CN111038944A - AGV material tray positioner - Google Patents
AGV material tray positioner Download PDFInfo
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- CN111038944A CN111038944A CN201911327681.1A CN201911327681A CN111038944A CN 111038944 A CN111038944 A CN 111038944A CN 201911327681 A CN201911327681 A CN 201911327681A CN 111038944 A CN111038944 A CN 111038944A
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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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Abstract
The invention relates to the technical field of AGV trolley material tray positioning, in particular to an AGV material tray positioning device; the automatic positioning device comprises an AGV trolley, AGV material trays, a tray guiding and positioning mechanism for positioning the AGV material trays left and right, a tray bearing mechanism for supporting the AGV material trays and a mechanical positioning mechanism for positioning the AGV material trays front and back; the AGV material tray comprises a tray frame, AGV guiding mechanisms, AGV positioning mechanisms and bin supporting blocks, wherein a plurality of groups of bin supporting blocks are symmetrically arranged on two sides of the top of the tray frame, and the AGV positioning mechanisms are fixed in the middle of the top surface of the inner side of the tray frame; according to the invention, the accurate positioning of the AGV material tray in the directions of 5 front-back and left-right heights is realized through the tray guiding and positioning mechanism 200, the tray supporting mechanism 300 and the mechanical positioning mechanism 400, and the repeated positioning accuracy can reach +/-2 mm so as to meet the accuracy requirement of directly grabbing the tray feeding bin by a robot.
Description
Technical Field
The invention relates to the technical field of AGV trolley material tray positioning, in particular to an AGV material tray positioning device.
Background
With the increase of labor cost and the development of intellectualization, the AGV unmanned trolley is widely applied to the fields of automobiles, stereo garages, docks, storage, logistics, automation and the like. Most of AGV unmanned trolleys in the current market realize automatic carrying and stacking of materials through navigation marks (light reflecting plates, two-dimensional codes and magnetic stripes). The positioning principle of these positioning methods results in an AGV with a repeated positioning accuracy of only + -10 mm. If higher repetition precision is needed (for example, the robot needs to directly grab within +/-2 mm), more severe requirements are needed for the field and the AGV equipment, and the cost is also greatly increased. A terminal position fine positioning device is therefore considered to achieve such a high repetition accuracy.
Disclosure of Invention
The invention provides an AGV material tray positioning device, which can realize accurate connection with a material tray by using a common AGV trolley, and the AGV material tray can be accurately positioned in use so as to meet the requirement of an industrial robot on the grabbing accuracy.
The invention is realized by the following technical scheme:
an AGV material tray positioning device comprises an AGV trolley, AGV material trays, a tray guiding and positioning mechanism, a tray bearing mechanism and a mechanical positioning mechanism, wherein the tray guiding and positioning mechanism is used for positioning the AGV material trays left and right;
the AGV material tray comprises a tray frame, AGV guiding mechanisms, AGV positioning mechanisms and bin supporting blocks, wherein a plurality of sets of bin supporting blocks are symmetrically arranged on two sides of the top of the tray frame, the AGV positioning mechanisms are fixed in the middle of the top surface of the inner side of the tray frame, each AGV positioning mechanism consists of a supporting plate and guiding holes arranged at four corners of the supporting plate, the AGV guiding mechanisms are symmetrically arranged on two side walls in the tray frame, and the tray supporting plates which are in butt fit with the tray bearing mechanisms are arranged on two sides of the bottom of the tray frame;
the top of the AGV trolley is provided with a guide pin matched with the guide hole;
the tray guiding and positioning mechanism is divided into a left group and a right group which are arranged in parallel, the tray guiding and positioning mechanism comprises a fixed support, a guide wheel set driving device, a guiding roller assembly, a slide rail assembly and a mechanical limiting mechanism, the guiding roller assembly is connected to the top of the fixed support in a sliding mode through the slide rail assembly, the guide wheel set driving device is installed at the top of the fixed support, the telescopic end of the guide wheel set driving device is connected with the guiding roller assembly, the mechanical limiting mechanism comprises a limiting part and an abutting part, the limiting part is fixed to the side portion of the fixed support, and the abutting part is fixed to the bottom of the guiding roller assembly;
the left and right groups of the tray supporting mechanisms are respectively arranged between the two groups of tray guiding and positioning mechanisms, each tray supporting mechanism comprises a supporting bracket and universal balls, and the universal balls are uniformly arranged at the top of the supporting bracket;
the mechanical positioning mechanism is arranged at the front end of the tray supporting mechanism and comprises a fixed positioning surface mechanism, a clamping piece and a clamping cylinder, wherein the clamping cylinder is fixedly arranged on the fixed positioning surface mechanism, and the clamping piece is arranged on an output rotating shaft of the clamping cylinder.
Further, the distance between the tray supporting plate and the supporting leg of the tray frame is smaller than the height of the tray bearing mechanism.
Further, the slide rail assembly is composed of linear slide rails and slide blocks, the linear slide rails are fixed on two sides of the top of the fixed support, the slide blocks are respectively fixed on two sides of the bottom of the guide roller assembly, and the slide blocks on two sides are respectively connected with the linear slide rails on two sides in a sliding mode.
Furthermore, after the AGV trolley enters the AGV material tray, the clearance between the AGV trolley and the two sides of the AGV guiding mechanisms is smaller than 10 mm.
Furthermore, the tops of the bin supporting blocks on the two sides are alternately provided with positioning pins.
Furthermore, when the guide wheel set driving device on the tray guiding and positioning mechanism extends to the position limiting part and the abutting part to abut against, the shortest distance between the guide wheel assemblies on the two sides is equal to the width of the AGV material tray.
The invention has the beneficial effects that:
according to the invention, the accurate positioning of the AGV material tray in the directions of 5 front-back and left-right heights is realized through the tray guiding and positioning mechanism 200, the tray supporting mechanism 300 and the mechanical positioning mechanism 400, and the repeated positioning accuracy can reach +/-2 mm so as to meet the accuracy requirement of directly grabbing the tray feeding bin by a robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of an AGV material tray;
FIG. 3 is a schematic view of a tray guide positioning mechanism;
FIG. 4 is a schematic view of a tray receiving mechanism;
FIG. 5 is a schematic view of a mechanical positioning mechanism;
FIG. 6 is a schematic view of an AGV cart;
FIG. 7 is a schematic view of an AGV guiding mechanism in an AGV material tray guiding an AGV;
FIG. 8 is a schematic view of a tray guide positioning mechanism guiding an AGV and a tray of AGV material;
fig. 9 is a schematic view of a mechanical stop mechanism on the pallet guide positioning mechanism.
The reference numerals in the drawings denote:
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1, an AGV material tray positioning device includes an AGV trolley 500, AGV material trays 100, a tray guiding and positioning mechanism 200 for positioning the AGV material trays 100 left and right, a tray receiving mechanism 300 for supporting the AGV material trays 100, and a mechanical positioning mechanism 400 for positioning the AGV material trays 100 front and back;
referring to fig. 1 and 2, the AGV material tray 100 includes a tray frame 110, AGV guide mechanisms 120, AGV positioning mechanisms 130, bin support blocks 140 and positioning pins 150, wherein a plurality of sets of bin support blocks 140 are symmetrically arranged on both sides of the top of the tray frame 110, the positioning pins 150 are alternately arranged on the tops of the bin support blocks 140 on both sides, the AGV positioning mechanisms 130 are fixed in the middle of the top surface of the inner side of the tray frame 110, each AGV positioning mechanism 130 is composed of a support plate 131 and guide holes 132 arranged at four corners of the support plate 131, the AGV guide mechanisms 120 are symmetrically arranged on both side walls of the inner side of the tray frame 110, wherein each AGV guide mechanism 120 is composed of a fixed frame and a roller set arranged in the fixed frame, and the tray support plates 111 in abutting fit with;
referring to FIG. 6, the AGV 500 is provided with a guide pin 510 at the top thereof for engaging with the guide hole 132; the AGV trolley 500 is an AGV trolley in the conventional prior art, wherein the bearing platform has a lifting function;
referring to fig. 1, 3 and 9, the tray guiding and positioning mechanism 200 is divided into two groups, i.e., a left group and a right group, which are arranged in parallel, and the tray guiding and positioning mechanism 200 includes a fixed bracket 210, a guide wheel set driving device 220, a guiding roller assembly 230, a sliding rail assembly 240 and a mechanical limiting mechanism 250, wherein the guiding roller assembly 230 is composed of an upper connecting plate and a lower connecting plate and rollers uniformly arranged between the upper connecting plate and the lower connecting plate; the guide roller assembly 230 is slidably connected to the top of the fixed bracket 210 through the sliding rail assembly 240, the guide roller set driving device 220 is installed at the top of the fixed bracket 210, and the telescopic end of the guide roller set driving device is connected to the guide roller assembly 230, the mechanical limiting mechanism 250 includes a limiting member 251 and an abutting member 252, the limiting member 251 is fixed to the side of the fixed bracket 210, and the abutting member 252 is fixed to the bottom of the guide roller assembly 230; the guide wheel set driving device 220 may be a telescopic cylinder or other linear driving mechanism.
Referring to fig. 1 and 4, the two sets of tray receiving mechanisms 300 are respectively disposed between the two sets of tray guiding and positioning mechanisms 200, the tray receiving mechanism 300 includes a receiving bracket 310 and universal balls 320, and the universal balls 320 are uniformly disposed on the top of the receiving bracket 310; the AGV material tray 100 is placed on the top of the tray receiving mechanism 300 and then slides forward, backward, leftward and rightward.
Referring to fig. 1 and 5, the mechanical positioning mechanism 400 is disposed at the front end of the tray supporting mechanism 300, and includes a fixed positioning surface mechanism 410, a clamping member 420 and a clamping cylinder 430, wherein the fixed positioning surface mechanism 410 is composed of a bracket 411 and a fixing member 412 fixedly mounted on the top of the bracket 411; a clamping cylinder 430 is fixedly arranged on the fixed positioning surface mechanism 410, and a clamping piece 420 is arranged on an output rotating shaft of the clamping cylinder 430; the clamping cylinder 430 is conventional and can drive the clamping member 420 to turn around its output shaft to realize clamping, and is used for clamping the front end cross bar of the tray frame 110 to realize fine positioning of the AGV material tray 100. When the mechanical positioning mechanism 400 is initially operated, the clamping member 420 is in a horizontal or horizontal downward-inclined state, and the clamping cylinder 430 drives the clamping member 420 to turn upwards during clamping.
Referring to fig. 1, the distance from the tray support plate 111 to the leg of the tray frame 110 is smaller than the height of the tray accommodating mechanism 300; when the tray support plate 111 abuts against the tray receiving mechanism 300, the legs of the tray frame 110 can be separated from the ground.
Referring to fig. 3, the slide rail assembly 240 is composed of linear slide rails fixed to both sides of the top of the fixing bracket 210 and slide blocks fixed to both sides of the bottom of the guide roller assembly 230, respectively, and the slide blocks on both sides are slidably connected to the linear slide rails on both sides, respectively.
Referring to fig. 1 and 7, after the AGV cart 500 enters the AGV material tray 100, the gap between the AGV cart 500 and the two sides of the AGV guide mechanisms 120 is less than 10 mm; after the AGV trolley 500 enters the AGV material tray 100, the final deviation of the center lines of the AGV trolley 500 and the AGV material tray 100 is reduced to be within +/-5 mm, and the left and right positions of the AGV trolley 500 are adjusted.
Referring to fig. 1 and 2, the top of the bin support blocks 140 at both sides are alternately provided with positioning pins 150; during the use, feed bin 600 is placed in AGV material tray 100 top, and the bottom of feed bin 600 is seted up with locating pin 150 assorted round hole groove to realize the location of feed bin 600 and prevent the landing of feed bin 600.
Referring to fig. 9, when the guide wheel set driving device 220 on the two-side tray guiding and positioning mechanism 200 extends until the limiting member 251 abuts against the abutting member 252, the shortest distance between the two-side guide wheel assemblies 230 is equal to the width of the AGV material tray 100; that is, when the driving device 220 of the guide wheel sets on both sides extends to the position where the limiting member 251 abuts against the abutting member 252, the AGV material tray 100 is just pushed to the middle position.
When AGV material tray positioner used, install tray guiding orientation mechanism 200 and need snatch the assigned position ground of feed bin at the robot, divide two sets of tray guiding orientation mechanism 200 in the left and right sides to install, and tray supporting mechanism 300 is respectively two sets of locating between two sets of tray guiding orientation mechanism 200 in the left and right sides, and mechanical positioning mechanism 400 locates the front end of tray supporting mechanism 300.
The working principle is as follows:
the AGV 500 travels right ahead of the AGV material tray 100 according to the set navigation, and the center line of the AGV 500 may have a deviation within ± 20mm from the center line of the AGV material tray 100. When the AGV cart 500 enters the AGV material tray 100, the AGV guiding mechanism 120 below the material tray is used for guiding and coarse positioning, so that the final deviation between the AGV cart 500 and the AGV material tray 100 is reduced to within ± 5mm (as shown in fig. 7). After the AGV trolley 500 is advanced to the right position and stopped, the carrying platform is lifted, the guiding pins 510 on the carrying platform are inserted into the guiding holes 132 on the AGV material tray 100, and the AGV material tray 100 is lifted continuously to be separated from the ground. The AGV cart 500 carries the AGV material tray 100 and travels in front of the robot gripping station (i.e., the station requiring fine positioning). There may be a deviation of the centerline of the AGV cart 500 from the centerline of the fine positioning station within ± 20 mm. The guiding roller assembly 230 of the tray guiding and positioning mechanism 200 is retracted first, then the AGV 500 slowly travels to enter the fine positioning station, and in the process, the guiding roller assembly 230 abuts against the side wall of the AGV material tray 100 to guide the AGV 500 (as shown in fig. 8). The AGV carts continue to advance until the AGV material trays 100 abut the mounts 412 of the mechanical positioning mechanism 400. The AGV carrier 500 descends to place the AGV material tray 100 on the receiving platform 300, and the legs of the AGV material tray 100 do not contact the ground. When the AGV trolley 500 leaves, the guiding wheel sets 230 on the two sides of the tray guiding and positioning mechanism 200 are pushed out to be mechanically limited, the AGV material tray 100 is pushed to the middle position, and the deviation between the center line of the AGV material tray 100 and the center line of the fine positioning station can be reduced to be within +/-2 mm. The grippers 420 of the further mechanical positioning mechanism 400 grip the front rail of the AGV material tray 100 to achieve precise front and rear positioning of the tray. So far AGV material tray 100 has been fixed totally all around to realized AGV material tray 100's accurate location, satisfied the accurate function of snatching feed bin 600 of robot.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An AGV material tray positioning apparatus, comprising an AGV car (500), characterized in that, further comprising: the automatic AGV material tray positioning device comprises AGV material trays (100), a tray guiding and positioning mechanism (200) for positioning the AGV material trays (100) left and right, a tray bearing mechanism (300) for supporting the AGV material trays (100) and a mechanical positioning mechanism (400) for positioning the AGV material trays (100) front and back;
the AGV material tray (100) comprises a tray frame (110), AGV guiding mechanisms (120), AGV positioning mechanisms (130) and bin supporting blocks (140), wherein multiple groups of bin supporting blocks (140) are symmetrically arranged on two sides of the top of the tray frame (110), the AGV positioning mechanisms (130) are fixed in the middle of the inner top surface of the tray frame (110), each AGV positioning mechanism (130) consists of a supporting plate (131) and guiding holes (132) formed in four corners of the supporting plate (131), the AGV guiding mechanisms (120) are symmetrically arranged on two inner side walls of the tray frame (110), and tray supporting plates (111) which are in butt fit with the tray bearing mechanisms (300) are arranged on two sides of the bottom of the tray frame (110);
the top of the AGV trolley (500) is provided with a guide pin (510) matched with the guide hole (132);
the tray guiding and positioning mechanism (200) is divided into a left group and a right group which are arranged in parallel, the tray guiding and positioning mechanism (200) comprises a fixed support (210), a guide wheel set driving device (220), a guide roller assembly (230), a slide rail assembly (240) and a mechanical limiting mechanism (250), the guide roller assembly (230) is connected to the top of the fixed support (210) in a sliding mode through the slide rail assembly (240), the guide wheel set driving device (220) is installed on the top of the fixed support (210), the telescopic end of the guide wheel set driving device is connected with the guide roller assembly (230), the mechanical limiting mechanism (250) comprises a limiting part (251) and an abutting part (252), the limiting part (251) is fixed to the side of the fixed support (210), and the abutting part (252) is fixed to the bottom of the guide roller assembly (230);
the left and right groups of the tray supporting mechanisms (300) are respectively arranged between the two groups of tray guiding and positioning mechanisms (200), the tray supporting mechanisms (300) comprise supporting brackets (310) and universal balls (320), and the universal balls (320) are uniformly arranged at the tops of the supporting brackets (310);
the mechanical positioning mechanism (400) is arranged at the front end of the tray bearing mechanism (300) and comprises a fixed positioning surface mechanism (410), a clamping piece (420) and a clamping cylinder (430), the clamping cylinder (430) is fixedly arranged on the fixed positioning surface mechanism (410), and the clamping piece (420) is arranged on an output rotating shaft of the clamping cylinder (430).
2. An AGV material tray positioning arrangement according to claim 1, characterised in that the distance of the tray support plate (111) to the legs of the tray frame (110) is less than the height of the tray receiving means (300).
3. The AGV material tray positioning device of claim 1, wherein the slide rail assembly (240) is composed of linear slide rails and sliders, the linear slide rails are fixed on two sides of the top of the fixing bracket (210), the sliders are respectively fixed on two sides of the bottom of the guide roller assembly (230), and the sliders on two sides are respectively connected with the linear slide rails on two sides in a sliding manner.
4. The AGV material tray positioning device of claim 1, wherein after the AGV trolley (500) enters the AGV material tray (100), the clearance between the AGV trolley (500) and the two sides of the AGV guiding mechanisms (120) is less than 10 mm.
5. The AGV material tray positioning device of claim 1, wherein the top of the bin support blocks (140) on both sides are alternately provided with positioning pins (150).
6. The AGV material tray positioning apparatus of claim 1, wherein the guide roller set driving means (220) of the tray guiding and positioning mechanisms (200) at two sides extend to a position where the limiting member (251) abuts against the abutting member (252), and the shortest distance between the guide roller assemblies (230) at two sides is equal to the width of the AGV material tray (100).
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| CN201911327681.1A CN111038944A (en) | 2019-12-20 | 2019-12-20 | AGV material tray positioner |
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| CN201911327681.1A CN111038944A (en) | 2019-12-20 | 2019-12-20 | AGV material tray positioner |
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| CN111731733A (en) * | 2020-05-29 | 2020-10-02 | 湖南艾博特机器人技术有限公司 | Positioning device for stock bin, traceable active flower basket stock bin and stock bin conveying system |
| CN111994555A (en) * | 2020-09-02 | 2020-11-27 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Material frame fixing device |
| CN112407099A (en) * | 2020-10-23 | 2021-02-26 | 武汉华中数控股份有限公司 | Machine shell processing production line and method based on robot feeding and discharging |
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| CN113734718A (en) * | 2020-05-29 | 2021-12-03 | 武汉深海弈智科技有限公司 | Intelligent docking system and method |
| CN111731733A (en) * | 2020-05-29 | 2020-10-02 | 湖南艾博特机器人技术有限公司 | Positioning device for stock bin, traceable active flower basket stock bin and stock bin conveying system |
| CN111994555A (en) * | 2020-09-02 | 2020-11-27 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Material frame fixing device |
| CN112407099A (en) * | 2020-10-23 | 2021-02-26 | 武汉华中数控股份有限公司 | Machine shell processing production line and method based on robot feeding and discharging |
| CN114955328A (en) * | 2021-02-26 | 2022-08-30 | 上海微电子装备（集团）股份有限公司 | Docking mechanism and AGV system |
| CN114955328B (en) * | 2021-02-26 | 2023-10-31 | 上海微电子装备（集团）股份有限公司 | Butt joint mechanism and AGV system |
| CN113023276A (en) * | 2021-03-05 | 2021-06-25 | 浙江世仓智能仓储设备有限公司 | Logistics shuttle and tray alignment method thereof |
| CN113003124A (en) * | 2021-03-16 | 2021-06-22 | 机械工业第九设计研究院有限公司 | Transfer system and operation method of welding device |
| CN114013943A (en) * | 2021-10-31 | 2022-02-08 | 隆链智能科技（上海）有限公司 | High-stability tray for four-way vehicle |
| CN113955372A (en) * | 2021-11-22 | 2022-01-21 | 株洲时代新材料科技股份有限公司 | Air spring transferring and positioning method and transferring device |
| CN114473899A (en) * | 2021-12-08 | 2022-05-13 | 北京天玛智控科技股份有限公司 | Material fine positioning device |
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| CN115991387A (en) * | 2023-03-23 | 2023-04-21 | 苏州卓联智能设备有限公司 | Material transfer trolley |
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