CN212500730U

CN212500730U - Trucks with precise positioning

Info

Publication number: CN212500730U
Application number: CN202020383322.XU
Authority: CN
Inventors: 陈文成
Original assignee: Multiway Robotics Shenzhen Co Ltd
Current assignee: Multiway Robotics Shenzhen Co Ltd
Priority date: 2020-03-23
Filing date: 2020-03-23
Publication date: 2021-02-09
Anticipated expiration: 2030-03-23

Abstract

The utility model discloses a dumper with accurate positioning function, this dumper with accurate positioning function include the guide car, and the guide car is equipped with laser radar, and laser radar can external transmission guide light, and the skip includes skip body, at least one reflection of light post and limiting plate, reflection of light post and limiting plate connection in skip body to being the interval setting from top to bottom, reflection of light post can be with guide light reflection to laser radar one side, with guide car towards skip one side motion, and the butt in the limiting plate. The utility model discloses technical scheme sets up laser radar through the adoption on the guide car, sets up reflection of light post and limiting plate on the skip body to this stability that improves the material handling operation.

Description

Material transporting vehicle with accurate positioning function

Technical Field

The utility model relates to an automatic change transportation technical field, in particular to dumper with accurate positioning function.

Background

At present, an industrial/service automatic transport Vehicle (AGV) using laser natural navigation is widely applied, but an autonomous mobile robot in the related art is generally positioned by an external positioning device, namely a positioning method for acquiring a physical structure is used for positioning, the positioning precision is universal, the AGV and a skip car cannot be accurately aligned in the using process, and therefore material carrying operation is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a dumper with accurate positioning function aims at improving the stability of material handling operation.

In order to achieve the above object, the utility model provides a dumper with accurate positioning function, include:

the guiding vehicle is provided with a laser radar which can emit guiding light to the outside; and

the skip, the skip includes skip body, at least one reflection of light post and limiting plate, reflection of light post with limiting plate connection in the skip body to be interval setting from top to bottom, reflection of light post can be with guide light reflection extremely laser radar one side, in order to guide the skip orientation skip body one side motion, and the butt in the limiting plate.

Optionally, the reflection of light post includes post body and reflection of light paper, the post body can dismantle connect in the skip body, reflection of light paper laminate in the lateral surface of post body.

Optionally, the skip car body is provided with a plurality of connecting holes, the connecting holes are arranged on the skip car body at intervals along a first direction, the column body is provided with a connecting bulge, and the connecting bulge can be inserted into any one of the connecting holes.

Optionally, the skip includes a plurality of reflection of light posts, and is a plurality of reflection of light post is located along the first direction interval the skip body.

Optionally, the skip further comprises a mounting frame, the mounting frame is detachably connected to the skip body and provided with the connecting hole, and the column body is connected to the skip body through the mounting frame.

Optionally, the opposite ends of the mounting frame are convexly provided with clamping protrusions, the skip body is provided with at least one clamping groove, and the clamping protrusions are clamped in the clamping grooves.

Optionally, the mounting bracket includes a plurality of the draw-in grooves, and a plurality of the draw-in grooves are located at intervals along the second direction the skip body.

Optionally, the second direction and the first direction are arranged at an angle of 90 °.

Optionally, the skip car further comprises an elastic pad, the elastic pad is connected to the limiting plate, and when the guide car abuts against the limiting plate, the elastic pad is attached to the outer side face of the guide car.

Optionally, the skip further comprises four universal wheels, and the four universal wheels are arranged at the lower part of the skip body at intervals.

The utility model discloses technical scheme sets up laser radar through the adoption on the guide car, sets up reflection of light post and limiting plate on the skip body to this stability that improves the material handling operation. Wherein, when carrying the operation to the material, the material is placed in the skip in advance by artifical or grabbing material mechanism, and the guide car moves towards skip one side along predetermined trajectory, and laser radar is towards the outside transmission guide light of skip, and when guide light launches to skip body one side, reflection of light post will guide light to reflect, and guide light after the reflection is received by laser radar again. So can be accurate through the form in the preset guide car calculate the skip for the concrete position of guide car, the guide car is according to this concrete position continuous correction direction when moving towards skip body one side to accurate butt in the limiting plate, through the limiting displacement of this limiting plate, can make the guide car when promoting the motion of skip body, relative position each other can not change, promotion skip body that the guide car can be accurate conveys the material to next workshop section along preset orbit. Adopt the utility model discloses a dumper with accurate positioning function can be great degree avoid the guide car with the skip top turn over or push up the inclined to one side condition to great improvement the stability that the material transported.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of a material transporting vehicle with a precise positioning function according to the present invention;

FIG. 2 is a schematic structural view of the skip of FIG. 1;

fig. 3 is an enlarged detail view at a in fig. 2.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 3, the present invention provides a material transporting vehicle 100 with a precise positioning function.

In the embodiment of the present invention, the material transporting vehicle 100 with accurate positioning function includes:

the guiding vehicle 10 is provided with a laser radar 11, and the laser radar 11 can emit guiding light to the outside; and

skip 20, skip 20 includes skip body 21, at least one anti-light column 221 and limiting plate 24, anti-light column 221 with limiting plate 24 connect in skip body 21 to be the interval setting from top to bottom, anti-light column 221 can reflect guide light extremely laser radar 11 one side, in order to guide the guide car 10 orientation skip body 21 one side motion, and the butt in limiting plate 24.

Specifically, the material transporting Vehicle 100 with precise positioning function of the present application includes a guiding Vehicle 10 and a material transporting Vehicle 20, wherein, in an embodiment, the guiding Vehicle 10 is an Automatic Guided Vehicle (AGV), the AGV is applied to transport materials in a production workshop, a track line for guiding the AGV to run is provided on the ground of the production workshop, the AGV can move in each workshop section in the production workshop along the track line, the AGV belongs to a mature technology, and detailed description is omitted herein, a laser radar 11 is provided on the top of the AGV, the laser radar 11 can send guiding light, i.e. laser beam, to the outside, then the received light signal reflected from the target is compared with the sent guiding light, and appropriate processing is performed through a preset program built in the AGV to obtain related information of the target, such as object distance, orientation, height, shape, etc., to detect, track, and identify the object.

Skip 20 includes skip body 21, anti-light column 221 and universal wheel 25, and wherein, skip body 21 is formed by the metal section concatenation, and skip body 21's whole is the rectangle setting to be formed with one end open-ended and hold the chamber, should hold the chamber and be used for holding the material that needs the transportation. Four universal wheels 25 locate the bottom of skip body 21, can make skip body 21 freely remove in the workshop through four universal wheels 25, and reflective column 221 locates one side that skip body 21 deviates from and holds the chamber open end.

The utility model discloses technical scheme sets up laser radar 11 through the adoption on guide car 10, sets up reflection of light post 221 and limiting plate 24 on skip body 21 to this stability that improves the material handling operation. When carrying the material, the material is placed in the skip car 20 by manual work or a material grabbing mechanism in advance, the guide car 10 moves towards one side of the skip car 20 along a preset track line, the laser radar 11 emits guide light towards the outside of the skip car 20, when the guide light is emitted to one side of the skip car 20, the reflection column 221 reflects the guide light, and the reflected guide light is received by the laser radar 11 again. The specific position of the skip car 20 relative to the guide car 10 can be accurately calculated through the preset formula in the guide car 10, the guide car 10 continuously corrects the direction when moving towards the skip car 20 according to the specific position and accurately abuts against the limiting plate 24, and by the limiting effect of the limiting plate 24, the relative positions of the guide car 10 can not be changed when the skip car body 21 is pushed to move, and the guide car 10 can accurately push the skip car body 21 to convey materials to the next workshop section along the preset track. Adopt the utility model discloses a dumper 100 with accurate positioning function can be to a great extent avoid leading the dumper 100 that car 10 will have the accurate positioning function to overturn or push up the inclined to one side condition to the improvement of great degree the stability that the material transported.

Referring to fig. 2 again, specifically, the reflective column 221 includes a column body 2211 and reflective paper (not shown), the whole column body 2211 is disposed in a cylindrical shape and detachably connected to the lower portion of the skip body 21, in an embodiment of the present application, a radius of the column body 2211 ranges from 1.0cm to 2.0cm, and may preferably be any one of the values, for example, 1.0cm, 1.5cm, and 2.0cm, and a height of the column body 2211 ranges from 10.0cm to 15.0cm, so that the specification of the column body 2211 set in this way can ensure that the reflective column 221 effectively reflects the light emitted by the laser radar 11 to one side of the laser radar 11, and meanwhile, the device and the carrying of the reflective column 221 are convenient. The reflective paper can be specifically tinfoil paper or copper foil paper, and it can be understood that the reflective paper made of different materials has different reflective light performances, so that different positioning effects can be brought by the reflective paper made of tinfoil, copper foil or other materials, and a user can actually select the reflective paper according to specific needs, and specific details are not repeated herein. The reflective paper is wound on the outer side surface of the column body 2211 in a glue bonding mode. This application reflects guide light through adopting anti-light post 221 to guide the AGV dolly accurately towards skip 20 one side motion, the structure is comparatively simple, and manufacturing cost is lower moreover.

It will be appreciated that the reflective columns 221 function to reflect the guiding light emitted by the lidar 11 and thereby guide the AGV cart toward the side of the cart 20. Therefore, in other embodiments of the utility model, reflection of light post 221 includes the reflector, and the below of skip body 21 is located to the reflector, and the guide light of laser radar 11 transmission is reflected by this reflector, can realize the pinpointing to the AGV dolly simultaneously.

Referring to fig. 2 again, in order to make the light reflecting column 221 more convenient to assemble and disassemble, a plurality of connecting holes 23a are formed below the skip body 21, the plurality of connecting holes 23a are arranged at intervals in the skip body 21 along the first direction, the column body 2211 is provided with connecting protrusions 2212, and the connecting protrusions 2212 can be inserted into any one of the connecting holes 23 a.

Particularly, in an embodiment of the present invention, the type of the connecting hole 23a is a threaded hole, the upper end of the column body 2211 is provided with an external thread adapted to the external thread, the reflective column 221 is connected to the skip body 21 through a thread, so the structure of the skip 20 is simple, and the dismounting operation of the reflective column 221 is more convenient. Simultaneously a plurality of connecting holes 23a are seted up in skip body 21 along first direction interval, a plurality of connecting holes 23a set up along the width direction interval of skip body 21 promptly, so reflection of light post 221 can be through threaded connection in arbitrary connecting hole 23a, thereby it is more convenient to make reflection of light post 221's position adjustment, and then make reflection of light post 221 can be under the environment of difference to the effective reflection of the guide light orientation that laser radar 11 launches, thereby further improve the degree of accuracy of guide car 10 towards skip 20 motion, make the material transportation operation of dumper 100 that has the accurate positioning function more stable.

In another embodiment of the present invention, the connecting hole 23a may also be a pin hole, and the outer diameter of the post body 2211 is slightly larger than the outer diameter of the pin hole, so that the post body 2211 can be inserted into the pin hole and fixed in the pin hole. Through setting up the pin hole not only can be fixed in skip body 21 with post body 2211, be interference fit through post body 2211 and pin hole moreover, so can avoid other irrelevant personnel along with dismantling post body 2211, influence the direction of leading car 10 and counterpoint.

Referring to fig. 3 again, the skip 20 further includes a mounting bracket 23, the mounting bracket 23 is detachably connected to the skip body 21 and is provided with the connecting hole 23a, and the column body 2211 is connected to the skip body 21 through the mounting bracket 23. The mounting bracket 23 includes a plurality of draw-in groove 21a, it is a plurality of draw-in groove 21a is located along the second direction interval skip body 21, the second direction with the first direction is 90 contained angles and sets up. The protruding 231 that forms of establishing in the relative both ends of mounting bracket 23, skip body 21 has seted up at least one draw-in groove 21a, the protruding 231 joint of card in the draw-in groove 21 a.

Specifically, the mounting frame 23 is a long metal strip made of a metal section, the two ends of the mounting frame 23 are convexly provided with clamping protrusions 231, and the cross section of each clamping protrusion 231 is circular. The skip car body 21 is provided with a plurality of clamping grooves 21a for the clamping protrusions 231 of the mounting frame 23, the cross section of each clamping groove 21a is U-shaped, and the clamping grooves 21a and the clamping protrusions 231 are in tight fit. When needs connect mounting bracket 23 in skip body 21, only need go into the draw-in groove 21a that corresponds with the protruding 231 card at mounting bracket 23 both ends, can be fixed in the bottom of skip body 21 with mounting bracket 23, mounting bracket 23's the fixed operation of connection is comparatively convenient. Simultaneously, in this application, a plurality of draw-in grooves 21a set up along the second direction interval, and second direction and first direction are 90 contained angles and set up, promptly, a plurality of draw-in grooves 21a set up along the length direction interval of skip 20. With the above embodiments, the reflective columns 221 of the present application can move not only along the width direction of the skip car body 21, but also along the length direction of the skip car body 21, that is, the reflective columns 221 can move in different directions relative to the skip car body 21 on the horizontal plane through the cooperation of the first direction and the second direction. The range of the position adjustment of the reflective column 221 is larger, so that the reflective column 221 can effectively reflect the direction of the guiding light emitted by the laser radar 11 in different environments, the accuracy of the movement of the guided vehicle 10 towards the skip 20 is further improved, and the material transportation operation of the skip 100 with the precise positioning function is more stable.

Referring to fig. 1 again, in an embodiment of the present invention, the skip car 20 further includes a limiting plate 24, the limiting plate 24 is connected to the skip car 20, and the laser radar 11 guides the guide car 10 to abut against the limiting plate 24.

Specifically, the limiting plate 24 is connected to the skip body 21 by welding and is located at the lower end of the reflective column 221, the limiting plate 24 is connected to a plurality of abutting sections, wherein the abutting sections are sequentially connected, and the extending track after connection is adapted to the contour of the guide car 10. When the guide car 10 moves towards one side of the skip car 20 under the guide of the laser radar 11, the outer side surface of the guide car 10 is attached and abutted to the plurality of abutting sections, the plurality of abutting sections are limited by the appearance of the guide car 10, so that when the guide car 10 pushes the skip car 20 to move along a preset track, the relative positions of the guide car 10 and the skip car 20 cannot be changed, the situation that the guide car 10 and the skip car 20 are staggered in the process of moving together is avoided, and the stability of the material conveying of the skip car 100 with the accurate positioning function is further improved.

The skip car 20 further includes an elastic pad (not shown) connected to the limiting plate, and when the guided car 10 abuts against the limiting plate 24, the elastic pad is attached to the outer side surface of the guided car 10.

Specifically, the elastic pad may be made of a silica gel material or a foam material, and is adhered to the surface of the limiting plate 24 facing one side of the guided vehicle 10 through glue, and when the guided vehicle 10 abuts against the limiting plate 24, the elastic pad elastically abuts against the outer side surface of the guided vehicle 10. Through setting up this cushion in this application, when guide car 10 in the butt in limiting plate 24, the cushion can cushion guide car 10's impact force to avoid guide car 10's speed too fast to bump skip 20 over, or skip 20 produces great vibration and damages the material. Thereby further improving the stability of the material conveying vehicle 100 with the accurate positioning function.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A dumper with accurate positioning function is characterized by comprising:

2. The trolley with the function of precise positioning according to claim 1, wherein the reflective column comprises a column body and reflective paper, the column body is detachably connected to the trolley body, and the reflective paper is attached to the outer side surface of the column body.

3. The skip car with the precise positioning function as claimed in claim 2, wherein the skip car body is provided with a plurality of connecting holes, the connecting holes are arranged on the skip car body at intervals along a first direction, the column body is provided with a connecting protrusion, and the connecting protrusion can be inserted into any one of the connecting holes.

4. The skip car with the function of accurate positioning according to claim 3, wherein the skip car comprises a plurality of reflective columns, and the reflective columns are arranged on the skip car body at intervals along the first direction.

5. The skip car with the precise positioning function as claimed in claim 3, wherein the skip car further comprises a mounting frame, the mounting frame is detachably connected to the skip car body and is provided with the connecting hole, and the column body is connected to the skip car body through the mounting frame.

6. The skip car with the accurate positioning function as claimed in claim 5, wherein the opposite ends of the mounting frame are convexly provided with clamping protrusions, the skip car body is provided with at least one clamping groove, and the clamping protrusions are clamped in the clamping grooves.

7. The skip car with the function of accurate positioning as claimed in claim 6, wherein the mounting rack comprises a plurality of said slots, and a plurality of said slots are provided at intervals along the second direction on the skip car body.

8. The cart with fine positioning function according to claim 7, wherein said second direction is disposed at an angle of 90 ° with respect to said first direction.

9. The trolley with the function of precise positioning according to any one of claims 1 to 8, further comprising an elastic pad connected to the limiting plate, wherein the elastic pad is attached to an outer side surface of the guiding trolley when the guiding trolley abuts against the limiting plate.

10. The trolley with the function of accurate positioning as claimed in any one of claims 1 to 8, wherein the trolley further comprises four universal wheels, and the four universal wheels are arranged at intervals at the lower part of the trolley body.