CN112748738A - High-precision automatic positioning and guiding system for AGV - Google Patents
High-precision automatic positioning and guiding system for AGV Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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Abstract
The invention relates to a high-precision automatic positioning and guiding system for an AGV, which comprises the following parts: the X-direction positioning module sends a signal to the AGV to control the AGV to stop moving forwards and sends a signal to the Y-direction positioning module to control the Y-direction positioning module to operate; the Y-direction positioning module enables the AGV to displace in a Y direction vertical to the X direction and reach a set Y-direction position; the releasing module receives the signal sent by the Y-direction positioning module and controls the operation of the signal so as to release the AGV; a runway platform for supporting the AGV and serving as a guidance runway for the AGV; the lifting platform is used for lifting or lowering the released AGV to a set height position; the X-direction positioning module and the passing module are arranged on the runway platform, the Y-direction positioning module is fixedly connected with the runway platform, the lifting platform is arranged close to the passing module in parallel, and the initial height of the lifting platform is flush with the runway platform. The invention has high positioning precision for the AGV, automatically releases the AGV after positioning is finished and guides the AGV to carry out the next work, and realizes low cost and high cost performance.
Description
The application is a divisional application of 'high-precision automatic positioning and guiding system for AGV' with application number 201810295997.6 applied on 4.4.2018, and the original accepting mechanism is China.
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to a high-precision automatic positioning and guiding system for the AGV.
Background
AGV technology has been developed for decades, and has played an increasingly important role from its initial application to material transport alone to its present application in industrial, military, transportation, electronics, and other fields.
AGVs are equipped with electromagnetic or optical automatic guides that can travel along a defined guide path. In the AGV technology, mechanical positioning and guiding of the AGV are key control links. At present, magnetic stripe navigation positioning and laser navigation positioning are mainly adopted for AGV navigation positioning, but magnetic stripe navigation positioning and positioning are low in positioning accuracy and suitable for occasions with low requirements; the laser navigation positioning has high positioning accuracy, but is expensive, high in cost and low in cost performance.
Therefore, it is an urgent technical problem in the art to find a positioning and guiding system for AGVs that is suitable for the requirements between magnetic stripe navigation positioning and laser navigation positioning.
Disclosure of Invention
According to the problems in the prior art, the invention provides a high-precision automatic positioning and guiding system for an AGV, which has high positioning precision for the AGV, automatically releases the AGV after positioning is finished and guides the AGV to perform the next work, and has low cost and high cost performance.
The invention adopts the following technical scheme:
a high precision automatic positioning and guidance system for an AGV comprises the following parts:
the X-direction positioning module is used for decelerating the AGV which moves forwards along the X-direction guide, detecting whether the AGV reaches a set position in the X direction or not, if the AGV reaches the set position in the X direction, sending a signal to the AGV to control the Y-direction positioning module to stop moving forwards, and sending a signal to the Y-direction positioning module to control the Y-direction positioning module to operate;
the Y-direction positioning module is used for receiving the signal sent by the X-direction positioning module to drive the runway platform to move, so that the AGV displaces in the direction vertical to the X direction, namely the Y direction, and reaches the set position in the Y direction; when the AGV reaches the Y-direction set position, the Y-direction positioning module stops driving the runway platform;
the releasing module is used for releasing the AGV;
the runway platform is used for bearing the AGV and is used as a guide runway of the AGV;
the lifting platform is used for stopping the released AGV and lifting or lowering the released AGV to a position with a set height;
the X is all set up on the runway platform to orientation module and through the clearance module, Y is to orientation module and runway platform fixed connection, the elevating platform is close to and sets up through the clearance module.
Preferably, the X-direction positioning module comprises a sensing unit, a deceleration positioning unit and a detection unit; the sensing unit is arranged on the runway platform, is arranged beside the AGV in the forward direction, namely the X direction, and is used for sensing whether the AGV reaches an X-direction specified area or not; the deceleration positioning unit is arranged on the runway platform, is arranged in front of the AGV forward direction and is used for buffering and decelerating the AGV until the AGV stops moving forward; the detecting unit is used for detecting whether the AGV reaches the position of X to the settlement, if the AGV reaches the position of X to the settlement, then detecting unit sends a signal and controls the AGV to stop advancing for the AGV to send a signal and control Y to the orientation module operation for Y, detecting unit sets up on the location unit that slows down.
Preferably, the sensing unit comprises an infrared sensor I, and the infrared sensor I is arranged on a runway platform beside the AGV forward direction; the deceleration positioning unit comprises a swing rod, a positioning plate and a buffer I, the positioning plate is fixed at one end part of the swing rod close to the AGV through the buffer I, and the positioning plate is arranged at one side of the swing rod close to the AGV; the detection unit comprises a proximity switch I for detecting whether the swing rod is attached to the positioning plate or not, and the proximity switch I is arranged on the swing rod; when infrared inductor I senses the AGV that moves ahead along X to the guide, its sending signal controls its speed reduction to AGV, and AGV after the speed reduction continues to move ahead and then collides on the locating plate, and the buffering through buffer I slows down and finally makes laminating each other between locating plate and the pendulum rod, and proximity switch I sending signal controls its the going ahead for AGV this moment to sending signal is for Y to its operation of locating module control.
Still further preferably, the Y-direction positioning module comprises a Y-direction driving unit and a buffer positioning unit both fixed on the positioning platform; the runway platform is movably fixed above the positioning platform along the Y direction; the Y-direction driving unit and the buffer positioning unit are both arranged beside the advancing direction of the AGV, and the Y-direction driving unit is used for pushing or pulling the runway platform to displace; y is used for receiving the signal that the detecting element sent and begins to promote or pull the runway platform to the drive unit for AGV upwards takes place the displacement in Y, buffering positioning unit is used for buffering AGV and detects whether AGV arrives Y to the position of settlement, if AGV arrives Y to the position of settlement, then buffering positioning unit sends the signal and stops promoting or pull the runway platform for Y to drive unit control, and the operation station department of the position that AGV place this moment begins the operation.
Preferably, the upper surface of the positioning platform is provided with a guide rail, the guide direction of the guide rail is parallel to the Y direction, and the lower surface of the runway platform is provided with a slide block which is slidably clamped on the guide rail along the Y direction; the Y-direction driving unit comprises an air cylinder, a cylinder body of the air cylinder is fixed on a positioning platform beside the advancing direction of the AGV, a piston rod of the air cylinder is fixedly connected with the runway platform, and the pushing or pulling direction of the piston rod of the air cylinder is parallel to the Y direction; the buffer positioning unit comprises a buffer II for buffering and decelerating and a proximity switch II for detecting whether the AGV reaches a Y-direction set position, and the buffer II and the proximity switch II are both positioned on a positioning platform on the same side of the advancing direction of the AGV; the cylinder receives the signal that is sent by proximity switch I and begins to promote or pull the runway platform for AGV upwards takes place the displacement at Y, buffer II is used for buffering the AGV and slows down, and proximity switch II is used for detecting whether the AGV arrives Y to the position of settlement, if the AGV arrives Y to the position of settlement, then proximity switch II sends the signal and gives its stall of cylinder control, and the operation station department of the position that AGV place at this moment begins the operation.
Further preferably, the passing module comprises a swing cylinder, a cylinder body of the swing cylinder is fixed on the runway platform, and a piston rod of the swing cylinder is fixed at one end part of the swing rod, which is far away from the AGV; the length direction of a piston rod of the swing cylinder is perpendicular to the length direction of the swing rod; swing cylinder drives the pendulum rod rotation and makes it be in and block and let go two kinds of states, the state of blockking of pendulum rod is its and runway platform parallel arrangement, and swing cylinder drives the pendulum rod rotation when receiving the signal that operation station department sent for the pendulum rod is certain angle with the runway platform, and the pendulum rod is in the state of letting go on that can let go to AGV this moment.
Preferably, the lifting platform comprises an upper plate, a bottom plate, an infrared sensor II and a lifting unit, the upper plate and the bottom plate are fixedly connected through the lifting unit, and the infrared sensor II is arranged on the upper plate beside the AGV after being released in the forward direction; infrared inductor II is used for detecting whether the AGV after letting pass arrives the specified area of upper plate, if arrive the specified area of upper plate then send signal control AGV to slow down and stop to control the lifting unit and raise or reduce the upper plate, thereby drive the AGV and raise or reduce to the position of setting for the height, and control the AGV and continue to move ahead along the direction of guidance.
More preferably, the lifting unit comprises a support rod I, a support rod II, a support rod III and a support rod IV which are equal in length; the middle point position of the support rod I is fixedly connected with the middle point position of the support rod II, and the support rod I and the support rod II can rotate around a connecting shaft at the center points of the support rod I and the support rod II; the middle point position of the support rod III is fixedly connected with the middle point position of the support rod IV, and the support rod III and the support rod IV can rotate around a connecting shaft at the center point of the support rod III and the support rod IV; the top ends of the support rod I and the support rod III are hinged and fixed on the sliding piece I, the top ends of the support rod II and the support rod IV are hinged and fixed on the sliding piece II, one end parts of the sliding piece I and the sliding piece II which are positioned on the same side can slide along the sliding bar I, and one end parts of the sliding piece I and the sliding piece II which are positioned on the same side are fixed on the sliding bar I; the other end parts of the sliding piece I and the sliding piece II, which are positioned on the same side, can slide along the sliding bar II, and the other end parts of the sliding piece I and the sliding piece II, which are positioned on the same side, are fixed on the sliding bar II; the bottom ends of the support rod I and the support rod III are hinged and fixed on the bottom plate, the bottom ends of the support rod II and the support rod IV are hinged and fixed on the sliding piece III, two end parts of the sliding piece III are respectively fixed on the sliding bar III and the sliding bar IV, and the sliding piece III can slide along the sliding bar III and the sliding bar IV; a lead screw penetrates through the middle position of the sliding sheet III, one end of the lead screw is fixed on the bottom plate through a bearing seat II, the other end of the lead screw is fixed on an output shaft of a motor through a coupler II, and the motor is fixed on the bottom plate; work as infrared inductor II detects AGV and then sends signal control AGV speed reduction and stops to control motor rotation and drive gleitbretter III and slide, thereby raise or reduce the upper plate, and then drive AGV and raise or reduce to the position of setting for the height.
More preferably, the number of the X-direction positioning module, the number of the Y-direction positioning module, the combination of the clearance module and the runway platform, and the number of the corresponding lifting platforms may be plural.
More preferably, the infrared sensor I is fixed on the runway platform through a bracket I; the position of the proximity switch I on the swing rod is adjustable; the binding surface between the swing rod and the positioning plate is subjected to finish machining; a piston rod of the air cylinder is fixedly connected with the runway platform through a T-shaped connecting piece; the buffer II and the proximity switch II are fixed on the positioning platform through a support II; a piston rod of the swing cylinder is fixedly connected with the swing rod through the coupler I and the stepped shaft in sequence; the stepped shaft is fixed on the runway platform through a bearing seat I; the combination of the releasing module and the speed reducing positioning unit is set into two groups, the two groups of the releasing module and the speed reducing positioning unit are symmetrically arranged in the X direction, two swing rods in the two groups of the releasing module and the speed reducing positioning unit are positioned on the same straight line, and the positioning plates on the two swing rods are arranged close to each other.
The invention has the beneficial effects that:
1) the AGV positioning system comprises an X-direction positioning module, a Y-direction positioning module, a passing module, a runway platform and a lifting platform, wherein the X-direction positioning module is used for positioning the AGV in the X direction in the forward direction, the Y-direction positioning module is used for positioning the AGV in the Y direction, the passing module is used for positioning and blocking the AGV and passing the passing, the runway platform is used for bearing the AGV and is used as a runway of the AGV, the lifting platform is used for stopping the AGV after passing, the AGV after passing is lifted or lowered to the position with the set height, and the AGV is controlled to continue to move forward along the guiding direction. When the AGV reaches the set position in the X direction, the X-direction positioning module sends a signal to the AGV to control the AGV to stop moving forwards, and sends a signal to the Y-direction positioning module to control the AGV to run, and at the moment, the Y-direction positioning module receives the signal sent by the X-direction positioning module to drive the runway platform, so that the AGV displaces in the Y direction and reaches the set position; when the AGV reaches a set position, the Y-direction positioning module stops driving the runway platform, the operation station at the position where the AGV is located starts to operate, after the operation is finished, the operation station sends a signal to the releasing module to control the AGV to release, and sends a signal to control the AGV to move forwards; the AGV after releasing continues to enter the next process through the adjustment of the height completed by the lifting or lowering of the lifting platform, so that the high-precision positioning and guiding of the AGV are realized, the cost is low, and the cost performance is high.
2) The X-direction positioning module comprises a sensing unit, a deceleration positioning unit and a detection unit; the sensing unit comprises an infrared sensor I which is used for detecting whether the AGV reaches an X-direction designated area or not, and controlling the AGV to decelerate if the AGV reaches the X-direction designated area; the deceleration positioning unit comprises a swing rod, a positioning plate and a buffer I and is used for buffering and decelerating the AGV until the AGV stops moving forwards; the detection unit is including being used for detecting proximity switch I whether laminating between pendulum rod and the locating plate, and it is used for detecting whether AGV arrives X to the position of settlement, if AGV arrives X to the position of settlement, then proximity switch I sends the signal and controls it to stop to go forward for AGV to send the signal and control its operation to Y to orientation module. The infrared inductor I and the buffer I are arranged, so that when the AGV reaches an X-direction designated area, the AGV is controlled to decelerate and buffer until the AGV stops, the stability of the AGV in moving forward is ensured, and the damage to the AGV when the AGV impacts a positioning plate is avoided; simultaneously proximity switch I's setting and the finish machining of the binding face between pendulum rod and the locating plate, on the one hand to AGV location in X to the position carry out meticulous control, on the other hand automatic control Y is to the orientation module operation, has realized the automation and the continuity of process.
3) The Y-direction positioning module comprises a Y-direction driving unit and a buffer positioning unit which are both fixed on a positioning platform; the Y-direction driving unit comprises an air cylinder and is used for receiving the signal sent by the detection unit and starting to operate to drive the runway platform, so that the AGV displaces in the Y direction; buffer positioning unit is including buffer II that is used for the buffering to slow down and be used for detecting whether the AGV arrives Y to the proximity switch II of the position of settlement, and buffer positioning unit is used for buffering to slow down and detects whether the AGV arrives Y to the position of settlement, if the AGV arrives Y to the position of settlement, then proximity switch II send signal for Y stops to drive the runway platform to drive unit control cylinder, send signal for through its operation of release module control to it goes forward to send signal control AGV. The setting of cylinder and proximity switch II for AGV has upwards arrived the position of settlement in Y, has accomplished AGV at the ascending location of Y, and buffer II's cushioning effect makes AGV steadily slow down until stopping, has guaranteed the stability when AGV moves simultaneously.
4) The combination of the releasing module and the speed reducing positioning unit is arranged into two groups, the two groups are symmetrically arranged in the X direction through the combination of the releasing module and the speed reducing positioning unit, two swing rods in the two groups are positioned on the same straight line, and positioning plates on the two swing rods are arranged close to each other; when AGV's width broad, adopt two sets of combinations through clearance module and speed reduction positioning unit, two corresponding proximity switch I have also been had, on the one hand to AGV can the fine control in X to position, on the other hand makes the pendulum rod keep away from swing cylinder's one end shorter, and weight is corresponding lighter, and the focus of whole pendulum rod is close to the rotation axis of pendulum rod, and swing cylinder rotates the pendulum rod more easily, has improved the flexibility of going through clearance module to AGV.
Drawings
FIG. 1 is a schematic view of the combination of the X-direction positioning module, the Y-direction positioning module, the passing module and the runway platform of the present invention.
FIG. 2 is a partial rear view of the combination of the X-direction positioning module, the Y-direction positioning module, the pass-through module and the runway platform of the present invention.
Fig. 3 is a schematic view of the assembly of the X-direction positioning module, the passing module and the runway platform according to the present invention.
FIG. 4 is a partial left side view of the combination of the X-direction positioning module, the Y-direction positioning module, the pass-through module, and the runway platform of the present invention.
Fig. 5 is a schematic view of the elevating platform of the present invention.
Fig. 6 is a bottom view of the upper plate of the lifting platform of the present invention.
FIG. 7 is a schematic diagram of the system of the present invention.
Reference numerals: 1-X direction positioning module, 2-Y direction positioning module, 3-pass clearance module, 4-runway platform, 5-AGV, 6-lifting platform, 11-sensing unit, 12-deceleration positioning unit, 13-detection unit, 21-positioning platform, 22-Y direction driving unit, 23-buffer positioning unit, 31-swing cylinder, 32-coupler I, 33-step shaft, 34-bearing seat I, 41-sliding block, 61-upper plate, 62-bottom plate, 63-infrared inductor II, 64-lifting unit, 111-infrared inductor I, 112-bracket I, 121-swing rod, 122-positioning plate, 123-buffer I, 131-proximity switch I, 211-guide rail, 221-cylinder, 222-T type connecting piece, 231-buffer II, 232-approach switch II, 233-support II, 6401-support rod I, 6402-support rod II, 6403-support rod III, 6404-support rod IV, 6405-sliding piece I, 6406-sliding piece II, 6407-sliding bar I, 6408-sliding bar II, 6409-sliding piece III, 6410-sliding bar III, 6411-sliding bar IV, 6412-lead screw, 6413-bearing seat II, 6414-coupling II and 6415-motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, 2, 3, 4 and 7, a high precision automatic positioning and guiding system for AGVs comprises the following parts:
the X-direction positioning module 1 is used for decelerating the AGV5 guided to move forward along the X-direction, detecting whether the AGV5 reaches the position set in the X-direction, if the AGV5 reaches the position set in the X-direction, sending a signal to the AGV5 to control the AGV to stop moving forward, and sending a signal to the Y-direction positioning module 2 to control the AGV to move;
the Y-direction positioning module 2 is used for receiving the signal sent by the X-direction positioning module 1 to drive the runway platform 4, so that the AGV5 is displaced in the direction perpendicular to the X direction, namely the Y direction, and reaches the set position in the Y direction; when the AGV5 reaches the Y-direction set position, the Y-direction positioning module 2 stops driving the runway platform 4;
a runway platform 4 for carrying AGVs 5 and serving as a guidance runway for AGVs 5;
the lifting platform 6 is used for stopping the released AGV5 and lifting or lowering the released AGV5 to a position with a set height;
x all sets up on runway platform 4 to orientation module 1 and through clearance module 3, Y is to orientation module 2 and runway platform 4 fixed connection, elevating platform 6 is close to and sets up through clearance module 3.
The X-direction positioning module 1 comprises a sensing unit 11, a deceleration positioning unit 12 and a detection unit 13; the sensing unit 11 is arranged on the runway platform 4, and the sensing unit 11 is arranged at the side of the forward direction of the AGV5, namely the X direction, and is used for sensing whether the AGV5 reaches the X direction specified area; the deceleration positioning unit 12 is arranged on the runway platform 4, and the deceleration positioning unit 12 is arranged in front of the forward direction of the AGV5 and used for buffering and decelerating the AGV5 until the AGV5 stops moving forward; the detecting unit 13 is used for detecting whether the AGV5 reaches the position set by the X direction, if the AGV5 reaches the position set by the X direction, the detecting unit 13 sends a signal to the AGV5 to control the AGV to stop moving forward, and sends a signal to the Y direction positioning module 2 to control the AGV to operate, and the detecting unit 13 is arranged on the deceleration positioning unit 12.
The sensing unit 11 comprises an infrared sensor I111, and the infrared sensor I111 is arranged on the runway platform 4 beside the advancing direction of the AGV 5; the deceleration positioning unit 12 comprises a swing rod 121, a positioning plate 122 and a buffer I123, wherein the positioning plate 122 is fixed at one end part of the swing rod 121 close to the AGV5 through the buffer I123, and the positioning plate 122 is arranged at one side of the swing rod 121 close to the AGV 5; the detection unit 13 comprises a proximity switch I131 for detecting whether the swing rod 121 is attached to the positioning plate 122 or not, and the proximity switch I131 is arranged on the swing rod 121; when I111 of infrared inductor induced AGV5 who advances along the X-guide, it sent signal to AGV5 control its speed reduction, AGV5 after the speed reduction continues to advance and then collide on locating plate 122, the buffering through buffer I123 slows down and finally makes and laminate each other between locating plate 122 and the pendulum rod 121, proximity switch I131 sends the signal and controls it and stop advancing for AGV5 this moment, and send the signal and control its operation to orientation module 2 for Y.
The Y-direction positioning module 2 comprises a Y-direction driving unit 22 and a buffer positioning unit 23 which are both fixed on a positioning platform 21; the runway platform 4 is movably fixed above the positioning platform 21 along the Y direction; the Y-direction driving unit 22 and the buffer positioning unit 23 are both arranged beside the AGV5 in the advancing direction, when the Y-direction driving unit 22 and the buffer positioning unit 23 are on different sides, the Y-direction driving unit 22 is used for pushing the runway platform 4 to displace, and when the Y-direction driving unit 22 and the buffer positioning unit 23 are on the same side, the Y-direction driving unit 22 is used for pulling the runway platform 4 to displace; the Y-direction driving unit 22 is used for receiving the signal sent by the detection unit 13 and starting to push or pull the runway platform 4, so that the AGV5 is displaced upwards in the Y direction, the buffering and positioning unit 23 is used for buffering the AGV5 and detecting whether the AGV5 reaches the Y-direction set position, if the AGV5 reaches the Y-direction set position, the buffering and positioning unit 23 sends a signal to the Y-direction driving unit 22 to control the Y-direction driving unit 22 to stop pushing or pulling the runway platform 4, and at the moment, the operation is started at the operation station of the position where the AGV5 is located.
The upper surface of the positioning platform 21 is provided with a guide rail 211, the guide direction of the guide rail 211 is parallel to the Y direction, the lower surface of the runway platform 4 is provided with a slide block 41, and the slide block 41 can be clamped on the guide rail 211 in a sliding manner along the Y direction; the Y-direction driving unit 22 comprises an air cylinder 221, a cylinder body of the air cylinder 221 is fixed on the positioning platform 21 beside the forward direction of the AGV5, a piston rod of the air cylinder 221 is fixedly connected with the runway platform 4, and the pushing or pulling direction of the piston rod of the air cylinder 221 is parallel to the Y direction; the buffer positioning unit 23 comprises a buffer II 231 for buffering and decelerating and a proximity switch II 232 for detecting whether the AGV5 reaches the Y-direction set position, wherein the buffer II 231 and the proximity switch II 232 are both positioned on the positioning platform 21 on the same side of the advancing direction of the AGV 5; the cylinder 221 receives a signal sent by the proximity switch I131 and starts to push or pull the runway platform 4, so that the AGV5 moves in the Y direction, the buffer II 231 is used for buffering and decelerating the AGV5, the proximity switch II 232 is used for detecting whether the AGV5 reaches the Y direction set position, if the AGV5 reaches the Y direction set position, the proximity switch II 232 sends a signal to the cylinder 221 to control the cylinder 221 to stop running, and at the moment, the operation is started at an operation station at the position where the AGV5 is located.
The passing module 3 comprises a swing cylinder 31, a cylinder body of the swing cylinder 31 is fixed on the runway platform 4, and a piston rod of the swing cylinder 31 is fixed at one end part of the swing rod 121 far away from the AGV 5; the length direction of a piston rod of the swing cylinder 31 is perpendicular to the length direction of the swing rod 121; swing cylinder 31 drives the rotation of pendulum rod 121 and makes it be in and block and let go two kinds of states, the state of blockking of pendulum rod 121 is its and runway platform 4 parallel arrangement, and swing cylinder 31 drives the pendulum rod 121 rotatory when receiving the signal that above-mentioned operation station department sent for pendulum rod 121 is certain angle with runway platform 4, and pendulum rod 121 is in the state of letting go on that can let go to AGV5 this moment.
As shown in fig. 5 and 6, the lifting platform 6 includes an upper plate 61, a bottom plate 62, an infrared sensor ii 63 and a lifting unit 64, the upper plate 61 and the bottom plate 62 are fixedly connected by the lifting unit 64, and the infrared sensor ii 63 is disposed on the upper plate 61 beside the AGV5 in the forward direction after passing; the infrared inductor II 63 is used for detecting whether the AGV5 after passing reaches the designated area of the upper plate 61, and if the AGV5 reaches the designated area of the upper plate 61, a signal is sent to control the AGV5 to decelerate and stop, and the lifting unit 64 is controlled to lift or lower the upper plate 61, so that the AGV5 is driven to lift or lower to a position with a set height, and the AGV5 is controlled to continue to move forward along the guiding direction.
The lifting unit 64 comprises a supporting rod I6401, a supporting rod II 6402, a supporting rod III 6403 and a supporting rod IV 6404 which are equal in length; the middle point position of the support rod I6401 is fixedly connected with the middle point position of the support rod II 6402, and the support rod I6401 and the support rod II 6402 can rotate around the connecting shaft at the center points of the support rod I6401 and the support rod II 6402; the middle point position of the support rod III 6403 is fixedly connected with the middle point position of the support rod IV 6404, and the support rod III 6403 and the support rod IV 6404 can rotate around the connecting shaft at the center point; the top ends of the support rod I6401 and the support rod III 6403 are hinged and fixed on a sliding piece I6405, the top ends of the support rod II 6402 and the support rod IV 6404 are hinged and fixed on a sliding piece II 6406, one end parts of the sliding piece I6405 and the sliding piece II 6406 which are positioned on the same side can slide along the sliding bar I6407, and one end parts of the sliding piece I6405 and the sliding piece II 6406 which are positioned on the same side are fixed on the sliding bar I6407; the other end parts of the sliding piece I6405 and the sliding piece II 6406 which are positioned on the same side can slide along a sliding bar II 6408, and the other end parts of the sliding piece I6405 and the sliding piece II 6406 which are positioned on the same side are fixed on the sliding bar II 6408; the bottom ends of the support rod I6401 and the support rod III 6403 are hinged and fixed on the bottom plate 62, the bottom ends of the support rod II 6402 and the support rod IV 6404 are hinged and fixed on a slide sheet III 6409, two end parts of the slide sheet III 6409 are fixed on a slide bar III 6410 and a slide bar IV 6411 respectively, and the slide sheet III 6409 can slide along the slide bar III 6410 and the slide bar IV 6411; a screw 6412 penetrates through the middle position of the slide piece III 6409, one end of the screw 6412 is fixed on the base plate 62 through a bearing seat II 6413, the other end of the screw 6412 is fixed on an output shaft of a motor 6415 through a coupling II 6414, and the motor 6415 is fixed on the base plate 62; when infrared inductor II 63 detects AGV5 and arrives appointed area then send signal control AGV5 to slow down and stop to control motor 6414 rotation and drive gleitbretter III 6409 and slide, thereby raise or reduce upper plate 61, and then drive AGV5 and raise or reduce to the position of setting for the height.
The number of the X-direction positioning module 1, the Y-direction positioning module 2, the combination formed by the clearance module 3 and the runway platform 4 and the corresponding lifting platforms 6 can be multiple.
The infrared sensor I111 is fixed on the runway platform 4 through a support I112; the position of the proximity switch I131 on the swing rod 121 is adjustable; the binding surface between the swing rod 121 and the positioning plate 122 is finished; the piston rod of the cylinder 221 is fixedly connected with the runway platform 4 through a T-shaped connecting piece 222; the buffer II 231 and the proximity switch II 232 are both fixed on the positioning platform 21 through a bracket II 233; a piston rod of the swing cylinder 31 is fixedly connected with the swing rod 121 through a coupler I32 and a stepped shaft 33 in sequence; the stepped shaft 33 is fixed on the runway platform 4 through a bearing seat I34; the two sets of the passing module 3 and the deceleration positioning unit 12 are symmetrically arranged in the X direction, the two swing rods 121 in the two sets of the passing module 3 and the deceleration positioning unit 12 are in the same straight line, and the positioning plates 14 on the two swing rods 121 are arranged close to each other.
The fine machining process includes high precision grinding and precision cutting, such as diamond boring, precision turning, wide edge fine planing, etc. and depends on high precision and high rigidity machine tool and fine sharpening cutter to cut off very thin metal layer on the surface of workpiece at very high or very low cutting speed, very small depth and feed amount.
The operation of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 3, when the AGV5 travels along the runway platform 4 to the position of ir sensor i 111, the ir sensor i 111 senses that the AGV5 has reached the area and sends a signal to the AGV5 to control its deceleration; the AGV5 continues to move forward in a low-speed state, when the front portion of the AGV5 reaches the positioning plate 122, the buffer I123 between the positioning plate 122 and the swing rod 121 decelerates and buffers the AGV5, and when the proximity switch I131 detects that the swing rod 121 and the positioning plate 122 are attached to each other, a signal is sent to the AGV5 to control the AGV to stop moving forward, and meanwhile, the signal is sent to the air cylinder 221 to control the AGV to start working.
As shown in fig. 2 and 4, after receiving a signal sent by the proximity switch i 131, the cylinder 221 starts to push the runway platform 4 to move, so as to drive the AGV5 to displace in the Y direction; when the AGV5 reaches the designated position, the buffer II 231 performs buffer deceleration on the AGV5, and when the proximity switch II 232 detects that the AGV5 arrives, a signal is sent to the air cylinder 221 to control the air cylinder to stop running, and at the moment, the operation is started at the operation station.
After the work at the work station is finished, the station sends a signal to the swing cylinder 31 to control the swing rod 121 to rotate to release the AGV5, and then sends a signal to the AGV5 to control the AGV to move forwards.
After receiving the signal sent by the proximity switch ii 232, the swing cylinder 31 starts to rotate and drives the swing link 121 to turn from the blocking state to the releasing state, and when the swing link 121 is in the releasing state, the AGV5 receives the signal of the proximity switch ii 232 and starts to move forward continuously along the guiding direction.
As shown in fig. 7, after the AGV5 is released, the AGV5 travels to the upper plate 61 of the lifting platform 6, and when the infrared sensor ii 63 senses that the AGV5 reaches the area, the AGV5 is controlled to decelerate and stop by sending a signal, and the motor 6414 is controlled to rotate to drive the sliding piece iii 6406 to slide, so as to raise or lower the upper plate 61, and further drive the AGV5 to raise or lower to a position with a set height.
The number of the X-direction positioning modules 1, the Y-direction positioning modules 2, the combination formed by the clearance module 3 and the runway platform 4 and the corresponding lifting platforms 6 can be multiple; the plurality of X-direction positioning modules 1, Y-direction positioning modules 2, the combination of clearance modules 3 and runway platform 4, and the corresponding plurality of lifting platforms 5 are cooperatively connected with each other to form a route for guiding AGVs 5.
In summary, the present invention provides a mechanical positioning and releasing device for AGVs 5, which has high positioning accuracy for AGVs, and automatically releases AGVs after positioning and guides the AGVs to perform the next work, thereby achieving low cost and high cost performance.
Claims (3)
1. A high accuracy automatic positioning and guidance system for an AGV characterized in that includes the following parts:
the X-direction positioning module (1) is used for decelerating the AGV (5) which moves forwards along the X-direction guide, detecting whether the AGV (5) reaches a position set in the X-direction or not, if the AGV (5) reaches the position set in the X-direction, sending a signal to the AGV (5) to control the AGV to stop moving forwards, and sending a signal to the Y-direction positioning module (2) to control the Y-direction positioning module (2) to operate;
the Y-direction positioning module (2) is used for receiving a signal sent by the X-direction positioning module (1) to drive the runway platform (4) to move, so that the AGV (5) displaces in a direction vertical to the X direction, namely the Y direction, and reaches a position set in the Y direction; when the AGV (5) reaches the Y-direction set position, the Y-direction positioning module (2) stops driving the runway platform (4);
the releasing module (3) is used for releasing the AGV (5);
the runway platform (4) is used for bearing the AGV (5) and is used as a guide runway of the AGV (5);
the lifting platform (6) is used for stopping the released AGV (5) and lifting or lowering the released AGV (5) to a position with a set height;
the X-direction positioning module (1) and the passing module (3) are arranged on the runway platform (4), the Y-direction positioning module (2) is fixedly connected with the runway platform (4), and the lifting platform (6) is arranged close to the passing module (3);
the lifting platform (6) comprises an upper plate (61), a bottom plate (62), an infrared sensor II (63) and a lifting unit (64), the upper plate (61) and the bottom plate (62) are fixedly connected through the lifting unit (64), and the infrared sensor II (63) is arranged on the upper plate (61) beside the advancing direction after the AGV (5) is released; infrared inductor II (63) are used for detecting whether AGV (5) after letting pass reach the specified area of upper plate (61), if reach the specified area of upper plate (61) then send signal control AGV (5) to slow down and stop to control lift unit (64) to raise or reduce upper plate (61), thereby drive AGV (5) and raise or reduce to the position of setting for the height, and control AGV (5) continue to move ahead along the direction of guidance.
2. A high precision automatic positioning and guidance system for an AGV according to claim 1, characterized in that: the lifting unit (64) comprises a support rod I (6401), a support rod II (6402), a support rod III (6403) and a support rod IV (6404) which are equal in length; the middle point position of the support rod I (6401) is fixedly connected with the middle point position of the support rod II (6402), and the support rod I (6401) and the support rod II (6402) can rotate around the connecting shaft at the center points of the support rod I (6401) and the support rod II (6402); the middle point position of the support rod III (6403) is fixedly connected with the middle point position of the support rod IV (6404), and the support rod III (6403) and the support rod IV (6404) can rotate around the connecting shaft at the center point; the top ends of the support rod I (6401) and the support rod III (6403) are hinged and fixed on the sliding sheet I (6405), and the top ends of the support rod II (6402) and the support rod IV (6404) are hinged and fixed on the sliding sheet II (6406); one end parts of the sliding piece I (6405) and the sliding piece II (6406) which are positioned on the same side can slide along the sliding bar I (6407), and one end parts of the sliding piece I (6405) and the sliding piece II (6406) which are positioned on the same side are fixed on the sliding bar I (6407); the other end parts of the sliding piece I (6405) and the sliding piece II (6406) which are positioned on the same side can slide along the sliding bar II (6408), and the other end parts of the sliding piece I (6405) and the sliding piece II (6406) which are positioned on the same side are fixed on the sliding bar II (6408); the bottom ends of the support rod I (6401) and the support rod III (6403) are hinged and fixed on the bottom plate (62), the bottom ends of the support rod II (6402) and the support rod IV (6404) are hinged and fixed on a sliding piece III (6409), two end parts of the sliding piece III (6409) are respectively fixed on a sliding bar III (6410) and a sliding bar IV (6411), and the sliding piece III (6409) can slide along the sliding bar III (6410) and the sliding bar IV (6411); a screw rod (6412) penetrates through the middle position of the slide piece III (6409), one end of the screw rod (6412) is fixed on the bottom plate (62) through a bearing seat II (6413), the other end of the screw rod (6412) is fixed on an output shaft of a motor (6415) through a coupling II (6414), and the motor (6415) is fixed on the bottom plate (62); work as infrared inductor II (63) detect AGV (5) and arrive appointed area then send signal control AGV (5) to slow down and stop to control motor (6415) rotation drive gleitbretter III (6409) slide, thereby raise or reduce upper plate (61), and then drive AGV (5) and raise or reduce to the position of setting for the height.
3. A high precision automatic positioning and guidance system for an AGV according to claim 1, characterized in that: the X-direction positioning module (1), the Y-direction positioning module (2), the combination formed by the releasing module (3) and the runway platform (4) and the corresponding lifting platforms (6) can be arranged in a plurality.
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| CN202011597055.7A CN112748738B (en) | 2018-04-04 | 2018-04-04 | High-precision automatic positioning and guiding system for AGV |
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| CN201810295997.6A CN108628305B (en) | 2018-04-04 | 2018-04-04 | High-precision automatic positioning and guiding system for AGV |
| CN202011597055.7A CN112748738B (en) | 2018-04-04 | 2018-04-04 | High-precision automatic positioning and guiding system for AGV |
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| CN112455275B (en) * | 2019-09-06 | 2024-09-20 | 杭州海康机器人股份有限公司 | AGV positioning mechanism and positioning method |
| CN114637296B (en) * | 2022-03-16 | 2023-05-16 | 中铁二院工程集团有限责任公司 | Tracking control system and control method for PRT vehicle |
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| CN112748738B (en) | 2022-04-22 |
| CN108628305A (en) | 2018-10-09 |
| CN108628305B (en) | 2021-03-23 |
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