is shifted by AGV
To plug into berth when positioning precision, meet the crawl requirement of follow-up loading and unloading robot, improve the operating of shop logistics
Efficiency, improve automatization level；
(2) the coupling positioner in the present invention uses cone structure, and its simple shape, rapidoprint is common, and stably
Reliably, in support plate transfer process, support plate is realized by gravity and berth of plugging into couples being automatically positioned for alignment pin, method is simple
Practicability and effectiveness；
(3) present invention berth of plugging into is provided with magnetic stripe, guides AGV to enter berth of plugging into by magnetic stripe, can be by AGV positioning
Precision is promoted to ± 5cm by the ± 10cm of itself, is easy to coupling alignment pin to realize final high accuracy positioning；
(4) present invention employs U-shaped skeleton, while proximity switch is provided with skeleton, being capable of automatic detection support plate dropping place
Situation；Four cylinders are controlled using four tunnels of a magnetic valve point, reduce equipment complexity.
Brief description of the drawings
Fig. 1 is berthing structure schematic diagram of plugging into；
Fig. 2 be plug into berth coupling alignment pin structural representation；
Fig. 3 is the structural representation of the coupling locating slot of support plate；
Fig. 4 is that AGV enters berth charging flow chart of plugging into；
Fig. 5 is that AGV enters berth discharging flow chart of plugging into.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with implementation of the accompanying drawing to the present invention
Mode is described in further detail.
Fig. 1 to plug into berthing structure schematic diagram, Fig. 2 be plug into berth coupling alignment pin structural representation, Fig. 3 is carries
The structural representation of the coupling locating slot of plate；Plug into berth mainly include skeleton 4, coupling alignment pin 1, lifting body 2, close to opening
Close 3, cylinder 5, magnetic valve 6；Coupling alignment pin 1 includes protrusion cone 7, screw thread deep gouge 8, and wherein screw thread deep gouge 8 is used to couple and determined
The connection of position pin 1 and skeleton 4；Fig. 1 and Fig. 2 is respectively that AGV enters plug into berth charging and discharging flow chart.
Plug into berth skeleton 4 it is overall U-shaped, skeleton 4 use cast iron materials, and the structure for improving berth of integrally plugging into is strong
Degree, outsourcing plastic-spraying metal plate；Skeleton 4 is provided with 4 cylinders 5 and 4 lifting bodies 2, and each cylinder 5 drives a lifting body 2,
4 cylinders 5 are located at the both sides of U-shaped skeleton 4 respectively, and the jacking of support plate is realized by the drive lifting body 2 of cylinder 5；In U-shaped berth
Two proximity switches 3 are additionally provided with above, and two proximity switches 3 are located at the both sides of U-shaped skeleton 4 respectively, in U-shaped skeleton 4 with carrying
The surface of plate contact, proximity switch 3 are used for whether in place detecting support plate；4 couplings are provided with the surface of U-shaped skeleton 4 contact support plate
Alignment pin 1 is closed, for coupling alignment pin 1 as shown in Fig. 2 being located at the both sides of U-shaped skeleton 4 respectively, coupling alignment pin 1 is protrusion cone knot
Structure；The surface that U-shaped skeleton 4 is contacted in support plate is provided with 4 coupling locating slots, and coupling locating slot is as shown in figure 3, couple locating slot
Position distribution is identical with the coupling alignment pin 1 on the U-shaped both sides of skeleton 4, and coupling locating slot is recessed cone structure；Couple alignment pin 1
Used with coupling locating slot matching, realize the accurate dropping place of support plate, positioning precision is not more than ± 0.1mm, be finally reached with it is upper
The requirement that blanking robot achieves a butt joint.
Fig. 4 is that AGV enters berth charging flow chart of plugging into, and AGV enters the tool of plug into berth charging flow and berth of plugging into
Body design method is as follows：
Step 1: berth of plugging into is provided with the magnetic stripe for extending to and plugging into outside berth, magnetic stripe guiding AGV walkings, AGV is led automatically
Draw transport vehicle.The present embodiment ground in berth of plugging into pastes one section of 1.5m magnetic stripe and extends to and plug into outside berth, and AGV bottoms are provided with
High-precision sensor, when the AGV of load support plate is reached near magnetic stripe, automatic search magnetic stripe is simultaneously walked along magnetic stripe, AGV self poisonings
Precision is ± 10cm, and precision reaches ± 5cm after being guided by magnetic stripe, and specified locations of the AGV before berth is entered is sent out to host computer
It is sent to bit instruction；
Step 2: berth of being plugged into the present embodiment is provided with 4 cylinders 5 and a magnetic valve 6, a magnetic valve 6 divides four
Gas circuit is realized and cylinder 5 is controlled；The AGV of load support plate communicates after reaching the appointed place before berth of plugging into host computer,
AGV is sent to bit instruction to host computer, after host computer receives AGV in place, detects whether that receiving cylinder 5 declines signal in place or connect
Refute berth cylinder 5 and be in dropping place state, as host computer does not receive, cylinder 5 drops to bit instruction and cylinder 5 is not at dropping place state,
Host computer is sent to berth magnetic valve 6 of plugging into declines instruction, and magnetic valve 6 controls cylinder 5 to be vented, and cylinder 5 is driven under lifting body 2
Drop to position, the magnetic induction switch on cylinder 4 is sent to host computer declines signal in place；Decline in place when host computer receives cylinder 5
After signal or berth cylinder 5 of plugging into are in dropping place state, host computer is transmitted into berth instruction of plugging into AGV；
Plugged into berth Step 3: the AGV of load support plate enters, AGV is transmitted into berth of plugging into host computer to bit instruction；
Host computer receives AGV and enters berth of plugging into after bit instruction, sends rise instruction to magnetic valve 6, magnetic valve 6 receives host computer and referred to
The air inlet of cylinder 5 is controlled after order, cylinder 5 drives lifting body 2 to rise, and lifting body 2 rises the support plate on AGV, and cylinder 5 rises
After in place, magnetic induction switch sends cylinder 5 to host computer and rises signal in place；
Step 4: host computer is received after cylinder 5 rises signal in place, host computer is sent to AGV exits berth instruction of plugging into,
AGV receive exit plug into berth instruction after, exit berth of plugging into, then up position machine send exit status signal；
Step 5: host computer is received after AGV exits status signal, host computer is sent to magnetic valve 6 declines instruction, magnetic valve
6 control cylinders 5 are vented, and cylinder 5 drives lifting body 2 to decline, during lifting body 2 declines, the 4 of the U-shaped surface of skeleton 4 setting
The protrusion cone 7 of individual coupling alignment pin 1 enters in the coupling locating slot of support plate, real by support plate gravity when support plate continues to decline
Now it is accurately positioned；Coupling alignment pin and coupling locating slot use 40Cr steel, and machining accuracy is not more than ± 0.02mm, fit precision
No more than ± 0.1mm；
Step 6: the U-shaped skeleton 4 in berth of plugging into is provided with two proximity switches 3, contacted respectively positioned at the both sides of skeleton 4
The surface of support plate, proximity switch 3 by detect metallics close to scope judge support plate whether dropping place in place；Proximity switch 3 is examined
Support plate dropping place is measured in place after signal, sends support plate dropping place signal in place to host computer, host computer receives support plate dropping place to be believed in place
After number, crawl support plate instruction is sent to loading and unloading robot, loading and unloading robot crawl support plate.
Fig. 5 is that AGV enters berth discharging flow chart of plugging into, and AGV enters the tool of plug into berth discharging flow and berth of plugging into
Body design method is：
Step 1: after the part on support plate machines, host computer order loading and unloading robot puts back to support plate pool of plugging into
Position, host computer is sent to magnetic valve 6 rises instruction, and magnetic valve 6 controls the air inlet of cylinder 5, and cylinder 5 drives climbing structure 2 to rise, and pushes up
Rising mechanism 2 drives support plate to rise, and after cylinder 5 rises in place, the magnetic induction switch on cylinder 5 sends cylinder 5 to host computer and risen
Signal in place；
Step 2: host computer is received after cylinder 5 rises signal in place, send and instruct to unloaded AGV, order unloaded AGV to enter
Enter the specified location in berth of plugging into, after unloaded AGV enters berth specified location of plugging into according to the instruction, be transmitted into host computer
Berth plug into bit instruction；
Step 3: host computer, which receives the entrance that unloaded AGV is sent, plugs into berth to after bit instruction, under being sent to magnetic valve 6
Drop instruction；Magnetic valve 6 receives the decline instruction of host computer transmission, and control cylinder 5 is vented, and cylinder 5 drives lifting body 2 to decline,
Support plate is placed on AGV by lifting body during decline, and AGV is provided with position sensor, and position sensor detects
Plate in-position signal is carried, support plate dropping place is sent in place to host computer；
Step 4: host computer receives support plate dropping place in place after signal, sent to AGV and exit berth instruction of plugging into, AGV is received
Berth instruction backed off after random of plugging into is exited to plug into berth.
It is an advantage of the invention that it is reliable and stable, positioning precision is high, AGV self poisoning precision is ± 10cm, is led by magnetic stripe
Draw precision and reach ± 5cm, and loading and unloading robot crawl precision passes through the mobile robot of the present invention at least in ± below 1mm
Plug into the design method in berth, it is ± 0.1mm to realize support plate positioning precision, successfully realizes AGV positioning precision ± 10cm and arrives
Loading and unloading robot captures the required accuracy ± 0.1mm, and design efforts would is less, and reliable and stable, as AGV cars are in shop logistics
Extensive application, it is contemplated that will have very big potential market value.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (9)
- The design method in berth 1. a kind of mobile robot is plugged into, it is characterised in that：Comprise the following steps：Step 1: berth of plugging into is provided with the magnetic stripe for extending to and plugging into outside berth, the magnetic stripe guiding AGV walkings；Step 2: berth of plugging into is sent out provided with multiple cylinders, multiple lifting bodies and a magnetic valve, host computer to the magnetic valve Rise is sent to instruct, cylinder described in solenoid valve control, cylinder drives lifting body to rise, and lifting body rises the support plate on AGV；Step 3: cylinder is provided with magnetic induction switch, cylinder rises in place, and the magnetic induction switch sends cylinder liter to host computer Signal in place is played, host computer receives cylinder rise, and signal post command AGV exits berth of plugging into place；Step 4: host computer is sent to magnetic valve declines instruction, solenoid valve control cylinder, cylinder drives lifting body to decline, top Rise mechanism to be placed on support plate on the skeleton in berth of plugging into, plug into berth and support plate realize positioning, bone by coupling positioner Frame is provided with proximity switch, and to host computer transmission support plate dropping place, signal, host computer receive support plate dropping place to the proximity switch in place In place after signal, order loading and unloading robot crawl support plate；Step 5: after support plate machines, host computer order loading and unloading robot puts back to support plate, and host computer sends to magnetic valve and risen Instruction, solenoid valve control cylinder are played, cylinder drives lifting body to rise, and the magnetic induction switch on cylinder sends cylinder to host computer Rise signal in place, host computer is received after cylinder rises signal in place, and order AGV enters berth of plugging into；Step 6: host computer is sent to magnetic valve declines instruction, solenoid valve control cylinder, cylinder drives lifting body to decline, top Rise mechanism support plate is placed on AGV, AGV is provided with position sensor, and position sensor detects load plate in-position signal, upwards Position machine, which is sent, carries plate in-position signal, and after host computer receives load plate in-position signal, order AGV exits berth of plugging into.
- The design method in berth 2. a kind of mobile robot according to claim 1 is plugged into, it is characterised in that：The step Plugged into four berth skeleton to be U-shaped, be easy to AGV to pass in and out and plug into.
- The design method in berth 3. a kind of mobile robot according to claim 1 is plugged into, it is characterised in that：The step Berth of being plugged into two is provided with four cylinders and four lifting bodies, and four gas circuits of a magnetic valve point are realized to be carried out to four cylinders Control, each cylinder drive a climbing structure.
- The design method in berth 4. a kind of mobile robot according to claim 1 is plugged into, it is characterised in that：The step It is cone structure that positioner is coupled in four.
- The design method in berth 5. a kind of mobile robot according to one of claim 1-4 is plugged into, it is characterised in that：Institute The coupling positioner for stating berth of being plugged into step 4 is coupling alignment pin, and the coupling positioner of support plate is coupling locating slot.
- The design method in berth 6. a kind of mobile robot according to one of claim 1-4 is plugged into, it is characterised in that：Institute To state and positioner is coupled in step 4 use 40Cr steel, machining accuracy is not more than ± 0.02mm, and fit precision is not more than ± 0.1mm。
- The design method in berth 7. a kind of mobile robot according to one of claim 1-4 is plugged into, it is characterised in that：Institute State berth of being plugged into step 4 and be provided with four coupling positioners, positioned at the surface of skeleton contact support plate；Support plate is provided with four couplings Positioner is closed, positioned at the surface of support plate contact skeleton.
- The design method in berth 8. a kind of mobile robot according to one of claim 1-4 is plugged into, it is characterised in that：Institute State berth of being plugged into step 4 and be provided with two proximity switches, positioned at the surface that skeleton contacts with support plate.
- The design method in berth 9. a kind of mobile robot according to claim 2 is plugged into, it is characterised in that：The step Plugged into the four U-shaped skeleton both sides in berth are respectively provided with two coupling positioners.
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| CN201710828686.7A CN107783538B (en) | 2017-09-14 | 2017-09-14 | Design method for docking berths of mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710828686.7A CN107783538B (en) | 2017-09-14 | 2017-09-14 | Design method for docking berths of mobile robot |
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| CN107783538A true CN107783538A (en) | 2018-03-09 |
| CN107783538B CN107783538B (en) | 2021-04-13 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108637984A (en) * | 2018-06-04 | 2018-10-12 | 北京安培通科技有限公司 | A kind of workpiece berth platform |
| CN109436129A (en) * | 2018-12-19 | 2019-03-08 | 温州市环球汽车衬垫有限公司 | Liquid, gas supplement automatic connecting structure |
| CN109857071A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | A kind of control system and method for industrial portal crane |
| CN110850869A (en) * | 2019-10-12 | 2020-02-28 | 哈尔滨飞机工业集团有限责任公司 | Precise positioning method and device for AGV transferring part |
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| CN109857071A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | A kind of control system and method for industrial portal crane |
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