CN210063202U - Accurate positioning butt joint device of robot trolley - Google Patents
Accurate positioning butt joint device of robot trolley Download PDFInfo
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- CN210063202U CN210063202U CN201920581376.4U CN201920581376U CN210063202U CN 210063202 U CN210063202 U CN 210063202U CN 201920581376 U CN201920581376 U CN 201920581376U CN 210063202 U CN210063202 U CN 210063202U
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Abstract
The utility model belongs to the technical field of robots, and provides an accurate positioning and docking device of a robot trolley, which comprises a robot trolley chassis, a movable platform, a positioning guide mechanism and a positioning frame; the positioning guide mechanism comprises a guide wheel, a guide wheel bracket, a centering device, a guide bracket connecting plate and a guide rail pair; the two guide wheels are arranged on the guide wheel bracket, and the guide wheel bracket is connected with the movable platform through a guide bracket connecting plate; the centering device is connected with the movable platform and the trolley chassis to help the movable platform and the robot trolley chassis to be centered; the movable platform is connected with a trolley chassis of the robot trolley through the guide rail pair, and the movable platform can only move along the guide rail pair in the horizontal and vertical direction of the forward direction of the robot trolley; the positioning frame is arranged on a positioning object to be butted with the robot trolley and is provided with two positioning inclined planes and two positioning parallel planes, and the distance between the positioning inclined planes is greater than the distance between the positioning parallel planes.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a dolly of robot location interfacing apparatus.
Background
Mobile robots, such as AGV carts, are widely used for various material transfer operations, and most of the carts are driven by wheels or tracks to travel on the ground, and are limited by ground conditions and positioning technologies of wheel driving, so that millimeter-sized high-precision positioning docking control is difficult to realize, and even if the millimeter-sized high-precision positioning docking control can be realized, high cost is required. Therefore, the application of the robot trolley in high-precision material conveying is limited, and the popularization and the application of the robot trolley are hindered. Therefore, the utility model provides a can realize wheeled (applicable in the robot dolly of no track direction) robot dolly high accuracy positioner, solve the robot dolly millimeter level accurate positioning butt joint problem.
SUMMERY OF THE UTILITY MODEL
The utility model provides a precise positioning butt joint device of a robot trolley, which aims at the problems of high precise positioning cost and high requirement on ground conditions in the prior art, and is characterized in that the positioning device comprises a robot trolley chassis, a movable platform, a positioning guide mechanism and a positioning frame; the positioning guide mechanism comprises a guide wheel, a guide wheel bracket, a centering device, a guide bracket connecting plate and a guide rail pair; the two guide wheels are arranged on the guide wheel bracket, and the guide wheel bracket is connected with the movable platform through a guide bracket connecting plate; the centering device is connected with the movable platform and the trolley chassis to help the movable platform and the robot trolley chassis to be centered; the movable platform is connected with a trolley chassis of the robot trolley through the guide rail pair, and the movable platform can only move along the guide rail pair in the horizontal and vertical direction of the forward direction of the robot trolley; the positioning frame is arranged on a positioning object to be butted with the robot trolley and is provided with two positioning inclined planes and two positioning parallel planes, and the distance between the positioning inclined planes is greater than the distance between the positioning parallel planes.
Specifically, the centering device comprises centering springs and a spring fixing plate, the spring fixing plate is connected with the chassis of the trolley and is respectively connected with one ends of the two centering springs, the other ends of the two centering springs are respectively connected with the two guide support connecting plates, and the two centering springs are symmetrically arranged with the central axis of the chassis of the trolley.
Preferably, the guide rail pair adopts a ball guide rail, so that the movement resistance in the butt joint process can be reduced, and the butt joint is facilitated.
Preferably, the rigidity of the centering spring is adjusted according to the load on the movable platform, so that good butt joint performance can be guaranteed.
Preferably, a limiting device is installed on the trolley chassis, the movement of the movable platform is limited by the limiting device, and the limiting range is consistent with the coarse positioning range.
Specifically, the precise positioning error of the precise positioning butt joint device of the robot trolley is determined by the difference between the distance between two positioning parallel surfaces of the positioning frame and the circumscribed distance between two guide wheels of the robot trolley; the coarse positioning error L is determined by the vertical distance from the center line of the movable platform to the center line of the positioning frame when the guide wheel is tangent to the positioning inclined plane.
The utility model discloses a robot trolley accurate positioning butt joint mainly realizes the smooth butt joint of dolly and location object through the course of coarse positioning to the accurate positioning and the institutional advancement of locating rack, before realizing accurate butt joint location, the platform that moves of robot trolley keeps central symmetry state with the dolly chassis under the effect of centering spring. In the course of rough positioning, as shown in fig. 1, the robot trolley moves forwards until the guide wheel is positioned between the positioning inclined planes at the inlet of the positioning frame, the guide wheel is contacted with the positioning inclined plane at one side of the inlet of the positioning frame, and the positioning inclined plane generates lateral force to the guide wheel, so that the movable platform moves laterally towards the direction of reduced docking deviation, and at the moment, the chassis of the robot trolley only moves forwards without moving laterally; the positioning deviation is gradually reduced along with the forward movement of the robot trolley, until the two guide wheels enter the positioning parallel surface of the positioning frame, the lateral positioning of the movable platform of the robot trolley is completed, then the robot trolley continues to move forward, and when the chassis of the robot trolley contacts the forward positioning surface of the positioning object, the robot trolley stops moving to realize the accurate positioning butt joint of the robot trolley and the positioning object, as shown in the state of fig. 2.
The utility model provides an accurate positioning interfacing apparatus of robot dolly passes through the configuration optimization of location guiding mechanism and the assistance of locating rack, realizes the accurate positioning butt joint of robot dolly, and this kind of manufacturing cost who optimizes the structure is low relatively, and the butt joint is accurate, and is low to ground environment's requirement. As shown in fig. 1, as long as the requirement that the rough positioning error is smaller than L (L is the vertical distance from the center line of the movable platform to the center line of the positioning frame when the guide wheel is tangent to the positioning inclined plane) is met, the accurate butt joint of the robot trolley (movable platform) and the application object can be realized.
Drawings
Fig. 1 is a rough positioning state diagram of the precise positioning docking device of the robot trolley of the utility model;
FIG. 2 is a schematic view of the positioning and docking state of the precise positioning and docking device of the robot car of the present invention;
fig. 3 is a partial structural view of a precise positioning docking device of a robot cart according to an embodiment of the present invention;
fig. 4 is a schematic view of an installation structure of a positioning frame of the precise positioning docking device of the robot cart according to an embodiment of the present invention;
wherein: 1-a trolley chassis, 2-a movable platform, 3-a guide wheel, 4-a centering spring, 5-a spring fixing plate, 6-a guide wheel bracket, 7-a guide bracket connecting plate, 8-a guide rail pair, 9-a positioning frame, 91-a positioning inclined plane, 92-a positioning parallel plane, 10-a butt joint object and 11-a limiting device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 3-4, the precise positioning docking device of the robot trolley comprises a robot trolley chassis 1, a movable platform 2, a positioning guide mechanism and a positioning frame 9; the positioning guide mechanism comprises a guide wheel 3, a guide wheel bracket 6, a centering spring 4, a spring fixing plate 5, a guide bracket connecting plate 7 and a guide rail pair 8; the guide wheel 3 is arranged on the guide wheel bracket 3, and the guide wheel bracket 6 is connected with the movable platform 2 through a guide bracket connecting plate 7; the centering spring 4 and the spring fixing plate 5 are arranged on the guide wheel connecting plate 7, and play a role in helping the movable platform 2 to be centered with the trolley chassis 1 and keeping a middle position; the movable platform 2 is connected with a trolley chassis 1 of the robot trolley through a guide rail pair 8, the guide rail pair 8 restrains the movable platform 2 from moving only along the direction limited by the guide rail pair 8, namely, the movable platform 2 is only allowed to move along the horizontal vertical direction (shown as a direction a in figure 1) of the forward advancing direction of the robot trolley; the positioning frame 9 is arranged at the height that a positioning object 10 to be butted with the robot trolley can be contacted with the guide wheel, and the positioning inclined plane 91 of the positioning frame is a splayed inclined plane, so that the guide wheel can conveniently enter; the positioning frame positioning parallel surfaces 92 are two parallel guide surfaces, the two positioning parallel surfaces 92 are respectively contacted with the two guide wheels 3 to realize the accurate positioning of the robot trolley moving platform 2 and the butt joint object 10, and the coarse positioning error L is determined by the vertical distance from the moving platform center line to the positioning frame center line when the guide wheels are tangent with the positioning inclined plane. In the embodiment, the guide rail pair 8 adopts a ball guide rail, the movement of the movable platform 2 is limited by a limiting device 11, and the limiting device 11 is arranged on the chassis 1 of the trolley and is the limit of the movement of the movable platform 2 when the guide wheel bracket 6 of the trolley contacts the limiting device 11. The rigidity of the centering spring 4 is adjusted according to the load requirement of the movable platform 2, so that good butt joint performance is ensured.
When the robot trolley is used for blood sample transfer in an automatic assembly line of blood sample test, accurate transfer of blood samples among test devices can be realized. The blood detection sample to be transferred is placed on the movable platform 2 through the tray, and the steps of accurately positioning and butting the robot trolley and the butting object are as follows:
(1) the robot trolley moves to the front of an object to be butted, and the guide wheel 3 is positioned between the positioning inclined planes 91 at the inlet of the positioning frame;
(2) before butt joint, a movable platform 2 of the robot trolley keeps a centrosymmetric state with a trolley chassis 1 under the action of a centering spring 4;
(3) the robot trolley continues to move forwards, if the positions of the two guide wheels 3 are just between the extension lines of the positioning parallel planes 92, the coarse positioning process is not needed, and the step (5) is directly carried out;
(4) when the robot trolley continues to move forwards, the guide wheel 3 on one side is in contact with the positioning inclined plane 91 on one side of the positioning frame 9, the positioning inclined plane 91 generates lateral force on the guide wheel 3, so that the movable platform 2 moves laterally in the direction of reducing the butting deviation, at the moment, the chassis 1 of the robot trolley only moves forwards without moving laterally, the positioning deviation is gradually reduced along with the forward movement of the robot trolley until the two guide wheels 3 enter between the positioning parallel planes 92, and the rough positioning of the movable platform 2 of the robot trolley is completed;
(5) the robot trolley continues to advance, and when the chassis 1 of the robot trolley contacts the positioning object 10, the robot trolley stops moving to realize accurate positioning and butt joint;
(6) and after the butt joint positioning operation is completed, the robot trolley retreats, the guide wheel 3 is separated from the positioning frame 9, and the movable platform 2 of the robot trolley is centered under the action of the centering spring 4 and keeps a centrosymmetric state with the trolley chassis 1.
Claims (7)
1. The accurate positioning and butt-joint device of the robot trolley is characterized by comprising a robot trolley chassis, a movable platform, a positioning guide mechanism and a positioning frame; the positioning guide mechanism comprises a guide wheel, a guide wheel bracket, a centering device, a guide bracket connecting plate and a guide rail pair; the two guide wheels are arranged on the guide wheel bracket, and the guide wheel bracket is connected with the movable platform through a guide bracket connecting plate; the centering device is connected with the movable platform and the trolley chassis to help the movable platform and the robot trolley chassis to be centered; the movable platform is connected with a trolley chassis of the robot trolley through the guide rail pair, and the movable platform can only move along the guide rail pair in the horizontal and vertical direction of the forward direction of the robot trolley; the positioning frame is arranged on a positioning object to be butted with the robot trolley and is provided with two positioning inclined planes and two positioning parallel planes, and the distance between the positioning inclined planes is greater than the distance between the positioning parallel planes.
2. The precise positioning and docking device for robotic carts as claimed in claim 1 wherein the centering device is comprised of two centering springs and a spring retaining plate, the spring retaining plate is connected to the cart chassis and is connected to one end of each of the two centering springs, the other ends of the two centering springs are connected to the two guide bracket connecting plates, respectively, and the two centering springs are symmetrically disposed about the central axis of the cart chassis.
3. Accurate positioning docking device for robotic vehicles according to claim 2, characterized in that the stiffness of the centering spring is adapted to the load of the mobile platform.
4. A device for accurate positioning and docking of a robot trolley according to any of the claims 1-3, characterized in that the pair of guides is a ball guide.
5. A device for accurate positioning and docking of a robotic trolley according to claim 4 wherein the trolley chassis is provided with stop means and the movement of the mobile platform is limited by the stop means.
6. The precise positioning and docking device of a robot trolley according to any one of claims 1, 2, 3 and 5, wherein the precise positioning error of the precise positioning and docking device of the robot trolley is determined by the difference between the distance between two positioning parallel surfaces of the positioning frame and the circumscribed distance between two guide wheels of the robot trolley; the coarse positioning error L is determined by the vertical distance from the center line of the movable platform to the center line of the positioning frame when the guide wheel is tangent to the positioning inclined plane.
7. The apparatus of claim 6, wherein the carriage chassis is provided with a position-limiting device, and the movement of the movable platform is limited by the position-limiting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920581376.4U CN210063202U (en) | 2019-04-26 | 2019-04-26 | Accurate positioning butt joint device of robot trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920581376.4U CN210063202U (en) | 2019-04-26 | 2019-04-26 | Accurate positioning butt joint device of robot trolley |
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| CN210063202U true CN210063202U (en) | 2020-02-14 |
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| CN201920581376.4U Active CN210063202U (en) | 2019-04-26 | 2019-04-26 | Accurate positioning butt joint device of robot trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077491A (en) * | 2019-04-26 | 2019-08-02 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of the accurate positioning docking facilities and method of robot car |
| DE102022113529A1 (en) | 2022-05-30 | 2023-11-30 | Audi Aktiengesellschaft | Driverless transport system |
-
2019
- 2019-04-26 CN CN201920581376.4U patent/CN210063202U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077491A (en) * | 2019-04-26 | 2019-08-02 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of the accurate positioning docking facilities and method of robot car |
| DE102022113529A1 (en) | 2022-05-30 | 2023-11-30 | Audi Aktiengesellschaft | Driverless transport system |
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Address after: 518100 101, No.7, Nuclear Power Industrial Park, Fumin community, Fucheng street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Shenzhen ruizhijie Medical Technology Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: QIANHAI RUIZHIJIE AUTOMATION TECHNOLOGY (SHENZHEN) Co.,Ltd. |