CN113120799A

CN113120799A - Accurate positioner of AGV

Info

Publication number: CN113120799A
Application number: CN202110418541.6A
Authority: CN
Inventors: 周洋洋; 张魏魏
Original assignee: Hefei Hagong Kuxun Intelligent Technology Co ltd
Current assignee: Hefei Hagong Kuxun Intelligent Technology Co ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-07-16

Abstract

The invention discloses an AGV accurate positioning device, and relates to the technical field of logistics transportation. The invention discloses an AGV accurate positioning device which comprises an equipment frame, wherein the equipment frame comprises a first equipment frame and a second equipment frame, the first equipment frame and the second equipment frame are arranged in parallel in an opposite mode, an outwards expanded guide block is arranged on the equipment frame, a lifting mechanism is arranged on the upper portion of an upper cross beam of the equipment frame, and the lifting mechanism is used for lifting an AGV trolley. The horizontal positioning of the AGV trolley is completed by the equipment frame, and the lifting mechanism can lift the AGV trolley to complete the positioning in the vertical direction, so that the AGV trolley, the robot and the automatic equipment are accurately butted. The AGV has the advantages of simple structure, high precision, no need of changing the AGV, and low manufacturing cost.

Description

Accurate positioner of AGV

Technical Field

The invention mainly relates to the technical field of logistics transportation, in particular to an AGV accurate positioning device.

Background

With the development of society, logistics systems are increasingly automated and intelligent. In the current logistics sorting and transportation operation, a large number of agvs (automated Guided vehicles), which are abbreviated as "automated Guided vehicles", are required, and the automated Guided vehicles are transportation vehicles capable of traveling along a predetermined guide path, and have safety protection and various transfer functions.

AGVs have been invented for 60 years, and their kinds and forms have become various as the application field expands. AGVs are often classified into the following types according to the navigation mode during automatic travel of the AGVs:

1. electromagnetic induction guided AGV

Generally, in the electromagnetic induction type guidance, electric wires are buried along a preset running path on the ground, when high-frequency current flows through the wires, an electromagnetic field is generated around the wires, two electromagnetic inductors are symmetrically installed on the AGV from left to right, and the intensity difference of electromagnetic signals received by the two electromagnetic inductors can reflect the deviation degree of the AGV from the path. The automatic control system of the AGV controls the steering of the vehicle according to the deviation, and the continuous dynamic closed-loop control can ensure that the AGV can stably and automatically track the set path. The electromagnetic induction guided navigation method is used for most commercialized AGVS, and is especially suitable for large and medium-sized AGVs.

2. Laser guidance type AGV

Install rotatable laser scanner on this kind of AGV, install the laser positioning mark of high reflectivity reflecting plate on the wall or the pillar along the moving path, AGV relies on laser scanner transmission laser beam, then accepts the laser beam by the position mark reflection all around back, and the on-vehicle computer calculates the current position of vehicle and the direction of motion, and the position is rectified through contrasting with built-in digital map to realize automatic handling.

The use of such AGVs is becoming more common. And according to the same guide principle, if change laser scanner for infrared transmitter, or ultrasonic emitter, then laser guided AGV can become infrared guided AGV and ultrasonic guided AGV.

3. Vision-guided AGV

The visual guidance type AGV is an AGV which is rapidly developing and maturing, a CCD camera and a sensor are arranged on the AGV, and an image database of the surrounding environment of the path to be traveled by the AGV is arranged in an on-board computer. In the running process of the AGV, the camera dynamically acquires image information of the surrounding environment of the vehicle and compares the image information with the image database, so that the current position is determined and a decision is made on the next step of running.

The AGV has the best guidance flexibility in theory because the AGV does not require any physical path set by people, and the practicability of the AGV is stronger and stronger along with the rapid development of computer image acquisition, storage and processing technology.

In addition, there are also AGVs of various types such as a ferromagnetic gyro inertial guidance type AGV and an optical guidance type AGV.

The AGV has a wide application range and can be used in the storage industry, the manufacturing industry, the post office, the library, the wharfs and airports, the tobacco industry, the medicine industry, the food industry, the chemical industry, dangerous places and the special industry.

The warehousing industry was the first place to apply AGVs. In 1954, the first AGV in the world was put into operation in the warehouse of Mercury Motor Freight corporation in South Carolina, usa, for realizing automatic handling of warehoused goods. There are about 2 thousand AGVs in the world operating in 2100 large and small warehouses. In a development area stereoscopic warehouse which is put into production and operated in 2000 by Haier group, 9 AGVs form a flexible in-warehouse automatic conveying system, and the task of conveying goods and parts in and out of the warehouse every day 23400 is successfully completed.

The AGV has great physical significance in the production line of the manufacturing industry, and can efficiently, accurately and flexibly complete the material carrying task. And can constitute flexible commodity circulation handling system by many AGV, the transport route can in time be adjusted along with the adjustment of production technology flow, makes and can produce dozens of products on a production line, has improved the flexibility of production and the competitiveness of enterprise greatly. In 1974, in order to improve the flexibility of a transportation system, a Volvo Kalman car assembly factory in Sweden adopts an automatic car assembly line based on AGVS as a carrying tool, the assembly line consists of a plurality of AGVS capable of loading car bodies, and after the assembly line is adopted, the assembly time is reduced by 20%, the assembly failure is reduced by 39%, the investment recovery time is reduced by 57%, and the labor force is reduced by 5%. AGVs are commonly used in the manufacturing and assembly lines of major automotive plants in the world, such as general, toyota, klebsiler, mass, and the like.

In recent years, as a basic transport tool of CIMS, AGVs are applied to multiple industries such as machining, home appliance production, microelectronic manufacturing, and cigarettes, and the production and processing field is the most widely applied field of AGVs.

In the occasions such as post offices, libraries, docks and airports, the characteristics of large workload change, strong dynamic property, frequent adjustment of operation flows, single transportation operation process and the like exist in the transportation of articles, and the characteristics of parallel operation, automation, intellectualization and flexibility of the AGV can well meet the transportation requirements of the occasions. The handling of mail items was completed by using AGVs starting at the post office of gmo da in 1983, the multi-mole post office of tokyo in 1988 in japan, and the post office of shanghai in 1990 in china. At the port of the deer porter, the netherlands, 50 AGVs called "yard conveyors" perform the repetitive task of shipping containers from the ship to a warehouse that is hundreds of yards away.

The application of the AGV is also regarded as important in industries such as tobacco, medicine, food, chemical industry and the like where the handling operation has special requirements of cleanness, safety, no emission pollution and the like. In many domestic cigarette enterprises, such as the Yizhong Qingdao group, the Yuxi Hongta group, the Honghe cigarette factory and the Huaiyin cigarette factory, laser-guided AGV is used for completing the transportation work of tray goods.

In military affairs, other detection and disassembly equipment are integrated on the basis of automatic driving of the AGV, the AGV can be used for battlefield mine clearance and formation reconnaissance, and the MINDER Recce developed by the military in the UK is a reconnaissance vehicle which is an automatic reconnaissance vehicle with the capabilities of mine detection, destruction and route verification. In a steel plant, the AGV is used for conveying furnace burden, so that the labor intensity of workers is reduced. In nuclear power stations and places where nuclear radiation is used for freshness preservation storage, the AGV is used for transporting articles, and dangerous radiation is avoided. In film and film warehouses, the AGV can accurately and reliably transport materials and semi-finished products in a dark environment.

The intelligent logistics is a future trend, automatic interaction between the AGV and automatic equipment such as a robot is inevitable, but the positioning accuracy of the AGV is low, certain errors still exist by means of the positioning means of the AGV, and the accuracy requirement of butt joint with the robot and the automatic equipment cannot be met frequently. There is therefore a need for a device that can achieve accurate positioning of an AGV.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to solve the problem that the repeated positioning of an AGV trolley is not accurate in the prior art, and provides an AGV accurate positioning device which comprises an equipment frame, wherein the equipment frame comprises a first equipment frame and a second equipment frame, the first equipment frame and the second equipment frame are arranged in parallel and oppositely, a guide block which is expanded outwards is arranged on the equipment frame, and a lifting mechanism is arranged at the upper part of an upper cross beam of the equipment frame and used for lifting the AGV trolley. The horizontal positioning of the AGV trolley is completed by the equipment frame, and the lifting mechanism can lift the AGV trolley to complete the positioning in the vertical direction, so that the AGV trolley, the robot and the automatic equipment are accurately butted. This structure can set up the place in needs location, simple structure, and the accuracy is high, need not to change the AGV dolly, and the stability and the replaceability of device are very strong simultaneously.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the AGV accurate positioning device comprises an equipment frame, wherein the equipment frame comprises a first equipment frame and a second equipment frame, the first equipment frame and the second equipment frame are arranged in parallel in an opposite direction, and the distance between the first equipment frame and the second equipment frame is the distance between outer circumference far points of guide wheels of the AGV;

the guide block is arranged at the end part of the upper beam of the equipment frame, and the guide block arranged on the first equipment frame and the guide block arranged on the second equipment frame form an outward-expanding structure;

the upper part of the upper cross beam is provided with a lifting mechanism, the lifting mechanism is used for lifting an AGV, the lifting mechanism comprises a first lifting mechanism and a second lifting mechanism, the first lifting mechanism is arranged on the upper part of the first equipment frame, and the second lifting mechanism is arranged on the upper part of the second equipment frame; the lifting mechanism comprises a lifting cylinder, a supporting seat and a lifting seat, the lifting cylinder is arranged on the equipment frame, the lifting cylinder adopts the same air source, a piston rod is arranged on a piston of the lifting cylinder, and the piston rod is connected with the middle part of the lifting seat; two ends of the lifting seat are respectively provided with a supporting seat.

The horizontal positioning of the AGV trolley is completed by the equipment frame, the AGV trolley can be lifted by the lifting mechanism, the positioning in the vertical direction is completed, and the AGV trolley is accurately butted with the robot and the automatic equipment.

As a further improvement of the invention, the device also comprises a mechanical positioning mechanism, wherein the mechanical positioning mechanism is arranged on the outer side of the upper beam of the equipment frame, the mechanical positioning mechanism comprises a cushion block cylinder and a cushion block, the cushion block cylinder is horizontally arranged on the outer side between the lifting seat and the equipment frame, the cushion block cylinder drives the cushion block to move, and the cushion block is provided with an opening capable of accommodating the piston rod. Accurate vertical mechanical positioning is realized after the cushion blocks are plugged in, and errors possibly caused by cylinder positioning are overcome.

As a further improvement of the invention, a floating joint seat is arranged below the joint of the piston rod and the lifting seat, and the cushion block is positioned at the lower part of the floating joint seat when being inserted. The floating joint seat can be stably matched with the cushion block.

As a further improvement of the invention, the supporting seat arranged on the first lifting mechanism comprises a first supporting seat and a second supporting seat, the second supporting seat is arranged at the rear side, and a first positioning pin is arranged above the second supporting seat;

the supporting seat that sets up on the second lifting mechanism includes third supporting seat and fourth supporting seat, and in the front side be the third supporting seat, the top of third supporting seat is provided with the second locating pin.

The first lifting mechanism and the second lifting mechanism are provided with the positioning pins in a non-opposite direction, so that the positioning in the horizontal direction in the lifting process can be effectively realized.

As a further improvement of the invention, the first locating pin is prismatic and the second locating pin is cylindrical.

As a further improvement of the invention, chamfers are machined on the tops of the first positioning pin and the second positioning pin. Namely, a certain slope is formed, so that small-range errors of the AGV during parking can be corrected, and the final positioning is accurate.

As a further improvement of the invention, a vertical limiting mechanism is also arranged on the equipment frame, and consists of a linear bearing and a guide shaft; a linear bearing is arranged on the equipment frame, a guide shaft is arranged in the linear bearing, and the top of the guide shaft is connected with a lifting seat;

2 guide shafts are arranged below each lifting seat and are respectively arranged at the lower parts of the two ends of each lifting seat.

Vertical stop gear guarantees the stability of the vertical direction motion of seat of lifting, prevents unbalancing.

As a further improvement of the invention, a stop block is arranged at the tail part of an upper beam of the equipment frame and is vertically arranged; and/or arranging wear-resistant strips on the inner side of the upper beam of the equipment frame. Wear-resisting strip adopts harder but comparatively smooth material, for example polyamide nylon, adopts harder material can optimize the location effect on the one hand, prevents that AGV dolly from producing and rocking, and the smooth material of on the other hand can prevent the wearing and tearing of leading wheel.

As a further improvement of the invention, the lower part of the equipment frame is provided with an adjustable fixed foot. The height of the equipment frame can be adjusted by the adjustable fixing anchor, so that the adjustable fixing anchor is suitable for different working environments.

As a further improvement of the invention, the device also comprises a first proximity switch and a second proximity switch, wherein the first proximity switch detects the horizontal position of the AGV trolley, and the second proximity switch detects the vertical position of the AGV trolley. And errors in the working process and damage to the AGV are avoided.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

the invention discloses an AGV accurate positioning device which comprises an equipment frame, wherein the equipment frame comprises a first equipment frame and a second equipment frame, the first equipment frame and the second equipment frame are arranged in parallel in an opposite mode, an outwards expanded guide block is arranged on the equipment frame, a lifting mechanism is arranged on the upper portion of an upper cross beam of the equipment frame, and the lifting mechanism is used for lifting an AGV trolley. The horizontal positioning of the AGV trolley is completed by the equipment frame, and the lifting mechanism can lift the AGV trolley to complete the positioning in the vertical direction, so that the AGV trolley, the robot and the automatic equipment are accurately butted. The AGV has the advantages of simple structure, high precision, no need of changing the AGV, and low manufacturing cost.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a left side view of the present invention;

fig. 3 is a top view of the present invention.

The reference numerals in the schematic drawings illustrate:

1. an equipment frame; 1-1, a first equipment frame; 1-2, a second equipment frame; 2. a guide block; 3. the ground feet are fixed in an adjustable mode; 4. a lifting cylinder; 4-1, a first lifting cylinder; 4-2, a second lifting cylinder; 5. a cushion block cylinder; 6. a first positioning pin; 7. a second positioning pin; 8. a first proximity switch; 9. a second proximity switch; 9-1, a second proximity switch A; 9-2, a second proximity switch B; 10. wear resistant strips; 11. a blocking block; 12. a supporting seat; 12-1, a first supporting seat; 12-2, a second support seat; 12-3, a third supporting seat; 12-4, a fourth supporting seat; 13. a floating joint seat; 14. cushion blocks; 15. and lifting the seat.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. In addition, the terms "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical changes.

The present invention will be further described with reference to the following examples.

Example 1

Referring to fig. 1 and 2, the AGV accurate positioning device of this embodiment includes an equipment frame 1, the equipment frame 1 includes a first equipment frame 1-1 and a second equipment frame 1-2, the first equipment frame 1-1 and the second equipment frame 1-2 are oppositely disposed, the equipment frame 1 is fixed to a bottom surface through a ground pin, a guide block 2 is disposed on the equipment frame 1, the guide block 2 disposed on the first equipment frame 1-1 and the guide block 2 disposed on the second equipment frame 1-2 form an outward-expanding structure, and a rear end of the guide block 2 is connected to an upper beam of the equipment frame 1. The first equipment frame 1-1 and the second equipment frame 1-2 are arranged in parallel, and the distance between the first equipment frame 1-1 and the second equipment frame 1-2 is the distance between the outer circumference far points of the AGV trolley guide wheels.

And a lifting mechanism is arranged on the upper part of the upper cross beam and used for lifting the AGV trolley, the lifting mechanisms are respectively arranged on the upper parts of the first equipment frame 1-1 and the second equipment frame 1-2, the first lifting mechanism is arranged on the upper part of the first equipment frame 1-1, and the second lifting mechanism is arranged on the upper part of the second equipment frame 1-2. The lifting mechanism comprises a lifting cylinder 4, a supporting seat 12 and a lifting seat 15, the lifting cylinder 4 is installed on the equipment frame 1, a piston rod is arranged on a piston of the lifting cylinder 4, and the piston rod is connected with the lifting seat 15. Preferably, the piston rod is connected to the middle of the lifting seat 15. One support seat 12 is provided at each end of the lifting seat 15, and the top surface of the support seat 12 is preferably circular.

Referring to fig. 2 and 3, the front side is a side close to the guide block 2 along the equipment frame 1, the rear side is a side far from the guide block 2 along the equipment frame 1, the support base 12 disposed on the first lifting mechanism includes a first support base 12-1 and a second support base 12-2, the rear side is the second support base 12-2, and the first positioning pin 6 is disposed above the second support base 12-2. The supporting seat 12 arranged on the second lifting mechanism comprises a third supporting seat 12-3 and a fourth supporting seat 12-4, the third supporting seat 12-3 is arranged on the front side, and a second positioning pin 7 is arranged above the third supporting seat 12-3. That is, the first lifting mechanism and the second lifting mechanism are provided with positioning pins in a non-opposing manner. Preferably, the first positioning pin 6 is prism-shaped, and the second positioning pin 7 is cylindrical and is respectively matched with a diamond hole and a circular hole at the bottom of the AGV. Preferably, chamfers are machined at the tops of the first positioning pin 6 and the second positioning pin 7, namely certain slopes are formed, so that small-range errors of the AGV during parking can be corrected, and the final positioning is accurate. It should be noted that the tops of the first and second alignment pins 6, 7 are initially below the chassis height of the AGV. Preferably, the top surface of the support base 12 is more circular than the diamond and circular holes in the bottom of the AGV.

Preferably, the equipment frame 1 is further provided with a vertical limiting mechanism, the vertical limiting mechanism can be composed of a linear bearing and a guide shaft, the linear bearing is arranged on the equipment frame 1, the guide shaft is arranged in the linear bearing, and the top of the guide shaft is connected with the lifting seat 15. Preferably, 2 guide shafts are arranged below each lifting seat 15, and 1 guide shaft is connected to the lower part of each of the two ends of the lifting seat 15. This ensures the stability of the lifting base 15 during vertical movements.

The working process of this embodiment is as follows, is provided with two leading wheels in the outside of AGV dolly, and the leading wheel setting is in the both sides of AGV dolly, and the leading wheel can the horizontal rotation. When the AGV dolly goes to the accurate positioner of AGV, its leading wheel contacts guide block 2 back, under the guide effect of guide block 2, the AGV dolly drives into the accurate positioner of AGV. And then, the guide wheels of the AGV trolley are contacted with the side surfaces of the upper cross beam, and because the distance between the first equipment frame 1-1 and the second equipment frame 1-2 is the distance between the outer circumference far points of the guide wheels of the AGV trolley, the guide wheels of the AGV trolley are fixed by the upper cross beam of the first equipment frame 1-1 and the upper cross beam of the second equipment frame 1-2, namely the positioning of the AGV trolley in the horizontal direction is realized.

After the deceleration and parking signals are detected, the AGV trolley stops, then the lifting mechanism works, preferably, the first lifting air cylinder 4-1 arranged on the first equipment frame 1-1 and the second lifting air cylinder 4-2 arranged on the second equipment frame 1-2 adopt the same air source for air supply and the same control system, and therefore the lifting heights of the first lifting air cylinder 4-1 and the second lifting air cylinder 4-2 can be guaranteed to be consistent. The piston of the lifting cylinder 4 moves, the lifting seat 15 is lifted through the piston rod, so that the supporting seat 12 on the lifting seat is lifted simultaneously, the first supporting seat 12-1 and the second supporting seat 12-2 support the chassis of the AGV, and meanwhile, the first positioning pin 6 arranged on the second supporting seat 12-2 is inserted into a corresponding hole of the chassis of the AGV; meanwhile, the third supporting seat 12-3 and the fourth supporting seat 12-4 support the chassis of the AGV, and meanwhile, the second positioning pin 7 arranged on the third supporting seat 12-3 is inserted into a corresponding hole of the chassis of the AGV. The lifting of the AGV trolley is completed, then the lifting mechanism continues to work, the lifting mechanism stops working after lifting to a certain position, the AGV trolley is lifted, and the AGV trolley completes the positioning of the vertical position. The AGV dolly carries out goods operation, can get goods or put goods, and the goods mechanism of getting or put goods mechanism can accurately get goods or place goods from the dolly according to predetermined settlement.

After the steps are completed, the lifting mechanism descends, the AGV trolley descends, and the lifting mechanism continues to descend after contacting the ground, so that the supporting seat 12 is separated from the AGV trolley. The AGV trolley then drives off the AGV accurate positioning device.

Example 2

Referring to fig. 1 and 2, the basic structure of an AGV accurate positioning device of this embodiment is the same as that of embodiment 1, but it further includes an accurate front-rear positioning mechanism and a positioning detection mechanism.

A stop block 11 is arranged at the tail part of an upper beam of the equipment frame 1, the stop block 11 is vertically arranged, and the stop block 11 is used for limiting the forward movement of a guide wheel of the AGV trolley. After the AGV trolley receives the deceleration and parking signals, certain errors exist in the movement of the AGV trolley, and the AGV trolley can be accurately parked by contacting the guide wheels with the stop blocks 11.

The stop block 11 may be made of a relatively soft material, such as polyurethane, which prevents damage to the guide wheel during impact.

Specifically, a first stopper is provided at the tail of the upper beam of the first device frame 1-1, and a second stopper is provided at the tail of the upper beam of the second device frame 1-2. The first stop block and the second stop block are opposite in position.

Referring to fig. 1, preferably, wear strips 10 are arranged on the inner side of the upper beam of the equipment frame 1, and preferably, the wear strips 10 are made of harder but smoother materials, such as polyamide/nylon, so that the harder materials can optimize the positioning effect and prevent the AGV trolley from shaking, and the smoother materials can prevent the guide wheels from being worn. Preferably, wear strips 10 can be dismantled, be convenient for change different wear strips 10, and simultaneously, the thickness of different wear strips 10 also can adapt to different AGV dollies.

Preferably, the lower part of the equipment frame 1 is provided with adjustable fixed feet 3, the lower part of the first equipment frame 1-1 is provided with at least 2 adjustable fixed feet 3, and the lower part of the second equipment frame 1-2 is also provided with at least 2 adjustable fixed feet 3. The height of the equipment frame 1 can be adjusted by the adjustable fixing feet 3, so that the adjustable fixing feet can adapt to different working environments.

Referring to fig. 1, preferably, the AGV fine positioning device further includes a first proximity switch 8 and a second proximity switch 9. The first proximity switch 8 and the second proximity switch 9 are disposed on the equipment frame 1, and may be disposed on the same equipment frame 1, that is, on the first equipment frame 1-1 or the second equipment frame 1-2, or may be disposed on the first equipment frame 1-1 and the second equipment frame 1-2, respectively. Preferably, the first proximity switch 8 is provided at the rear of the second device frame 1-2.

Preferably, the second proximity switch 9 comprises a second proximity switch A9-1 and a second proximity switch B9-2, the second proximity switch A9-1 is arranged at the tail of the first equipment frame 1-1, and the second proximity switch B9-2 is arranged at the head of the second equipment frame 1-2, namely, the arrangement position of the second proximity switch is consistent with the arrangement position of the positioning pins, so that the vertical position of the AGV trolley can be better detected.

The working process of this embodiment is as follows, when the AGV dolly traveles to the accurate positioner of AGV, its leading wheel contacts behind the guide block 2, under the guide effect of guide block 2, the AGV dolly drives into the accurate positioner of AGV. Then, the guide wheels of the AGV trolley contact with the wear-resistant strips 10 arranged on the upper beam, and the guide wheels of the AGV trolley are fixed by the wear-resistant strips 10 of the upper beam of the first equipment frame 1-1 and the wear-resistant strips 10 of the upper beam of the second equipment frame 1-2, namely, the positioning of the AGV trolley in the horizontal direction is realized.

After detecting the deceleration and stop signals, the AGV decelerates and touches the stop block 11, after the first proximity switch 8 detects that the AGV is in place, the AGV stops, and then the lifting mechanism works. The piston of the lifting cylinder 4 moves, the lifting seat 15 is lifted through the piston rod, so that the supporting seat 12 on the lifting seat is lifted simultaneously, the first supporting seat 12-1 and the second supporting seat 12-2 support the chassis of the AGV, and meanwhile, the first positioning pin 6 arranged on the second supporting seat 12-2 is inserted into a corresponding hole of the chassis of the AGV; meanwhile, the third supporting seat 12-3 and the fourth supporting seat 12-4 support the chassis of the AGV, and meanwhile, the second positioning pin 7 arranged on the third supporting seat 12-3 is inserted into a corresponding hole of the chassis of the AGV. The AGV has the advantages that the AGV can be lifted, then the lifting mechanism continues to work, the lifting mechanism stops working after lifting to a certain position, the AGV lifts, and after the vertical position of the AGV is detected by the second proximity switch 9, the AGV completes positioning of the vertical position. If the second proximity switch 9 does not detect an AGV, indicating that the locating pin is not inserted and the position of the AGV is too high, the system alarms and stops working.

Example 3

Referring to fig. 1 and 3, the AGV precision positioning device of this embodiment has the same basic structure as that of embodiment 1 or embodiment 2, but includes a mechanical positioning mechanism including a pad cylinder 5 and a pad 14. Different vertical height positioning can be achieved by adjusting the cushion block 14.

Preferably, the mechanical positioning mechanism further comprises a guide rail and a sliding plate, the guide rail is arranged below the cushion block 14, and the sliding plate is arranged on two sides of the cushion block 14. The spacer 14 is provided with an opening in which the piston rod can be received in the spacer 14.

Preferably, a floating joint seat 13 is arranged below the joint of the piston rod and the lifting seat 15, and the floating joint seat 13 can be placed on the upper part of the cushion block 14 when the cushion block 14 extends in.

After detecting the deceleration and stop signals, the AGV decelerates and touches the stop block 11, after the first proximity switch 8 detects that the AGV is in place, the AGV stops, and then the lifting mechanism works. The piston of the lifting cylinder 4 moves, the lifting seat 15 is lifted through the piston rod, so that the supporting seat 12 on the lifting seat is lifted simultaneously, the first supporting seat 12-1 and the second supporting seat 12-2 support the chassis of the AGV, and meanwhile, the first positioning pin 6 arranged on the second supporting seat 12-2 is inserted into a corresponding hole of the chassis of the AGV; meanwhile, the third supporting seat 12-3 and the fourth supporting seat 12-4 support the chassis of the AGV, and meanwhile, the second positioning pin 7 arranged on the third supporting seat 12-3 is inserted into a corresponding hole of the chassis of the AGV. Therefore, the AGV trolley is supported, then the lifting mechanism continues to work, stops working after being lifted to a certain position, the AGV trolley is lifted, and the second proximity switch 9 detects the vertical position of the AGV trolley. If the second proximity switch 9 does not detect an AGV, indicating that the locating pin is not inserted and the position of the AGV is too high, the system alarms and stops working.

And then after a magnetic switch of the lifting cylinder 4 detects that the cylinder is lifted in place, the cushion block cylinder 5 extends out, and a cushion block 14 is plugged below the floating joint seat 13. After the magnetic switch of the cushion block air cylinder 5 detects that the cushion block 14 is stretched out to be in place, the lifting air cylinder 4 falls down, after the AGV trolley is butted with the robot and the automation equipment, the lifting air cylinder 4 rises to lift the AGV trolley, and after the magnetic switch of the lifting air cylinder 4 detects that the air cylinder is lifted to be in place, the cushion block air cylinder 5 retracts to pull the cushion block 14 away from the floating joint seat 13. After the magnetic switch of the cushion block air cylinder 5 detects that the air cylinder retracts, the lifting air cylinder 4 falls down, the AGV trolley descends, and the lifting mechanism continues to descend after contacting the ground, so that the supporting seat 12 is separated from the AGV trolley. After the magnetic switch of the lifting cylinder 4 detects that the AGV descends to the right position, the AGV trolley drives away from the AGV accurate positioning device.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. The utility model provides an accurate positioner of AGV which characterized in that: the AGV comprises an equipment frame, wherein the equipment frame comprises a first equipment frame and a second equipment frame, the first equipment frame and the second equipment frame are arranged in parallel in an opposite direction, and the distance between the first equipment frame and the second equipment frame is the distance between outer circumference far points of guide wheels of the AGV;

the guide block is arranged at the end part of the upper cross beam of the equipment frame, and the guide block arranged on the first equipment frame and the guide block arranged on the second equipment frame form an outward expansion structure;

2. An AGV accurate positioning apparatus according to claim 1, wherein: still include mechanical positioning mechanism, mechanical positioning mechanism sets up the outside of the upper beam of equipment frame, mechanical positioning mechanism includes cushion cylinder and cushion, cushion cylinder level sets up lift the seat with outside between the equipment frame, the cushion cylinder drives the cushion removes, the cushion is provided with one and can holds the opening of piston rod.

3. An AGV accurate positioning apparatus according to claim 2, wherein: and a floating joint seat is arranged below the joint of the piston rod and the lifting seat, and the cushion block is positioned at the lower part of the floating joint seat when extending into the floating joint seat.

4. An AGV accurate positioning apparatus according to claim 1, wherein: the supporting seat arranged on the first lifting mechanism comprises a first supporting seat and a second supporting seat, the second supporting seat is arranged on the rear side, and a first positioning pin is arranged above the second supporting seat;

the supporting seat comprises a third supporting seat and a fourth supporting seat, the front side of the supporting seat is provided with the third supporting seat, and a second positioning pin is arranged above the third supporting seat.

5. An AGV accurate positioning apparatus according to claim 4, wherein: the first positioning pin is prism-shaped, and the second positioning pin is cylindrical.

6. An AGV accurate positioning apparatus according to claim 5, wherein: and chamfers are machined at the tops of the first positioning pin and the second positioning pin.

7. An AGV accurate positioning apparatus according to claim 1, wherein: the equipment frame is also provided with a vertical limiting mechanism, and the vertical limiting mechanism consists of a linear bearing and a guide shaft; the linear bearing is arranged on the equipment frame, the guide shaft is arranged in the linear bearing, and the top of the guide shaft is connected with the lifting seat;

and 2 guide shafts are arranged below each lifting seat and are respectively arranged at the lower parts of two ends of each lifting seat.

8. An AGV accurate positioning apparatus according to claim 1, wherein: a blocking block is arranged at the tail part of the upper beam of the equipment frame and is vertically arranged; and/or arranging wear-resistant strips on the inner side of the upper beam of the equipment frame.

9. An AGV accurate positioning apparatus according to claim 1, wherein: the lower part of the equipment frame is provided with an adjustable fixed anchor.

10. An AGV accurate positioning apparatus according to claim 1, wherein: still include first proximity switch and second proximity switch, first proximity switch detects AGV dolly horizontal position, second proximity switch detects AGV dolly vertical position.