CN111908383B

CN111908383B - Tray linkage calibration device and method

Info

Publication number: CN111908383B
Application number: CN202010830096.XA
Authority: CN
Inventors: 樊雨; 佐富兴; 刘杰; 包锦超; 吴维平; 周晓静; 朱婷婷
Original assignee: Shanghai Noblelift Intelligent Technology Co ltd; Noblelift Intelligent Equipment Co Ltd
Current assignee: Shanghai Noblelift Intelligent Technology Co ltd; Noblelift Intelligent Equipment Co Ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2023-07-18
Anticipated expiration: 2040-08-18
Also published as: CN111908383A

Abstract

The invention discloses a tray linkage calibration device and method, comprising a first bottom plate, a second bottom plate, a side push plate, a positive push plate, a limit switch seat and a presence switch; the first bottom plate is provided with a first guide rail, and the middle of the first bottom plate is provided with a first limit hole; the second base plate is provided with a second guide rail, the second base plate is provided with a second limiting hole, and the second base plate is provided with an electric push rod; the side push plate is provided with a first connecting plate; the positive push plate is provided with a second connecting plate; the limit switch seat is connected with the second bottom plate, and the mat switch is connected with the first bottom plate; the side push plate is provided with an extension plate I, the lower end of the extension plate is provided with a limiting pin, and the lower end of the limiting pin is hinged with a connecting rod I; the positive push plate is provided with a second extension plate, the lower end of the second extension plate is provided with a limiting shaft, and the lower end of the limiting shaft is connected with a second connecting rod; the end parts of the first connecting rods are hinged with the second connecting rods; the manual placement error is avoided, the tray is damaged, potential safety hazards are avoided, and the calibration efficiency is improved; the service life of the tray is ensured; the limit range of the tray is improved; realizing limit precision adjustment; meets the precision butt joint requirements of other robots.

Description

Tray linkage calibration device and method

Technical Field

The invention belongs to the technical field of industrial vehicles with an automatic guiding function, and particularly relates to a tray linkage calibration device and method.

Background

The AGV is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. In industrial application, a carrier for a driver is not needed, and a rechargeable storage battery is used as a power source. Generally, the traveling path and behavior of the vehicle can be controlled by a computer, or the traveling path can be established by using an electromagnetic track, the electromagnetic track is adhered to the floor, and the vehicle is moved and operated by the information brought by the electromagnetic track.

AGVs belong to new technology products, have high requirements on safety, and acquire the state of a vehicle at any moment. In the modern logistics industry application scenario, tray pickup is one of the important links of automated warehousing. In AGV fork truck applications, when the pallet is being forked, the forks need to be accurately inserted into the holes of the pallet, and accurate alignment of the forks with the pallet is involved. The precise alignment of the forks with the pallet is critical in the safety of the high-end shelves for storing and retrieving the goods. Factors that affect the accuracy of alignment of the forks with the pallet are:

1. the accuracy of manual placement of the trays;

2. consistency and precision difference of the multi-AGV forklift;

3. carrying the tray repeatedly to accumulate errors;

4. abnormal displacement of the tray;

the above factors result in a certain failure rate of an AGV forklift when forking pallets.

Once the pallet is failed to be taken by the pallet fork of the AGV forklift, the pallet needs to be corrected by manual intervention to continue the task, so that the automation degree and the intelligent degree of the AGV forklift are greatly reduced.

Once the pallet is taken out by the fork of the AGV forklift, the risk that the high-order pallet falls exists, and even more serious people can cause certain property loss and personnel injury.

In addition, in the scene of high accuracy butt joint requirement such as AGV fork truck and arm, the AGV fork truck hardly reaches the requirement through single navigation, reaches through other auxiliary positioning means, and the cost is higher.

The scheme for controlling the alignment precision of the pallet fork and the tray at present is as follows: traditional AGV fork truck generally transports at the tray and dock the direction spacing that the storehouse position set up machinery, for example: and the horn mouth is used for limiting the falling type or entering type guide of the tray, so that the fixed position of the tray is calibrated.

The current control scheme has six problems:

1. high requirement for manual placement and reduced placement efficiency

2. The damage tray is mechanically hard to collide, so that the contact sound is large, the damage tray is damaged, and the service life is reduced;

3. the limit structure is damaged, and the limit structure is repeatedly scratched and bumped due to mechanical collision, so that damage and paint dropping of different degrees can occur for several times;

4. the limiting range is limited, and the guiding range is limited because the height of the tray is fixed and the guiding angle of the tray is limited;

5. the limiting precision is limited, because the limiting structure is not movable, in order to ensure that the tray can be taken out smoothly, the limiting structure has a certain gap with the tray theoretically;

6. there is the potential safety hazard, first: once the falling mode is adopted, the vehicle exceeds the limit precision, the goods cannot slide down, and the tray is clamped on the limit structure, so that potential safety hazards are easily caused; second,: once the vehicle exceeds the limit precision, the tray can push against the limit structure, the tray is damaged, and the materials are damaged.

Disclosure of Invention

The invention provides a tray linkage calibration device and method, which are used for solving the problems in the background technology.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a tray linkage calibration device comprises a first bottom plate, a second bottom plate, a side push plate, a positive push plate, a limit switch seat and a presence switch; guide rails I are arranged in parallel on two sides of the first bottom plate, a sliding block I is arranged on the guide rails I in a sliding mode, and a limiting hole I is formed in the middle of the first bottom plate; the two sides of the second bottom plate are provided with guide rails II in parallel, the guide rails II are provided with sliding blocks II in a sliding manner, the middle of the second bottom plate is provided with limiting holes II, the second bottom plate is provided with an electric push rod, and the push rod end of the electric push rod is hinged with the positive push plate; the back of the side pushing plate is provided with a first connecting plate which is fixedly connected with the first sliding block; the back of the front push plate is provided with a second connecting plate which is fixedly connected with the second sliding block; the limit switch seat is connected with the second bottom plate, and the in-place switch is connected with the first bottom plate;

the back of the side pushing plate is provided with a first extending plate, the lower end of the extending plate is provided with a limiting pin, the limiting pin penetrates through the first limiting hole, and the lower end of the limiting pin is hinged with a first connecting rod;

the back of the front push plate is provided with a second extension plate, the lower end of the second extension plate is provided with a limiting shaft, the limiting shaft penetrates through a second limiting hole, and the lower end of the limiting shaft is connected with a second connecting rod; one end of each connecting rod is hinged with the same point on the second connecting rod.

Preferably, the second connecting plate is provided with an induction contact.

Preferably, a plurality of rubber pads are arranged on the inner wall surfaces of the side pushing plate and the positive pushing plate.

Preferably, a nylon plate is arranged in the first bottom plate.

Preferably, a nylon guide block is arranged at the inlet of the side pushing plate, and the cutting angle of the nylon guide block is smaller than or equal to 45 degrees.

Preferably, the limit switch seat is provided with a rear position sensor and a front position sensor.

A tray linkage calibration method specifically comprises the following steps,

step S1: detecting a system;

step S2: placing in a tray;

step S3: the electric push rod extends out;

step S4: judging whether the front position sensor detects the induction contact, if so, executing the step S5, and if not, returning to the step S3;

step S5: stopping the electric push rod;

step S6: and after the calibration is finished, the AGV forklift or the high-precision mechanical arm is in butt joint.

The step S1 specifically includes the following steps,

step S10: judging whether the rear position sensor detects the induction contact, if so, executing the step S12, and if not, executing the step S11;

step S11: the electric push rod is contracted;

step S12: judging whether the presence switch detects an object, if so, executing the step S13, and if not, executing the step S2;

step S13: the alarm system starts an alarm.

The beneficial effects of adopting above technical scheme are:

1. the tray linkage calibration device avoids manual placement errors; in addition, the movement distance of the limiting pin is limited through the first limiting hole, the movement distance of the limiting shaft is limited through the second limiting hole, the electric push rod drives the positive push plate and the second connecting rod connected with the limiting shaft on the positive push plate to move, the second connecting rod drives the side push plates on two sides to synchronously move through the first connecting rod symmetrically arranged, the calibration efficiency is improved, and dead points of a connecting rod mechanism formed by the first connecting rod and the second connecting rod are avoided to be crossed through the first limiting hole and the second limiting hole.

2. This tray linkage calibrating device avoids the tray to directly hit with limit structure contact is hard, and tray calibration contact sound is little, has avoided damaging the tray, has guaranteed tray life.

3. The tray linkage calibration device has the advantages that the two sides of the tray linkage calibration device are limited by the side pushing plates, one side of the tray linkage calibration device is limited by the positive pushing plates, and the other side of the tray linkage calibration device is limited by the nylon guide block, and the positions of the position sensor and the front position sensor on the limit switch seat are adjusted, so that the limit range of the tray is increased, and the tray linkage calibration device is suitable for trays with different external dimensions.

4. This tray linkage calibrating device through the position of adjustment back position sensor and preceding position sensor on limit switch seat, realizes spacing precision adjustment, can increase spacing precision, also can reduce phase precision, both guarantees the calibration precision of tray, guarantees again that the tray is got by inserting smoothly.

5. This tray linkage calibrating device has avoided the vehicle to surpass the unable landing of goods that spacing precision caused and has gone down, avoids the potential safety hazard that the tray card was on limit structure or top dead limit structure brought.

Drawings

FIG. 1 is a schematic diagram of a pallet linkage calibration device of the present invention;

FIG. 2 is a top view of the pallet linkage calibration device of the present invention;

FIG. 3 is a bottom view of the pallet linkage calibration device of the present invention;

FIG. 4 is a first logical block diagram of a pallet linkage calibration method of the present invention;

FIG. 5 is a second logical block diagram of a pallet linkage calibration method of the present invention;

wherein:

1. a first bottom plate; 2. a second base plate; 3. a side push plate; 4. a positive push plate; 5. a limit switch seat; 6. a seat switch; 7. sensing a contact; 8. a rubber pad;

10. a first guide rail; 10-1, a first slide block; 11. a first limiting hole; 12. a nylon plate;

20. a second guide rail; 20-1, a second sliding block; 21. a limiting hole II; 22. an electric push rod;

30. a first connecting plate; 31. nylon guide blocks; 32. an extension board I; 33. a limiting pin; 34. a first connecting rod;

40. a second connecting plate; 41. an extension plate II; 42. a limiting shaft; 43. a second connecting rod;

50. a rear position sensor; 51. a front position sensor.

Detailed Description

The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.

Specifically, as shown in fig. 1 to 5, the tray linkage calibration device comprises a first bottom plate 1, a second bottom plate 2, a side push plate 3, a positive push plate 4, a limit switch seat 5 and a presence switch 6; guide rails I10 are arranged on two sides of the first base plate 1 in parallel, a sliding block I10-1 is arranged on the guide rails I10 in a sliding mode, and a limiting hole I11 is formed in the middle of the first base plate 1; guide rails II 20 are arranged on two sides of the bottom plate II 2 in parallel, a sliding block II 20-1 is arranged on the guide rails II 20 in a sliding mode, a limiting hole II 21 is formed in the middle of the bottom plate II 2, an electric push rod 22 is arranged on the bottom plate II 2, and the push rod end of the electric push rod 22 is hinged to the positive push plate 4; the back of the side pushing plate 3 is provided with a first connecting plate 30, and the first connecting plate 30 is fixedly connected with the first slider 10-1; the back of the front push plate 4 is provided with a second connecting plate 40, and the second connecting plate 40 is fixedly connected with the second slider 20-1; the limit switch seat 5 is connected with the bottom plate II 2, and the in-place switch 6 is connected with the bottom plate I1;

the back of the side pushing plate 3 is provided with an extension plate I32, the lower end of the extension plate I32 is provided with a limiting pin 33, the limiting pin 33 penetrates through the limiting hole I11, and the lower end of the limiting pin 33 is hinged with a connecting rod I34;

the back of the positive push plate 4 is provided with a second extension plate 41, the lower end of the second extension plate 41 is provided with a limiting shaft 42, the limiting shaft 42 penetrates through the second limiting hole 21, and the lower end of the limiting shaft 42 is connected with a second connecting rod 43; the ends of the first connecting rod 34 are hinged with the same point on the second connecting rod 43.

As shown in fig. 1, 2 and 3, the second connecting plate 40 is provided with an induction contact 7.

As shown in fig. 1, 2 and 3, a plurality of rubber pads 8 are provided on the inner wall surfaces of the side push plate 3 and the positive push plate 4.

As shown in fig. 1, 2 and 3, a nylon plate 12 is disposed inside the first base plate 1.

As shown in fig. 1, 2 and 3, the nylon guide block 31 is disposed at the inlet of the side push plate 3, and the chamfer angle of the nylon guide block 31 is less than or equal to 45 °.

As shown in fig. 1, 2 and 3, the limit switch seat 5 is provided with a rear position sensor 50 and a front position sensor 51.

A tray linkage calibration method specifically comprises the following steps,

step S1: the system self-detects;

step S2: placing in a tray;

step S3: the electric push rod 22 extends out;

step S4: judging whether the front position sensor 51 detects the sensing contact 7, if so, executing the step S5, and if not, returning to the step S3;

step S5: the electric push rod 22 stops;

A tray linkage calibration method specifically comprises the following steps in step S1,

step S10: judging whether the rear position sensor 50 detects the sensing contact 7, if so, executing step S12, and if not, executing step S11;

step S11: the electric push rod 22 is contracted;

step S12: judging whether the presence switch 6 detects an object, if so, executing the step S13, and if not, executing the step S2;

step S13: the alarm system starts an alarm.

The following describes specific modes of operation with specific examples:

example 1:

the system performs self-checking firstly, judges whether the rear position sensor 50 of the tray calibration device detects the sensing contact 7, if so, the electric push rod 22 is proved to be contracted to the rear, namely, the two side push plates 3 and one positive push plate 4 are in a contracted state, then judges whether the on-site switch 6 detects an object or not, if so, the alarm system is started to give an alarm, prompts a worker that the object is placed in the tray calibration device, and if not, the tray is placed in the tray calibration device.

Then the electric push rod 22 stretches out, the positive push plate 4 is pushed out under the guiding action of the guide rail II 20, meanwhile, the extending plate II 41 arranged on the back surface of the positive push plate 4 pushes out the connecting rod II 43 through the limiting shaft 42, at the moment, the connecting rod II 43 pushes the two connecting rods I34 forwards, so that the included angle between the connecting rod II 43 and the connecting rod I34 is reduced, then the connecting rod I34 pulls the two side push plates 3 to be close to each other under the guiding action of the guide rail I10 through the limiting pin 33 and the extending plate I32 until the connecting plate II 40 is provided with the sensing contact piece 7 to reach the front position sensor 51 to stop, and the position calibration of the tray is completed.

A limiting hole I11 is formed in the middle of the bottom plate I1; a limiting hole II 21 is formed in the middle of the bottom plate II 2; the movement distance of the limiting pin is limited through the first limiting hole, the movement distance of the limiting shaft is limited through the second limiting hole, the electric push rod drives the positive push plate and the second connecting rod connected with the limiting shaft on the positive push plate to move, the second connecting rod drives the side push plates on two sides to synchronously move through the first connecting rods symmetrically arranged, the calibration efficiency is improved, and dead points of a connecting rod mechanism formed by the first connecting rod and the second connecting rod are avoided being crossed through the first limiting hole and the second limiting hole.

Example 2:

on the basis of the embodiment 1, a plurality of rubber pads 8 are arranged on the inner wall surfaces of the side pushing plates 3 and the positive pushing plate 4, so that the tray is prevented from being directly contacted with the inner surfaces of the two side pushing plates 3 and the positive pushing plate 4, and the tray calibration device are prevented from being damaged.

The nylon plate 12 is arranged in the first bottom plate 1, so that friction resistance born by the bottom of the tray is reduced, and the tray is prevented from being damaged.

The nylon guide blocks 31 are arranged at the inlets of the side pushing plates 3, and the cutting angles of the nylon guide blocks 31 are smaller than or equal to 45 degrees, so that when the tray position calibration is carried out on the two side pushing plates 3, the nylon guide blocks 31 push the tray inwards through the tray, and the positive pushing plate 4 is guaranteed to play a role in the tray position calibration.

Example 3:

according to the tray linkage calibration method, before calibration, the system is used for detection, false detection and safety accidents are avoided, and the system is fast in response and high in automation degree.

According to the tray linkage calibration method, the position of the container with other rectangular frames can be calibrated; and by changing the shape of the inner walls of the side push plate 3 and the positive push plate 4, it can be adapted to the alignment operation of containers of other shapes.

While the invention has been described above by way of example with reference to the accompanying drawings, it is to be understood that the invention is not limited to the particular embodiments described, but is capable of numerous insubstantial modifications of the inventive concept and solution; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.

Claims

1. The utility model provides a tray linkage calibrating device which characterized in that: comprises a first bottom plate (1), a second bottom plate (2), a side push plate (3), a positive push plate (4), a limit switch seat (5) and a in-place switch (6); guide rails I (10) are arranged in parallel on two sides of the bottom plate I (1), a sliding block I (10-1) is arranged on the guide rails I (10) in a sliding mode, and a limiting hole I (11) is formed in the middle of the bottom plate I (1); guide rails II (20) are arranged in parallel on two sides of the bottom plate II (2), a sliding block II (20-1) is arranged on the guide rails II (20) in a sliding mode, a limiting hole II (21) is formed in the middle of the bottom plate II (2), an electric push rod (22) is arranged on the bottom plate II (2), and the push rod end of the electric push rod (22) is hinged to the positive push plate (4); the back of the side pushing plate (3) is provided with a first connecting plate (30), and the first connecting plate (30) is fixedly connected with the first sliding block (10-1); the back of the positive pushing plate (4) is provided with a second connecting plate (40), and the second connecting plate (40) is fixedly connected with a second sliding block (20-1); the limit switch seat (5) is connected with the second base plate (2), and the in-place switch (6) is connected with the first base plate (1);

the back of the side pushing plate (3) is provided with an extension plate I (32), the lower end of the extension plate I (32) is provided with a limiting pin (33), the limiting pin (33) penetrates through the limiting hole I (11), and the lower end of the limiting pin (33) is hinged with a connecting rod I (34);

the back of the positive pushing plate (4) is provided with a second extending plate (41), the lower end of the second extending plate (41) is provided with a limiting shaft (42), the limiting shaft (42) penetrates through the second limiting hole (21), and the lower end of the limiting shaft (42) is connected with a second connecting rod (43); the end parts of the two first connecting rods (34) are hinged with the same point on the second connecting rods (43);

an induction contact (7) is arranged on the second connecting plate (40);

the limit switch seat (5) is provided with a rear position sensor (50) and a front position sensor (51).

2. The pallet linkage calibration device of claim 1, wherein: a plurality of rubber pads (8) are arranged on the inner wall surfaces of the side pushing plate (3) and the positive pushing plate (4).

3. The pallet linkage calibration device of claim 1, wherein: and a nylon plate (12) is arranged in the first bottom plate (1).

4. The pallet linkage calibration device of claim 1, wherein: the entrance of the side pushing plate (3) is provided with a nylon guide block (31), and the chamfer angle of the nylon guide block (31) is smaller than or equal to 45 degrees.

5. A pallet linkage calibration method using the pallet linkage calibration device of any one of claims 1-4, characterized by: in particular comprising the following steps of the method,

step S1: the system self-detects;

step S2: placing in a tray;

step S3: the electric push rod (22) extends out;

step S4: judging whether the front position sensor (51) detects the induction contact piece (7), if so, executing the step S5, and if not, returning to the step S3;

step S5: the electric push rod (22) stops;

6. The pallet linkage calibration method of claim 5, wherein: the step S1 specifically includes the following steps,

step S10: judging whether the rear position sensor (50) detects the induction contact (7), if so, executing the step S12, and if not, executing the step S11;

step S11: the electric push rod (22) is contracted;

step S12: judging whether the presence switch (6) detects an object, if so, executing the step S13, and if not, executing the step S2;

step S13: the alarm system starts an alarm.