CN208827727U - A kind of laser head real-time leveling device of complex road surface AGV - Google Patents
A kind of laser head real-time leveling device of complex road surface AGV Download PDFInfo
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- CN208827727U CN208827727U CN201821553366.1U CN201821553366U CN208827727U CN 208827727 U CN208827727 U CN 208827727U CN 201821553366 U CN201821553366 U CN 201821553366U CN 208827727 U CN208827727 U CN 208827727U
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- laser head
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Abstract
The utility model relates to AGV technical fields, the laser head real-time leveling device of specifically a kind of complex road surface AGV, including pedestal, support rod is housed on pedestal, support bar top is equipped with laser head mounting plate, laser head is housed on laser head mounting plate, two sets of regulating devices are also equipped on pedestal, it is characterized in that: the regulating device includes the stepper motor being mounted on the base, the output end of stepper motor is equipped with worm type of reduction gearing, it is fixed on the worm screw of worm type of reduction gearing that ball rod is housed, ball, which is constituted, with laser head mounting plate at the top of ball rod connect；The support bar top is equipped with bulb, and bulb constitutes ball with laser head mounting plate and connect, and horizon sensor is housed on laser head mounting plate, is used to control the stepper motor of two sets of regulating devices on pedestal equipped with controller；The utility model makes to adapt to complex road surface using the AGV of laser navigation.
Description
Technical field
The utility model relates to AGV technical field, the laser head real-time leveling device of specifically a kind of complex road surface AGV.
Background technique
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to and be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function, is widely used, and generallys use the mode of laser navigation at present, and laser navigation is in AGV driving path
The accurate laser reflection plate of surrounding installation site, AGV emits laser beam by laser scanner, while acquiring by baffle reflection
Laser beam, to determine its current position and course, and the guiding of AGV is realized by continuous triangle geometric operation.This
Item technology biggest advantage is registration;Ground is not necessarily to other location facilities;Driving path can be flexible and changeable, can be suitble to
Various field environment;But it also have the shortcomings that one it is larger: to the more demanding of ground levelness, the AGV when ground out-of-flatness
In the process of walking, due to Uneven road, the laser that laser head issues and reflector out of plumb cause positioning accuracy to reduce.
Summary of the invention
The purpose of this utility model is exactly to solve the Laser navigation system of current AGV and be not suitable for asking for complicated ground
Topic, provides the laser head real-time leveling device of complex road surface AGV a kind of, enables AGV in complex road surface walking according to ground
Actual conditions adjust the level angle of laser head in real time, to improve navigation and positioning accuracy.
The concrete scheme of the utility model is: a kind of laser head real-time leveling device of complex road surface AGV, including pedestal,
Support rod is housed, support bar top is equipped with laser head mounting plate, and laser head is housed on laser head mounting plate, is gone back on pedestal on pedestal
Equipped with two sets of regulating devices, the regulating device includes the stepper motor being mounted on the base, and the output end of stepper motor is equipped with
Worm type of reduction gearing, it is fixed on the worm screw of worm type of reduction gearing that ball rod is housed, at the top of ball rod with laser head mounting plate
Constitute ball connection；The support bar top is equipped with bulb, and bulb constitutes ball with laser head mounting plate and connect, on laser head mounting plate
Equipped with horizon sensor, it is used to control the stepper motor of two sets of regulating devices on pedestal equipped with controller.
The bulb of support rod described in the utility model is located on the center line of laser head, two sets of regulating devices respectively with support
The line of bar is orthogonal.
The working principle of the utility model is as follows: reflector is placed near AGV vertically, horizontal in AGV walking process
Sensor real-time measurement goes out the inclination angle of laser head mounting plate with respect to the horizontal plane X-axis, Y-axis both direction, under horizontality, inclination angle
It is 0, not usually, inclination angle is that inclination data is passed to controller, controller real-time control by positive value or negative value, horizon sensor
The stepper motor movement of two sets of regulating devices makes telescopic rod adjust corresponding height value to opposite direction, until inclination angle reverts to 0.
The utility model has the advantage that compared with prior art makes AGV adapt to complex road surface, walks in complex road surface
When its positioning accuracy it is unaffected.
Detailed description of the invention
Fig. 1 is the three-dimensional view of the utility model；
Fig. 2 is the main view of Fig. 1；
Fig. 3 is the A-A view of Fig. 2；
Fig. 4 is the B-B view of Fig. 2；
In figure: 1- laser head, 2- laser head mounting plate, 3- ball rod, 4- stepper motor, 5- pedestal, 6- support rod, 61-
Bulb, 7- horizon sensor, 8- controller, 9- reflector.
Specific embodiment
Referring to Fig. 1-4, the present embodiment includes pedestal 5, and support rod 6 is housed on pedestal 5, laser head is housed at the top of support rod 6
Mounting plate 2 is equipped with laser head 1 on laser head mounting plate 2, is also equipped with two sets of regulating devices on pedestal 5, the regulating device includes
The output end of the stepper motor 4 being mounted on pedestal 5, stepper motor 4 is equipped with worm type of reduction gearing (not shown), worm gear
Fixed on the worm screw of worm reducer that ball rod 3 is housed, 3 top of ball rod constitutes ball with laser head mounting plate 2 and connect；The branch
Bulb 61 is housed, bulb 61 constitutes ball with laser head mounting plate 2 and connect, and passes on laser head mounting plate 2 equipped with horizontal at the top of strut 6
Sensor 7, is equipped with controller 8 on pedestal 5, and the stepper motor 4 of controller 8 and two sets regulating devices, which is constituted, to be electrically connected to control
They are acted, and stepper motor 4 drives worm screw lifting.
The bulb 61 of support rod 6 described in the present embodiment is located on the center line of laser head 1, two sets of regulating devices respectively with branch
The line of strut 6 is orthogonal.
The pedestal 5 of the present embodiment is mounted on AGV, laser head 1 emits laser and reflects by reflector 9 when AGV walks,
Calculator on AGV realizes the guiding of AGV by continuous triangle geometric operation, by adjusting laser head mounting plate 2 in real time
The angle of relative level guarantees the laser of the sending of laser head 1 always perpendicular to reflector 9.
Claims (2)
1. the laser head real-time leveling device of complex road surface AGV a kind of, including pedestal, support rod, support rod top are housed on pedestal
Portion is equipped with laser head mounting plate, and laser head is housed on laser head mounting plate, is also equipped with two sets of regulating devices, feature on pedestal
Be: the regulating device includes the stepper motor being mounted on the base, and the output end of stepper motor is equipped with worm type of reduction gearing,
It is fixed on the worm screw of worm type of reduction gearing that ball rod is housed, ball, which is constituted, with laser head mounting plate at the top of ball rod connect；It is described
Support bar top is equipped with bulb, and bulb constitutes ball with laser head mounting plate and connect, and horizon sensor is housed on laser head mounting plate,
It is used to control the stepper motor of two sets of regulating devices on pedestal equipped with controller.
2. the laser head real-time leveling device of a kind of complex road surface AGV according to claim 1, it is characterized in that: the branch
The bulb of strut is located on the center line of laser head, and two sets of regulating devices are orthogonal with the line of support rod respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821553366.1U CN208827727U (en) | 2018-09-22 | 2018-09-22 | A kind of laser head real-time leveling device of complex road surface AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821553366.1U CN208827727U (en) | 2018-09-22 | 2018-09-22 | A kind of laser head real-time leveling device of complex road surface AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208827727U true CN208827727U (en) | 2019-05-07 |
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ID=66316925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821553366.1U Active CN208827727U (en) | 2018-09-22 | 2018-09-22 | A kind of laser head real-time leveling device of complex road surface AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208827727U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111811367A (en) * | 2020-07-08 | 2020-10-23 | 惠州市筑成工程管理有限公司 | Supervision is with bituminous paving thickness monitoring device |
-
2018
- 2018-09-22 CN CN201821553366.1U patent/CN208827727U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111811367A (en) * | 2020-07-08 | 2020-10-23 | 惠州市筑成工程管理有限公司 | Supervision is with bituminous paving thickness monitoring device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Laser Head Real Time Leveling Device for AGV on Complex Road Surface Effective date of registration: 20230619 Granted publication date: 20190507 Pledgee: Bank of China Limited Huangshi Branch Pledgor: HUBEI SANFBOT CO.,LTD. Registration number: Y2023420000240 |