CN109205208A - A kind of interconnection method of AGV docking platform - Google Patents
A kind of interconnection method of AGV docking platform Download PDFInfo
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- CN109205208A CN109205208A CN201810852861.0A CN201810852861A CN109205208A CN 109205208 A CN109205208 A CN 109205208A CN 201810852861 A CN201810852861 A CN 201810852861A CN 109205208 A CN109205208 A CN 109205208A
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- bearing platform
- docking
- distance value
- proximity sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The interconnection method of AGV docking platform of the invention, including controlling terminal, rotating mechanism, translation mechanism, bearing platform and the first, second, third proximity sensor, rotating mechanism and translation mechanism are arranged on AGV car body, rotating mechanism is used to adjust the rotation angle of bearing platform, translation mechanism is for moving forward or back bearing platform, first and second proximity sensors are arranged in the both ends of bearing platform side wall and are electrically connected with controlling terminal, and third proximity sensor is arranged in the middle part of bearing platform side wall and is electrically connected with controlling terminal；Compared with prior art, the interconnection method of AGV docking platform of the invention adjusts the depth of parallelism of bearing platform by comparing distance value D1 and D2, and by comparing the position of distance value D3 and D3 ' adjustment bearing platform, so as to improve the merging precision of AGV equipment.When adjusting positioning accuracy, without carrying out complete machine adjustment to AGV car body, has the advantages that docking mode is simple, positioning accuracy is high, is easily achieved.
Description
Technical field
The present invention relates to object positioning fields, and in particular to the interconnection method of AGV docking platform.
Background technique
With development in science and technology, automatic conveying system is used in each industry neck because its is highly reliable, work efficiency is high
Domain carries out workpiece transport by AGV equipment between each production line, makes workpiece including industrial automation delivery system
It is transported to specified station and carries out secondary operation, assembly etc..In actual production process, AGV equipment reach designated place with it is right
When connecing equipment and being docked, the problems such as being limited to navigation routine offset, the offset of AGV equipment car body influence, AGV equipment is inevitable
Will appear with the not parallel situation of the service of connection devices, in addition, AGV equipment is during run to stopping, due to physics inertia and brake
Situations such as quality of vehicle performance, AGV equipment detects the precision in the reaction time of stop signal, directly influence AGV equipment with
The relative position of the service of connection devices makes the relative position of AGV equipment and the service of connection devices deviation occur.Above situation causes workpiece to position
The deviation of precision presence ± 10-20mm, AGV equipment can not accurately determine workpiece in production line processing on transporting workpiece
Position, when workpiece being caused process in next step, machining accuracy decline, rejection rate rises, and the production cost increases, limits work
The popularization and application of industry automation delivery system.
The service of connection devices of existing AGV equipment requires further improvement, and is wanted with meeting to the high accuracy positioning of AGV equipment
It asks.
Summary of the invention
Goal of the invention of the invention is to provide a kind of interconnection method of AGV docking platform, AGV docking platform of the invention
Interconnection method meet high accuracy positioning requirement, can effectively improve machining accuracy, reduce rejection rate.
To realize that the above goal of the invention, the present invention take following technical scheme:
The interconnection method of AGV docking platform, including controlling terminal, rotating mechanism, translation mechanism, bearing platform and first,
Two, third proximity sensor, the rotating mechanism and translation mechanism are arranged on AGV car body, and the rotating mechanism is for adjusting
The rotation angle of bearing platform is saved, the translation mechanism is for moving forward or back bearing platform, the described first and second close sensings
Device is arranged in the both ends of the bearing platform side wall and is electrically connected with the controlling terminal, and the third proximity sensor is arranged in institute
It states the middle part of bearing platform side wall and is electrically connected with the controlling terminal；After AGV reaches docking station, first proximity sensor
Bearing platform is detected to the distance value D1 of docking harbour and is sent to controlling terminal, the second proximity sensor detection, which is held out, to be weighed
Platform is to the distance value D2 for docking harbour and is sent to controlling terminal, and the controlling terminal is controlled according to the size of distance value D1 and D2
The rotating mechanism is adjusted the angle of bearing platform so that bearing platform is parallel with the docking harbour；Default bearing platform with it is right
The docking distance of jointer head for D3 ' and is sent to controlling terminal, and the third proximity sensor detects bearing platform to jointer
The distance value D3 of head is simultaneously sent to controlling terminal, and the controlling terminal controls the translation mechanism according to the distance value D3 and advances
Or retreat, as D3=D3 ', translation mechanism stops, and completes and the docking of docking harbour.
Compared with prior art, the interconnection method of AGV docking platform of the invention is adjusted by comparing distance value D1 and D2
The depth of parallelism of bearing platform, and by comparing the position of distance value D3 and D3 ' adjustment bearing platform, so as to improve the docking of AGV equipment
Precision reduces position error.When adjusting positioning accuracy, without carrying out complete machine adjustment to AGV car body, it is only necessary to adjust bearing platform i.e.
Realization can be arrived to be accurately positioned, have the advantages that docking mode is simple, positioning accuracy is high, be easily achieved, workpiece can be effectively improved
Machining accuracy reduces rejection rate liter, reduces production cost, is conducive to the popularization and application of industrial automation delivery system.
To realize the adjustment to the depth of parallelism of bearing platform, the control method of the rotating mechanism are as follows: when distance value D1 is greater than
When distance value D2, the driving motor of rotating mechanism, which rotates forward, rotates clockwise bearing platform；When distance value D1 is less than distance
When value D2, the driving motor of rotating mechanism, which rotates backward, rotates counterclockwise bearing platform；When distance value D1 is equal to distance value D2
When, rotating mechanism is out of service.The adjustment mode of rotating mechanism is simple, direct, is conducive to promote docking efficiency.
Further, the docking harbour is equipped with the first locating piece and the second locating piece, and first locating piece, second are determined
Position block is separately positioned on the two sides of the docking harbour, and first locating piece is corresponding with first proximity sensor, institute
It is corresponding with the second proximity sensor of institute to state the second locating piece, first locating piece and the second locating piece to the straight of docking station
Linear distance is equal.Since the linear distance of the first locating piece, the second locating piece to docking station is equal, missed in bearing platform without parallel
In the case where difference, the first proximity sensor, the second proximity sensor are corresponding with the first locating piece, the second locating piece respectively, than
Can determine whether bearing platform is parallel compared with distance value D1, D2.
To realize the adjustment to the position of bearing platform, slope positioning plate is equipped in the middle part of the docking harbour, the slope is fixed
Position plate is corresponding with the third proximity sensor, and slope positioning surface, the preset value D3 ' are equipped on the outside of the slope positioning plate
For the distance at slope positioning surface center to docking station；When distance value D3, which is greater than, sets value D3 ', third proximity sensor is located at oblique
The rear side at slope positioning surface center, controlling terminal command displacement mechanism driving-motor rotate forward, and make bearing platform anterior displacement；Work as distance value
For D3 less than when setting value D3 ', third proximity sensor is located at the front side at slope positioning surface center, and controlling terminal command displacement mechanism drives
Dynamic motor reversal, makes bearing platform rearward displacement.Since the distance of front and rear sides to the docking station of slope positioning surface is not equal to tiltedly
Slope positioning surface center is to the distance D3 ' of docking station, and in the case where bearing platform is without offset, third proximity sensor should be with slope
Positioning surface center is corresponding, the distance value D3 detected should be equal to D3 ', with this can determine bearing platform whether positional shift.
Preferably, the AGV car body is equipped with pedestal, and the lower section of bearing platform is arranged in the pedestal, and the rotating mechanism is put down
Telephone-moving structure is respectively mounted on the base, and the downside of the rotating mechanism is fixedly connected with the pedestal, the upside of the rotating mechanism
It is connect between translation mechanism by the way that mounting plate is arranged, is fixedly connected on the downside of the upside of the translation mechanism and bearing platform.
Detailed description of the invention
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is the structure schematic diagram of AGV car body.
Label declaration:
AGV car body 1, bearing platform 2, the first proximity sensor 201, the second proximity sensor 202, third proximity sensor
203, slope positioning plate 303, docking harbour 3, the first locating piece 301, the second locating piece 302, mounting plate 204, pedestal 101.
Specific embodiment
Below according to attached drawing, further instruction technical solution of the present invention:
The interconnection method of AGV docking platform of the invention, including controlling terminal (not showing on figure), rotating mechanism are (on figure not
Show), translation mechanism (not showing on figure), bearing platform 2 and the first proximity sensor 201, the second proximity sensor 202, third it is close
Sensor 203, the rotating mechanism and translation mechanism are arranged on AGV car body 11, and the rotating mechanism is for adjusting load-bearing
The rotation angle of platform 2, the translation mechanism is for moving forward or back bearing platform 2, first and second proximity sensor 202
The both ends of 2 side wall of bearing platform are set and are electrically connected with the controlling terminal, the setting of third proximity sensor 203 exists
It the middle part of 2 side wall of bearing platform and is electrically connected with the controlling terminal；After AGV reaches docking station, the described first close biography
Sensor 201 detect bearing platform 2 to docking harbour 3 distance value D1 and be sent to controlling terminal, second proximity sensor
202 detections hold out weight platform to the distance value D2 of docking harbour 3 and are sent to controlling terminal, and the controlling terminal is according to distance value D1
With the size of D2 control the rotating mechanism angle of bearing platform 2 is adjusted so that bearing platform 2 with described to dock harbour 3 flat
Row；Default bearing platform 2 is D3 ' with the docking distance for docking harbour 3 and is sent to controlling terminal, the third proximity sensor
203 detect bearing platform 2 to docking harbour 3 distance value D3 and be sent to controlling terminal, the controlling terminal according to described in away from
It controls the translation mechanism from value D3 to move forward or back, as D3=D3 ', translation mechanism stops, and completes and pair that docks harbour 3
It connects.
To realize the adjustment to the depth of parallelism of bearing platform 2, the control method of the rotating mechanism are as follows: when distance value D1 is greater than
When distance value D2, the driving motor of rotating mechanism, which rotates forward, rotates clockwise bearing platform；When distance value D1 is less than distance
When value D2, the driving motor of rotating mechanism, which rotates backward, rotates counterclockwise bearing platform；When distance value D1 is equal to distance value D2
When, rotating mechanism is out of service.The control method of this programme is simply direct, convenient for improving quick efficiency.
According to advanced optimizing for the scheme, the docking harbour 3 is equipped with the first locating piece 301 and the second locating piece
302, first locating piece 301, the second locating piece 302 are separately positioned on the two sides of the docking harbour 3, first positioning
Block 301 is corresponding with first proximity sensor 201, and second locating piece 302 is opposite with institute's the second proximity sensor 202
It answers, first locating piece 301 and the second locating piece 302 arrive the linear distance phase of docking station.
To realize the adjustment to the position of bearing platform 2, slope positioning plate 303 is equipped in the middle part of the docking harbour 3, it is described oblique
Slope positioning plate 303 is corresponding with the third proximity sensor 203, and slope positioning surface is equipped on the outside of the slope positioning plate 303,
The preset value D3 ' is distance of the positioning surface center in slope to docking station；When distance value D3, which is greater than, sets value D3 ', third is connect
Nearly sensor 203 is located at the rear side at slope positioning surface center, and controlling terminal command displacement mechanism driving-motor rotates forward, and makes bearing platform
2 anterior displacements；When distance value D3, which is less than, sets value D3 ', third proximity sensor 203 is located at the front side at slope positioning surface center,
The reversion of controlling terminal command displacement mechanism driving-motor, makes 2 rearward displacement of bearing platform.
The rotating mechanism, translation mechanism can be by being arranged gear transmission structure, chain drive structure, pulley drive
The existing drive mechanism such as structure, screw rod transmission structure carries out position adjustment to the bearing platform 2.It preferably, further include pedestal
101, the lower section of bearing platform 2 is arranged in the pedestal 101, and the rotating mechanism, translation mechanism are installed on pedestal 101, institute
The downside for stating rotating mechanism is fixedly connected with the pedestal 101, by setting between the upside and translation mechanism of the rotating mechanism
The connection of mounting plate 204 is set, the upside of the translation mechanism is fixedly connected with the downside of bearing platform 2.The rotating mechanism includes turning
Dynamic driving motor and gear driving assembly, the gear driving assembly include transmission gear and floating bearing, the rotate driving
The inner ring of mechanism and floating bearing is fixedly connected with pedestal 101, the output of the transmission gear and the rotational drive motor
Axis is fixedly connected, and the ratcheting connection in outer ring of the transmission gear and the floating bearing, and the mounting plate 204 is set to rotating shaft
It the upside held and is fixedly connected with the outer ring of the floating bearing.Further, the translation mechanism includes pan drive motor
With screw rod driving assembly, the screw rod driving assembly includes drive lead screw and transmission screw, the pan drive motor, driving wire
Bar is installed in the upside of the mounting plate 204, and the output end of the pan drive motor and the lead screw driving assembly are driven
Connection, the transmission screw are movably set on the drive lead screw, under the upside and the bearing platform 2 of the transmission screw
Side is fixedly connected.
Working principle:
(1) after AGV reaches docking station, in the case where 2 depth of parallelism of bearing platform does not deviate, the first proximity sensor
The distance value D1 of 201 to the first locating piece 301 should be with the distance value D2 phase of second the 202 to the second locating piece of proximity sensor 302
Deng when D1 and D2 are unequal, rotating mechanism driving bearing platform 2, which is rotated, adjusts the depth of parallelism of bearing platform with this.
(2) bearing platform 2 complete the depth of parallelism adjustment after, bearing platform 2 with dock the case where 3 relative position of harbour does not deviate
Under, third proximity sensor 203 should be equal with preset value with the linear distance value D3 of slope positioning plate 303, as D1 and preset value
When unequal, translation mechanism driving bearing platform 2 is moved forward and backward the position that bearing platform 2 is adjusted with this.
Compared with prior art, the interconnection method of AGV docking platform of the invention is adjusted by comparing distance value D1 and D2
The depth of parallelism of bearing platform 2, and by comparing the position of distance value D3 and preset value adjustment docking platform, so as to improve AGV equipment
Merging precision, reduce position error.When adjusting positioning accuracy, without carrying out complete machine adjustment to AGV car body 1, it is only necessary to adjust
Bearing platform 2 can arrive realization and be accurately positioned, and have the advantages that docking mode is simple, positioning accuracy is high, be easily achieved, can be effective
Workpiece Machining Accuracy is improved, rejection rate liter is reduced, reduces production cost, the popularization for being conducive to industrial automation delivery system is answered
With.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (5)
1. a kind of interconnection method of AGV docking platform, it is characterised in that: including controlling terminal, rotating mechanism, translation mechanism, hold
Weight platform and the first, second, third proximity sensor, the rotating mechanism and translation mechanism are arranged on AGV car body, and described turn
Motivation structure is used to adjust the rotation angle of bearing platform, and the translation mechanism is for moving forward or back bearing platform, first He
Second proximity sensor is arranged in the both ends of the bearing platform side wall and is electrically connected with the controlling terminal, and the third is close to be passed
Sensor is arranged in the middle part of the bearing platform side wall and is electrically connected with the controlling terminal；
After AGV reaches docking station, first proximity sensor detects bearing platform to the distance value D1 of docking harbour and passes
It send to controlling terminal, the second proximity sensor detection holds out heavy platform to the distance value D2 of docking harbour and is sent to control eventually
End, the controlling terminal according to the size of distance value D1 and D2 control the rotating mechanism to the angle of bearing platform be adjusted with
Keep bearing platform parallel with the docking harbour；
Default bearing platform is D3 ' with the docking distance for docking harbour and is sent to controlling terminal, and the third proximity sensor is examined
Bearing platform is measured to the distance value D3 of docking harbour and is sent to controlling terminal, the controlling terminal is controlled according to the distance value D3
It makes the translation mechanism to move forward or back, as D3=D3 ', translation mechanism stops, and completes and the docking of docking harbour.
2. the interconnection method of AGV docking platform according to claim 1, it is characterised in that: the control of the rotating mechanism
Method are as follows:
When distance value D1 is greater than distance value D2, the driving motor of rotating mechanism, which rotates forward, rotates clockwise bearing platform；
When distance value D1 is less than distance value D2, the driving motor of rotating mechanism, which rotates backward, rotates counterclockwise bearing platform；When away from
When being equal to distance value D2 from value D1, rotating mechanism is out of service.
3. the interconnection method of AGV docking platform according to claim 1, it is characterised in that: the docking harbour is equipped with the
A positioning block and the second locating piece, first locating piece, the second locating piece are separately positioned on the two sides of the docking harbour, institute
It is corresponding with first proximity sensor to state the first locating piece, second locating piece is opposite with the second proximity sensor of institute
It answers, the linear distance of first locating piece and the second locating piece to docking station is equal.
4. the interconnection method of AGV docking platform according to claim 1, it is characterised in that: set in the middle part of the docking harbour
There is slope positioning plate, the slope positioning plate is corresponding with the third proximity sensor, is equipped on the outside of the slope positioning plate
Slope positioning surface, the preset value D3 ' are distance of the positioning surface center in slope to docking station；
When distance value D3, which is greater than, sets value D3 ', third proximity sensor is located at the rear side at slope positioning surface center, controlling terminal control
Displacement mechanism driving motor processed rotates forward, and makes bearing platform anterior displacement；
When distance value D3, which is less than, sets value D3 ', third proximity sensor is located at the front side at slope positioning surface center, controlling terminal control
Displacement mechanism driving motor reversion processed, makes bearing platform rearward displacement.
5. the interconnection method of AGV docking platform according to claim 1, it is characterised in that: the AGV car body includes base
Seat, the pedestal is arranged in the lower section of bearing platform, is respectively mounted on the upside of the rotating mechanism, translation mechanism on the base, described
The downside of rotating mechanism is fixedly connected with the pedestal, passes through setting installation between the upside and translation mechanism of the rotating mechanism
Plate connects, and is fixedly connected on the downside of the upside of the translation mechanism and bearing platform.
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| CN201810852861.0A CN109205208A (en) | 2018-07-30 | 2018-07-30 | A kind of interconnection method of AGV docking platform |
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| CN201810852861.0A CN109205208A (en) | 2018-07-30 | 2018-07-30 | A kind of interconnection method of AGV docking platform |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205239A (en) * | 2018-07-30 | 2019-01-15 | 江苏亚奥精密机械有限公司 | Automatic pipe cutter feeding device |
| CN110065558A (en) * | 2019-04-22 | 2019-07-30 | 深圳创维－Rgb电子有限公司 | A kind of back Kun formula AGV auxiliary locator and its method |
| CN110525948A (en) * | 2019-08-21 | 2019-12-03 | 明门(中国)幼童用品有限公司 | The material handover method of seat for children automatic assembly line |
| CN110712212A (en) * | 2019-10-28 | 2020-01-21 | 广东博智林机器人有限公司 | Alignment system based on distance measuring sensor |
| CN111766856A (en) * | 2019-03-28 | 2020-10-13 | 北京京东尚科信息技术有限公司 | Automatic guide transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller |
| CN111766856B (en) * | 2019-03-28 | 2024-06-21 | 北京京东振世信息技术有限公司 | Automatic guiding transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller |
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