CN109533089A - A kind of positioning device of automatic feed vehicle - Google Patents
A kind of positioning device of automatic feed vehicle Download PDFInfo
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- CN109533089A CN109533089A CN201811633894.2A CN201811633894A CN109533089A CN 109533089 A CN109533089 A CN 109533089A CN 201811633894 A CN201811633894 A CN 201811633894A CN 109533089 A CN109533089 A CN 109533089A
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- Prior art keywords
- positioning
- fixedly arranged
- return
- skip bucket
- plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The present invention provides a kind of positioning device of automatic feed vehicle, including one first positioning region is filled with and one second positioning region dress；The first positioning region dress and the second positioning region dress are respectively arranged on the two sides of skip bucket；The first positioning region dress includes one first coarse positioning mechanism and one first precise locating mechanism, and first precise locating mechanism is fixed in first coarse positioning mechanism；The second positioning region dress includes one second coarse positioning mechanism and one second precise locating mechanism, and second precise locating mechanism is fixed in second coarse positioning mechanism.The present invention has the advantages that can be greatly reduced because of error brought by skip bucket self structure, i.e., low to skip bucket structural requirement, versatility is high；At the same time it can also solve the problems, such as that previous horizontal hovering precision is low, help to realize increasingly automated.
Description
Technical field
The present invention relates to automated production equipment field, in particular to a kind of positioning device of automatic feed vehicle.
Background technique
It is mostly that volt truck transport is carried on the back using AGV, wherein AGV is Automated on automation production flow line
The abbreviation of Guided Vehicle, Chinese are unmanned automatic guided vehicle；AGV is magnetically or optically to wait homing guidances equipped with electricity
Device can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, in industrial application
It is a kind of carrier for being not required to driver, with chargeable battery for its power resources.Currently, AGV stopping a train at a target point mode are as follows:
Stop is equipped on the magnetic strip line that AGV is used, when AGV carries on the back volt truck to specified stop, system just controls AGV fixed point and stops
Vehicle.Since there are limitations for AGV positioning accuracy itself, along with material itself is put, precision is low and truck itself installation misses
Difference causes the precision of stop to be usually unable to satisfy the operation with requirements for high precision；Therefore, in order to meet with high-precision need
The operation asked, it is necessary to provide a kind of positioning mechanism to position to truck.
But existing positioning mechanism has been primarily present following defect: 1, existing positioning mechanism is to practical facility floor
Levelness construction requirement is higher；2, existing positioning mechanism mostly uses U-shaped semi-enclosed structure, before positioning device is located at
End, truck completion locating clip is next, also needs to be further continued for flowing into next station after returning by original route, therefore efficiency is extremely low；3, right
The truck structural requirement of the carried on the back volt of AGV is higher, and versatility is lower.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of positioning device of automatic feed vehicle, passes through the positioning
Device is low to solve the problems, such as precision existing for existing AGV stopping a train at a target point.
The present invention is implemented as follows: a kind of positioning device of automatic feed vehicle, the positioning device includes one first
Positioning region is filled with and one second positioning region dress；The first positioning region dress and the second positioning region dress are respectively arranged on the two of skip bucket
Side；The first positioning region dress includes one first coarse positioning mechanism and one first precise locating mechanism, the first fine positioning machine
Structure is fixed in first coarse positioning mechanism；The second positioning region dress includes one second coarse positioning mechanism and one second essence
Positioning mechanism, second precise locating mechanism are fixed in second coarse positioning mechanism；
First coarse positioning mechanism and the second coarse positioning mechanism include a positioning mainboard, a blocking mechanism and one
Check device；The both ends of the positioning mainboard are respectively equipped with a front end column and a rear end column, the blocking mechanism are fixed
In on the front end column, and skip bucket is stopped to advance by the blocking mechanism；The check device is fixedly arranged on described
On the column of rear end, and skip bucket is stopped to retreat by the check device；
First precise locating mechanism includes one first jacking cylinder, one first raising plate and a relocation mechanism；It is described
The both ends of first raising plate are slidably connected with the front end column of first coarse positioning mechanism and rear end column respectively；The floating
Mechanism is fixedly arranged on the top of first raising plate；The bottom of first jacking cylinder is fixedly arranged on the positioning mainboard, institute
The telescopic end for stating the first jacking cylinder is connected with first raising plate, and drives described the by first jacking cylinder
One raising plate slides up and down；
Second precise locating mechanism includes one second jacking cylinder, one second raising plate and one first levelling mechanism；
The both ends of second raising plate are slidably connected with the front end column of second coarse positioning mechanism and rear end column respectively；It is described
First levelling mechanism is fixedly arranged on the top of second raising plate；The bottom of second jacking cylinder is fixedly arranged on the positioning master
On plate, the telescopic end of second jacking cylinder is connected with second raising plate, and passes through the second jacking cylinder band
Second raising plate is moved to slide up and down.
Further, the bottom of the positioning mainboard is equipped with one second levelling mechanism, and second levelling mechanism includes multiple
Several foundation bolts, a plurality of leveling lower margins, a plurality of upper adjusting nuts and a plurality of lower adjusting nuts；Per the lower margin spiral shell
Bolt both passes through the positioning mainboard, and pays foundation bolt lock to Yu Suoshu by the upper adjusting nut and lower adjusting nut
It positions on mainboard；Lower part per the foundation bolt passes through a leveling lower margin lock and pays on ground.
Further, the blocking mechanism includes one first fixing seat, a front end block and a stop cylinder；Described
One fixing seat is fixedly arranged on the front end column of skip bucket side, and it is fixed that the stop cylinder is fixedly arranged on described first
On seat；The front end block is fixedly arranged on skip bucket, and when stopping skip bucket to advance, is made at the top of the stop cylinder
Idler wheel is connected on the front end block.
Further, the rotating range of the stop cylinder is 0-50 °.
Further, the check device includes one second fixing seat, a non-return cylinder, a transfer block and a non-return machine
Structure；Second fixing seat is fixedly arranged on the rear end column of skip bucket side, and the non-return cylinder is fixedly arranged on institute
It states in the second fixing seat；The back of the non-return mechanism is slidably connected with second fixing seat, the end of the non-return mechanism
It is connected by the transfer block with the telescopic end of the non-return cylinder, and the non-return mechanism is driven by the non-return cylinder
It is moved.
Further, the non-return mechanism includes a mounting plate, a non-return piece, a spring and a rear end block；Institute
It states and offers a deep gouge on the outside of mounting plate, the non-return piece is set in the deep gouge by rotary shaft rotation；The non-return
A blind hole is offered on the inside of piece；One end of the spring is fixedly arranged on the inside of the deep gouge, and the other end is fixedly arranged on the blind hole
It is interior；The rear end block is fixedly arranged on skip bucket, and when the rear end block crosses the non-return piece, passes through the non-return
Piece stops skip bucket to retreat.
Further, the non-return piece is 0-45 ° around the range that the rotary shaft is swung.
Further, the relocation mechanism include a float plate, two positioning pins, two the first adjustment blocks, two second adjustment blocks,
The first tray support plate that 4 first trimming bolts, 4 second trimming bolts and two and the positioning pin match；Described in two
Positioning pin is fixedly arranged on the both ends of the float plate respectively；The both ends of the float plate pass through the two first fine tuning spiral shells respectively
Bolt is connected with the first adjustment block, is equipped with one first in one end close to the float plate per first trimming bolt
Fine-tuning nut；The float plate passes through two second trimming bolts and the second adjustment block phase at the both ends at rear portion respectively
Connection is equipped with one second adjusting nut in one end far from the float plate per second trimming bolt；Two described first
Adjustment block and the two second adjustment blocks, which are locked, to be paid on first raising plate, and the two the first adjustment blocks are described the
The position that one trimming bolt passes through is provided with one first waist-shaped hole, and the two second adjustment blocks are worn in second trimming bolt
The position crossed is provided with one second waist-shaped hole；The two first tray support plates are fixedly arranged on the pallet of skip bucket, and
When being positioned, the two first tray support plates are inserted respectively by first jacking cylinder, two positioning pins of linkage
It is interior.
Further, first levelling mechanism includes two leveling bolts and two second tray support plates, two tune
Flat bolt is locked respectively to be paid in the both ends of second raising plate, and is equipped with a leveling nut in every leveling bolt；Two institutes
It states the second tray support plate to be fixedly arranged on the pallet of skip bucket, and when being positioned, be made by adjusting the leveling nut
It is connected at the top of the leveling bolt on the second tray support plate.
Further, the positioning mainboard is equipped with a guide plate in the side close to skip bucket, and the positioning mainboard exists
Front end close to skip bucket side is equipped with a sensor.
The present invention has the advantages that
1, by the way of the positioning of side, i.e., the first positioning region dress of positioning device and the second positioning region dress are respectively arranged on
The left and right sides of skip bucket travelling route allows to optimize the path AGV well, and improves production efficiency；
2, the first positioning region dress and the second positioning region dress are designed to two parts of coarse positioning mechanism and precise locating mechanism,
When skip bucket drives into positioning device automatically, the coarse positioning mechanism of design can be first passed through to realize the fixation of skip bucket, so
The pallet of skip bucket is accurately positioned by precise locating mechanism again afterwards, therefore, can be greatly reduced because of skip bucket
Error brought by self structure, i.e., low to skip bucket structural requirement, versatility is high；At the same time it can also solve previous level
The low problem of precision of hovering, helps to realize increasingly automated；
3, foundation bolt can be finely adjusted by upper adjusting nut and lower adjusting nut, and by leveling lower margin come real
Now the lower part lock of the foundation bolt is paid on ground, by using this mode, can be substantially reduced to facility floor water
The requirement of Pingdu.
Detailed description of the invention
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is a kind of structural schematic diagram of the positioning device of automatic feed vehicle of the present invention.
Fig. 2 is the structural schematic diagram that the first positioning region fills in the present invention.
Fig. 3 is the structural schematic diagram of the first coarse positioning mechanism or the second coarse positioning mechanism in the present invention.
Fig. 4 is the structural schematic diagram that mainboard is positioned in the present invention.
Fig. 5 is the structural schematic diagram of blocking mechanism in the present invention.
Fig. 6 is the state diagram that blocking mechanism stops skip bucket to advance in the present invention.
Fig. 7 is the structural schematic diagram of check device in the present invention.
Fig. 8 is the front view of non-return mechanism in the present invention.
Fig. 9 is cross-sectional view of the Fig. 8 along the direction A-A.
Figure 10 is the state diagram that non-return means block skip bucket retreats in the present invention.
Figure 11 is the structural schematic diagram of the first precise locating mechanism or the second precise locating mechanism in the present invention.
Figure 12 is the structural schematic diagram of relocation mechanism in the present invention.
Figure 13 is the top view of relocation mechanism and the first levelling mechanism in the present invention.
Figure 14 is the cross-sectional view of relocation mechanism and the first levelling mechanism in a state of use in the present invention.
Arrow in attached drawing indicates position and direction that skip bucket is advanced.
Description of symbols:
100- positioning device, 200- pallet, 300- skip bucket, the first positioning region 1- dress, the first coarse positioning of 11- mechanism,
The first precise locating mechanism of 12-, the first jacking cylinder of 121-, the first raising plate of 122-, 123- relocation mechanism, 1231- float plate,
1232- positioning pin, 1233- the first adjustment block, 1234- second adjustment block, the first trimming bolt of 1235-, 1236- second finely tune spiral shell
Bolt, 1237- the first tray support plate, the first fine-tuning nut of 123a-, the second adjusting nut of 123b-, the first waist-shaped hole of 123c-,
The second waist-shaped hole of 123d-, 123e- position pin jack, and the second positioning region 2- dress, the second coarse positioning of 21- mechanism, 22- second is smart to be determined
Position mechanism, the second jacking cylinder of 221-, the second raising plate of 222-, the first levelling mechanism of 223-, 2231- leveling bolt, 2232- the
Two tray support plates, 2233- leveling nut, 3a- position mainboard, the front end 311- column, the rear end 312- column, the leveling of 313- second
Mechanism, 3131- foundation bolt, 3132- level lower margin, the upper adjusting nut of 3133-, adjusting nut under 3134-, 314- guide plate,
The first sliding rail of 315-, the second sliding rail of 316-, 3b- blocking mechanism, the first fixing seat of 321-, the front end 322- block, 323- stop gas
Cylinder, 3231- idler wheel, 3c- check device, the second fixing seat of 331-, 3311- non-return sliding rail, 332- non-return cylinder, 333- switching
Block, 334- non-return mechanism, 3341- mounting plate, 3342- non-return piece, 3343- spring, the rear end 3344- block, 3345- non-return are sliding
Block, 334a- deep gouge, 334b- rotary shaft, 334c- blind hole, 4- sensor.
Specific embodiment
Please emphasis referring to figs. 1 to shown in Figure 14, a kind of preferable implementation of the positioning device 100 of automatic feed vehicle of the present invention
Example, the positioning device 100 include one first positioning region fill 1 and one second positioning region fill 2；First positioning region fills 1 He
Second positioning region fills 2 two sides for being respectively arranged on skip bucket 300；It includes one first coarse positioning mechanism that first positioning region, which fills 1,
11 and one first precise locating mechanism 12, first precise locating mechanism 12 be fixed in first coarse positioning mechanism 11；Institute
Stating the second positioning region and filling 2 includes one second coarse positioning mechanism 21 and one second precise locating mechanism 22, the second fine positioning machine
Structure 22 is fixed in second coarse positioning mechanism 21；
First coarse positioning mechanism 11 and the second coarse positioning mechanism 21 include positioning a mainboard 3a, a blocking mechanism
A 3b and check device 3c；The both ends of the positioning mainboard 3a are respectively equipped with a front end column 311 and a rear end column
312, the blocking mechanism 3b is fixedly arranged on the front end column 311, and stops skip bucket by the blocking mechanism 3b
300 advance；The check device 3c is fixedly arranged on the rear end column 312, and stops truck by the check device 3c
Car body 300 retreats；When specifically carrying out positioning operation, first coarse positioning mechanism 11 and the second coarse positioning mechanism can be passed through
21 to carry out coarse positioning to skip bucket 300, to prepare to subsequent accurate adjustment.
First precise locating mechanism 12 includes one first jacking cylinder 121, one first raising plate 122 and a floating engine
Structure 123；The both ends of first raising plate 122 are vertical with the front end column 311 of first coarse positioning mechanism 11 and rear end respectively
Column 312 is slidably connected；The relocation mechanism 123 is fixedly arranged on the top of first raising plate 122；First jacking cylinder
121 bottom is fixedly arranged on the positioning mainboard 3a, the telescopic end of first jacking cylinder 121 and first raising plate
122 are connected, and drive first raising plate 122 to slide up and down by first jacking cylinder 121, are implementing
When, it is provided with one first sliding rail 315 on the front end column 311 and rear end column 312 of first coarse positioning mechanism 11,
The both ends at 122 back of the first raising plate are respectively provided with one first sliding block (not shown), and pass through first sliding rail 315 and the
The realization of one sliding block is slidably connected；When specifically carrying out positioning operation, can be first finely adjusted by the relocation mechanism 123, so
The pallet 200 of skip bucket 300 is positioned by first jacking cylinder 121 relocation mechanism 123 that links again afterwards.
Second precise locating mechanism 22 includes one second jacking cylinder 221, one second raising plate 222 and one first tune
Flattening mechanism 223；The both ends of second raising plate 222 respectively with the front end column 311 of second coarse positioning mechanism 21 and after
End column 312 is slidably connected；First levelling mechanism 223 is fixedly arranged on the top of second raising plate 222；Second top
The bottom for rising cylinder 221 is fixedly arranged on the positioning mainboard 3a, the telescopic end of second jacking cylinder 221 and second top
Lift slab 222 is connected, and drives second raising plate 222 to slide up and down by second jacking cylinder 221, specific real
Now, it is provided with one second sliding rail 316 on the front end column 311 and rear end column 312 of second coarse positioning mechanism 12,
It is respectively provided with one second sliding block (not shown) at the both ends at 222 back of the second raising plate, and passes through 316 He of the second sliding rail
The realization of second sliding block is slidably connected.When specifically carrying out positioning operation, can first be linked institute by second jacking cylinder 221
It states the first levelling mechanism 223 and first rises to specified height, then realized again by the first levelling mechanism 223 to skip bucket
300 pallet 200 is positioned.
Wherein,
The bottom of the positioning mainboard 3a is equipped with one second levelling mechanism 313, and second levelling mechanism 313 includes plural number
A foundation bolt 3131, a plurality of leveling lower margins 3132, a plurality of upper adjusting nuts 3133 and a plurality of lower adjusting nuts
3134；The positioning mainboard 3a is both passed through per the foundation bolt 3131, and passes through the upper adjusting nut 3133 and lower adjusting
Nut 3134 pays the foundation bolt 3131 lock on the positioning mainboard 3a；Lower part per the foundation bolt 3131 is logical
A lock of leveling lower margin 3132 is crossed to pay on ground.When specifically used, need to be inserted into ground for the foundation bolt 3131
Below face, while foundation bolt 3131 can be carried out by the upper adjusting nut 3133 and lower adjusting nut 3134 micro-
It adjusts, and can be realized by the leveling lower margin 3132 and pay the lower part lock of the foundation bolt 3131 on ground, pass through
In this way, the requirement to facility floor levelness can be substantially reduced.
Please emphasis referring to figure 5 and figure 6 shown in, the blocking mechanism 3b include one first fixing seat 321, a front end block
322 and a stop cylinder 323；First fixing seat 321 is fixedly arranged on the front end column close to 300 side of skip bucket
On 311, the stop cylinder 323 is fixedly arranged in first fixing seat 321；The front end block 322 is fixedly arranged on skip bucket
On 300, and when stopping skip bucket 300 to advance, the idler wheel 3231 at 323 top of stop cylinder is made to be connected to the front end
On block 322.When specifically used, after stop cylinder 323 receives the signal in place of skip bucket 300, stop cylinder 323
The idler wheel 3231 that just will drive top moves to the position of the front end block 322, and idler wheel 3231 is made to resist the front end gear
Block 322, to stop skip bucket 300 to move on.
When specifically being stopped, in order to play better buffer function, to reach better blocking effect, described in setting
The rotating range of stop cylinder 323 is 0-50 °.
Please emphasis referring to shown in Fig. 7-10, the check device 3c include one second fixing seat 331, a non-return cylinder 332,
One transfer block 333 and a non-return mechanism 334；Second fixing seat 331 is fixedly arranged on close to the described of 300 side of skip bucket
On rear end column 312, the non-return cylinder 332 is fixedly arranged in second fixing seat 331；The back of the non-return mechanism 334
It is slidably connected with second fixing seat 331, the end of the non-return mechanism 334 passes through the transfer block 333 and the non-return
The telescopic end of cylinder 332 is connected, and drives the non-return mechanism 334 to be moved by the non-return cylinder 332.Specific
When implementation, need to arrange a non-return sliding rail 3311 in the second fixing seat 331, while being arranged at the back of non-return mechanism 334
One non-return sliding block 3345, and be slidably connected by non-return sliding rail 3311 and non-return sliding block 3345 to realize.
The non-return mechanism 334 includes a mounting plate 3341, a non-return piece 3342, a spring 3343 and a rear end block
3344；The outside of the mounting plate 3341 offers a deep gouge 334a, and the non-return piece 3342 is rotated by a rotary shaft 334b
In the deep gouge 334a；The inside of the non-return piece 3342 offers a blind hole 334c；One end of the spring 3343 is solid
Set on the inside of the deep gouge 334a, the other end is fixedly arranged in the blind hole 334c, and the spring 3343 is in the not work of non-return mechanism 334
As when be in extended state, when non-return mechanism 334 works, which can be compressed；The rear end block 3344 is solid
On skip bucket 300, and when the rear end block 3344 crosses the non-return piece 3342, pass through the non-return piece 3342
Skip bucket 300 is stopped to retreat.In specific works, pass through the non-return piece in the rear end block 3344 of skip bucket 300
When 3342, non-return piece 3342 can be squeezed under the action of spring 3343 toward the direction deep gouge 334a, and be sailed in rear end block 3344
When crossing non-return piece 3342, non-return piece 3342 can revert to original state under the action of 3343 elastic force of spring, and can be by only
Piece 3342 is returned to stop skip bucket 300 to fall back backward.Simultaneously as in the specific implementation, when rear end block 3344 crosses only
After returning piece 3342, it is that there are gaps between rear end block 3344 and non-return piece 3342, non-return cylinder can be passed through at this time
332 move come the non-return piece 3342 that links, to eliminate the gap between rear end block 3344 and non-return piece 3342；By this hair
Bright positioning device 100 can be used for eliminating but being not limited only to the gap within the scope of 0-20mm, and when needing expanded scope, specifically
Eliminated interstice coverage can be expanded by way of replacing cylinder.
In the specific implementation, it in order to guarantee to can satisfy the use demand of different car bodies, while may be implemented preferably to hinder
Effect is kept off, it is 0-45 ° that the non-return piece 3342, which is arranged, around the range that the rotary shaft 334b is swung.
Please emphasis referring to Fig.1 shown in 2-14, the relocation mechanism 123 includes a float plate 1231, two positioning pins 1232, two
The first adjustment block 1233, two second adjustment blocks 1234,4 first trimming bolts 1235,4 second trimming bolts 1236 and two with
The first tray support plate 1237 that the positioning pin 1232 matches；Two positioning pins 1232 are fixedly arranged on the float plate respectively
1231 both ends, the positioning pin 1232 are mainly used for playing the role of positioning to the pallet 200 of skip bucket 300；The floating
The both ends of plate 1231 are connected by two first trimming bolts 1235 with the first adjustment block 1233 respectively, every institute
It states the first trimming bolt 1235 and is equipped with one first fine-tuning nut 123a in one end close to the float plate 1231；The floating
Plate 1231 is connected by two second trimming bolts 1236 with the second adjustment block 1234 respectively at the both ends at rear portion,
One second adjusting nut 123b is equipped in one end far from the float plate 1231 per second trimming bolt 1236；Two institutes
It states the first adjustment block 1233 and the two second adjustment blocks 1234 is locked and paid on first raising plate 122, and described in two
The first adjustment block 1233 is provided with one first waist-shaped hole 123c in the position that first trimming bolt 1235 passes through, described in two
Second adjustment block 1234 is provided with one second waist-shaped hole 123d in the position that second trimming bolt 1236 passes through；Described in two
First tray support plate 1237 is fixedly arranged on the pallet 200 of skip bucket 300 (the bottom per the first tray support plate 1237
It is provided with a positioning pin jack 123e), and when being positioned, it is described fixed by first jacking cylinder 121 linkage two
Position pin 1232 is inserted respectively into the two first tray support plates 1237.Due to being respectively provided on the two the first adjustment blocks 1233
There is the first waist-shaped hole 123c, is provided with the second waist-shaped hole 123d on the two second adjustment blocks 1234, therefore, is being embodied
When, the fine tuning on length direction can be carried out to float plate 1231 by rotating the first fine-tuning nut 123a, while can
To carry out the fine tuning in width direction to float plate 1231 by rotating the second adjusting nut 123b, to guarantee float plate
Positioning pin 1232 on 1231 can be accurately inserted into the two first tray support plates 1237.
First levelling mechanism 223 includes two leveling bolts 2231 and two second tray support plates 2232, described in two
Leveling bolt 2231 is locked respectively pays in the both ends of second raising plate 222, and is equipped with one in every leveling bolt 2231
Leveling nut 2233；The two second tray support plates 2232 are fixedly arranged on the pallet 200 of skip bucket 300, and are being determined
When position, the top of the leveling bolt 2231 is set to be connected to the second tray support plate by adjusting the leveling nut 2233
On 2232, that is to say, that increase the leveling bolt 2231 by rotating the leveling nut 2233, and make the tune
The top of flat bolt 2231 is connected to the lower surface of the second tray support plate 2232, to ensure the pallet of skip bucket 300
200 keep horizontal position.
The positioning mainboard 3a is equipped with a guide plate 314 in the side close to skip bucket 300, and the positioning mainboard 3a exists
Front end close to 300 side of skip bucket is equipped with a sensor 4.In the specific implementation, the guide plate 314 is mainly used for material
Vehicle car body 300 plays the role of guiding；The sensor 4 is mainly used for whether in place incuding skip bucket 300, if detected
Skip bucket 300 in place, just sends a signal to stop cylinder 323.
In addition, it is necessary to explanation, in the specific implementation, first jacking cylinder 121, the second jacking cylinder 221, resistance
Gear cylinder 323, non-return cylinder 332, sensor 4 etc. can be controlled by a control device (not shown).Meanwhile by
In controlling first jacking cylinder 121, the second jacking cylinder 221, stop cylinder 323, non-return cylinder by control device
332, the program of the work such as sensor 4 is well-known to those skilled in the art, is not need to make the creative labor to obtain
?.
Working principle of the present invention is as follows:
Before being positioned, it is necessary first to by first positioning region fill 1 and second positioning region fill 2 and be mounted on truck vehicle
The two sides of 300 advanced positions of body, meanwhile, the front end block 322 and rear end block 3344 are fixed on skip bucket 300,
Two first tray support plates 1237 and two second tray support plates 2232 are fixed on to 200 bottom of pallet of skip bucket 300；
When specifically carrying out positioning operation, when skip bucket 300 enters the positioning device 100, AGV stops at fixed fixed
On site；After sensor 4 detects skip bucket 300 in place, the first positioning region positioned at 300 two sides of skip bucket fills 1 He
The stop cylinder 323 that second positioning region fills 2 is just stretched out, and the idler wheel 3231 at 323 top of stop cylinder is made to be connected to front end block
On 322, to stop skip bucket 300 to move on；Meanwhile 1 and second are filled positioned at the first positioning region of 300 two sides of skip bucket
The non-return cylinder 332 that positioning region fills 2 also stretches out, by the gap between rear end block 3344 and non-return piece 3342, to realize
Skip bucket 300 is stopped to fall back backward by non-return piece 3342, in this way, this skip bucket 300 is just fixed；
After skip bucket 300 is fixed, linked on the relocation mechanism 123 by first jacking cylinder 121
It is raised to certain position, while a positioning is also risen to by second jacking cylinder 221, first levelling mechanism 223 that links
It sets；Then, need to judge whether the positioning pin 1232 on relocation mechanism 123 can accurately be inserted into the two first pallet branch
In fagging 1237, if it is then continue to rise by first jacking cylinder 121 relocation mechanism 123 that links, until
The positioning pin 1232 is inserted into the first tray support plate 1237；Meanwhile it being linked by second jacking cylinder 221
First levelling mechanism 223 also continues to rise, until first levelling mechanism 223 is connected to the second tray support plate
2232 lower surface；If it is not possible, then needing to first pass through the first trimming bolt 1235 and the second trimming bolt 1236 comes to floating
Movable plate 1231 is finely adjusted, so as to ensure that positioning pin 1232 can be accurately inserted into two first tray support plates 1237, so
Continue to rise by first jacking cylinder 121 relocation mechanism 123 that links again afterwards, until the positioning pin 1232 is inserted into
Into the first tray support plate 1237, meanwhile, it is linked first levelling mechanism by second jacking cylinder 221
223 also continue to rise, until first levelling mechanism 223 is connected to the lower surface of the second tray support plate 2232；When
So, in the process, it if the pallet 200 of skip bucket 300 is not in horizontal position, can be adjusted by described first
Pallet 200 is adjusted to horizontality by flattening mechanism 223.
In conclusion the beneficial effects of the present invention are:
1, by the way of the positioning of side, i.e., the first positioning region dress of positioning device and the second positioning region dress are respectively arranged on
The left and right sides of skip bucket travelling route allows to optimize the path AGV well, and improves production efficiency；
2, the first positioning region dress and the second positioning region dress are designed to two parts of coarse positioning mechanism and precise locating mechanism,
When skip bucket drives into positioning device automatically, the coarse positioning mechanism of design can be first passed through to realize the fixation of skip bucket, so
The pallet of skip bucket is accurately positioned by precise locating mechanism again afterwards, therefore, can be greatly reduced because of skip bucket
Error brought by self structure, i.e., low to skip bucket structural requirement, versatility is high；At the same time it can also solve previous level
The low problem of precision of hovering, helps to realize increasingly automated；
3, foundation bolt can be finely adjusted by upper adjusting nut and lower adjusting nut, and by leveling lower margin come real
Now the lower part lock of the foundation bolt is paid on ground, by using this mode, can be substantially reduced to facility floor water
The requirement of Pingdu.
Although specific embodiments of the present invention have been described above, those familiar with the art should be managed
Solution, we are merely exemplary described specific embodiment, rather than for the restriction to the scope of the present invention, it is familiar with this
The technical staff in field should be covered of the invention according to modification and variation equivalent made by spirit of the invention
In scope of the claimed protection.
Claims (10)
1. a kind of positioning device of automatic feed vehicle, it is characterised in that: be filled with including one first positioning region and one second positions
Portion's dress；The first positioning region dress and the second positioning region dress are respectively arranged on the two sides of skip bucket；The first positioning region dress packet
One first coarse positioning mechanism and one first precise locating mechanism are included, first precise locating mechanism is fixed on first coarse positioning
In mechanism；The second positioning region dress includes one second coarse positioning mechanism and one second precise locating mechanism, and second essence is fixed
Position mechanism is fixed in second coarse positioning mechanism；
First coarse positioning mechanism and the second coarse positioning mechanism include a positioning mainboard, a blocking mechanism and a non-return
Device；The both ends of the positioning mainboard are respectively equipped with a front end column and a rear end column, the blocking mechanism are fixedly arranged on institute
It states on the column of front end, and stops skip bucket to advance by the blocking mechanism；The check device is fixedly arranged on the rear end
On column, and skip bucket is stopped to retreat by the check device；
First precise locating mechanism includes one first jacking cylinder, one first raising plate and a relocation mechanism；Described first
The both ends of raising plate are slidably connected with the front end column of first coarse positioning mechanism and rear end column respectively；The relocation mechanism
It is fixedly arranged on the top of first raising plate；The bottom of first jacking cylinder is fixedly arranged on the positioning mainboard, and described
The telescopic end of one jacking cylinder is connected with first raising plate, and drives first top by first jacking cylinder
Lift slab slides up and down；
Second precise locating mechanism includes one second jacking cylinder, one second raising plate and one first levelling mechanism；It is described
The both ends of second raising plate are slidably connected with the front end column of second coarse positioning mechanism and rear end column respectively；Described first
Levelling mechanism is fixedly arranged on the top of second raising plate；The bottom of second jacking cylinder is fixedly arranged on the positioning mainboard
On, the telescopic end of second jacking cylinder is connected with second raising plate, and is driven by second jacking cylinder
Second raising plate slides up and down.
2. a kind of positioning device of automatic feed vehicle as described in claim 1, it is characterised in that: the bottom of the positioning mainboard
Portion is equipped with one second levelling mechanism, and second levelling mechanism includes a plurality of foundation bolts, a plurality of leveling lower margins, a plurality of
Upper adjusting nut and a plurality of lower adjusting nuts；The positioning mainboard is both passed through per the foundation bolt, and is passed through on described
Adjusting nut and lower adjusting nut pay foundation bolt lock on the positioning mainboard；Lower part per the foundation bolt is equal
It is paid by a leveling lower margin lock on ground.
3. a kind of positioning device of automatic feed vehicle as described in claim 1, it is characterised in that: the blocking mechanism includes
One first fixing seat, a front end block and a stop cylinder；First fixing seat is fixedly arranged on close to skip bucket side
On the front end column, the stop cylinder is fixedly arranged in first fixing seat；The front end block is fixedly arranged on skip bucket
On, and when stopping skip bucket to advance, it is connected to the idler wheel at the top of the stop cylinder on the front end block.
4. a kind of positioning device of automatic feed vehicle as claimed in claim 3, it is characterised in that: the rotation of the stop cylinder
Turning range is 0-50 °.
5. a kind of positioning device of automatic feed vehicle as described in claim 1, it is characterised in that: the check device includes
One second fixing seat, a non-return cylinder, a transfer block and a non-return mechanism；Second fixing seat is fixedly arranged on close to truck vehicle
On the rear end column of body side, the non-return cylinder is fixedly arranged in second fixing seat；The back of the non-return mechanism
It is slidably connected with second fixing seat, the end of the non-return mechanism is flexible by the transfer block and the non-return cylinder
End is connected, and drives the non-return mechanism to be moved by the non-return cylinder.
6. a kind of positioning device of automatic feed vehicle as claimed in claim 5, it is characterised in that: the non-return mechanism includes
One mounting plate, a non-return piece, a spring and a rear end block；A deep gouge, the non-return are offered on the outside of the mounting plate
Piece is set in the deep gouge by rotary shaft rotation；A blind hole is offered on the inside of the non-return piece；One end of the spring
It is fixedly arranged on the inside of the deep gouge, the other end is fixedly arranged in the blind hole；The rear end block is fixedly arranged on skip bucket, and
When the rear end block crosses the non-return piece, skip bucket is stopped to retreat by the non-return piece.
7. a kind of positioning device of automatic feed vehicle as claimed in claim 6, it is characterised in that: the non-return piece is around described
The range that rotary shaft is swung is 0-45 °.
8. a kind of positioning device of automatic feed vehicle as described in claim 1, it is characterised in that: the relocation mechanism includes
One float plate, two positioning pins, two the first adjustment blocks, two second adjustment blocks, 4 first trimming bolts, 4 second trimming bolts and
Two the first tray support plates to match with the positioning pin；Two positioning pins are fixedly arranged on the both ends of the float plate respectively；
The both ends of the float plate are connected by two first trimming bolts with the first adjustment block respectively, per described the
One trimming bolt is equipped with one first fine-tuning nut in one end close to the float plate；The float plate is equal at the both ends at rear portion
It is connected respectively by two second trimming bolts with the second adjustment block, per second trimming bolt far from described
One end of float plate is equipped with one second adjusting nut；The two the first adjustment blocks and the two second adjustment blocks lock Fu Yu
On first raising plate, and the two the first adjustment blocks are provided with one first in the position that first trimming bolt passes through
Waist-shaped hole, the two second adjustment blocks are provided with one second waist-shaped hole in the position that second trimming bolt passes through；Two institutes
It states the first tray support plate to be fixedly arranged on the pallet of skip bucket, and when being positioned, be joined by first jacking cylinder
Dynamic two positioning pins are inserted respectively into the two first tray support plates.
9. a kind of positioning device of automatic feed vehicle as described in claim 1, it is characterised in that: first levelling mechanism
Including two leveling bolts and two second tray support plates, two leveling bolts are locked respectively is paid in the two of second raising plate
End, and a leveling nut is equipped in every leveling bolt；The two second tray support plates are fixedly arranged on the support of skip bucket
On disk, and when being positioned, make to be connected to second support at the top of the leveling bolt by adjusting the leveling nut
In disk support plate.
10. a kind of positioning device of automatic feed vehicle as described in claim 1, it is characterised in that: the positioning mainboard exists
It is equipped with a guide plate close to the side of skip bucket, the positioning mainboard is equipped with a sensing in the front end close to skip bucket side
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811633894.2A CN109533089B (en) | 2018-12-29 | 2018-12-29 | Positioning device for automatic conveying skip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811633894.2A CN109533089B (en) | 2018-12-29 | 2018-12-29 | Positioning device for automatic conveying skip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533089A true CN109533089A (en) | 2019-03-29 |
| CN109533089B CN109533089B (en) | 2023-09-12 |
Family
ID=65831163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811633894.2A Active CN109533089B (en) | 2018-12-29 | 2018-12-29 | Positioning device for automatic conveying skip |
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| Country | Link |
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| CN (1) | CN109533089B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038944A (en) * | 2019-12-20 | 2020-04-21 | 百特（福建）智能装备科技有限公司 | AGV material tray positioner |
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|---|---|
| CN109533089B (en) | 2023-09-12 |
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