CN215067878U

CN215067878U - High-precision positioning and carrying moving trolley

Info

Publication number: CN215067878U
Application number: CN202121513071.3U
Authority: CN
Inventors: 黎莎; 闫健
Original assignee: Beijing Railway Institute of Mechanical and Electrical Engineering Group Co Ltd
Current assignee: Beijing Railway Institute of Mechanical and Electrical Engineering Group Co Ltd
Priority date: 2021-07-05
Filing date: 2021-07-05
Publication date: 2021-12-07
Anticipated expiration: 2031-07-05

Abstract

The utility model belongs to the technical field of AGV trolley positioning, and discloses a high-precision positioning carrying moving trolley, which comprises a trolley body main body, a carrying mechanism, a traveling mechanism and a control module, wherein the trolley body main body is provided with a first sensor capable of positioning the front and the back of the trolley body main body; the object carrying mechanism comprises an object carrying table and a slide rail which are connected in a sliding manner, the object carrying table can move along the slide rail and extend out of the vehicle body main body, and a second sensor and a third sensor which can position the vehicle body main body left and right are respectively arranged on the left side and the right side of the object carrying table; the travelling mechanism is arranged at the bottom of the vehicle body main body and can drive the vehicle body main body to move forwards, backwards, leftwards and rightwards; the control module comprises a car controller, and the car controller can control the driving loading mechanism and the traveling mechanism according to the measurement signals of the first sensor, the second sensor and the third sensor. The high-precision positioning and transporting movable trolley can perform secondary precise positioning, improves the overall positioning precision of the trolley body, and ensures the precise operation of transporting operation.

Description

High-precision positioning and carrying moving trolley

Technical Field

The utility model relates to a AGV dolly location technical field especially relates to a high accuracy location transport travelling car.

Background

With the wide application of AGVs (automatic guided vehicles), AGVs are applied to a plurality of fields, become the most active industry in the current logistics robot industry, and are generally applied in the industrial application field. In AGV dolly positioning process, often carry out assistance-localization real-time by magnetic stripe or RFID (radio frequency identification technology), but present AGV dolly rear majority has all been dragged and has been hung the supporter, and article etc. are all placed on the supporter, are dragged the line by the AGV dolly, nevertheless because supporter is bulky, the quality is heavy, when the supporter is dragged to the AGV dolly, because inertia scheduling problem, often can lead to the AGV dolly to appear positioning accuracy scheduling problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a high accuracy location transport travelling car can carry out the accurate location of secondary, has improved the whole positioning accuracy of automobile body, guarantees the accurate operation of transport operation.

To achieve the purpose, the utility model adopts the following technical proposal:

a high precision positioning transfer cart comprising:

the vehicle body is provided with a first sensor, and the first sensor is used for positioning the vehicle body front and back;

the object carrying mechanism comprises an object carrying table and a slide rail, the slide rail is mounted inside the vehicle body main body, the object carrying table is connected with the slide rail in a sliding mode, the object carrying table can move along the slide rail and extend out of the vehicle body main body, a second sensor and a third sensor are arranged on the left side and the right side of the object carrying table respectively, and the second sensor and the third sensor are used for left-right positioning of the vehicle body main body;

the travelling mechanism is mounted at the bottom of the vehicle body main body and can drive the vehicle body main body to move front and back and left and right;

the control module comprises a trolley controller, the trolley controller is in communication connection with the first sensor, the second sensor and the third sensor, and the trolley controller can control and drive the loading mechanism and the traveling mechanism according to measurement signals of the first sensor, the second sensor and the third sensor.

As the utility model discloses a preferred structure, running gear includes base, drive arrangement and a plurality of wheel, automobile body main part install in on the base, install in the base drive arrangement, it is a plurality of the wheel with the base rotates to be connected, drive arrangement with the car controller communication is connected, drive arrangement can drive a plurality ofly the wheel rotates.

As a preferred structure of the utility model, running gear still includes a plurality of lower margin strutting arrangement, and is a plurality of lower margin strutting arrangement equipartition in the bottom side of base.

As a preferred structure of the utility model, the objective mechanism is still including elevating gear, elevating gear with the car controller communication is connected, elevating gear can go up and down the slide rail, in order to adjust the position height of objective table.

As an optimized structure of the utility model, the control module is still including human-computer interface, human-computer interface with the communication of car controller is connected.

As a preferred structure of the utility model, control module is still including start button and stop button, start button with stop button set up in automobile body main part top, start button with stop button with the car controller communication is connected.

As a preferred structure of the utility model, control module is still including the emergency stop button, the emergency stop button set up in automobile body main part top and with the car controller communication is connected.

As the utility model discloses a preferred structure, still including laser radar, laser radar is used for scanning the topography.

As an optimized structure of the utility model, be provided with the tricolor lamp in the automobile body main part.

As a preferred structure of the utility model, be provided with the battery in the automobile body main part.

The utility model has the advantages that: the high-precision positioning carrying moving trolley is integrated with the object stage, when goods are carried, the object stage can extend out of the trolley body main body to provide a bearing platform for the goods, and after the goods are used, the object stage can retract into the trolley body main body, so that the occupied space of the trolley body is reduced, and the goods can be conveniently stored; in addition, after AGV preliminary location, first sensor, second sensor and third sensor can carry out secondary high accuracy location to the automobile body main part, improve automobile body overall positioning accuracy, guarantee the high-efficient, the accurate operation of transport operation.

Drawings

Fig. 1 is a front view of a high-precision positioning and transporting mobile cart according to an embodiment of the present invention;

fig. 2 is a left side view of the structure of the high-precision positioning and transporting mobile cart according to the embodiment of the present invention;

fig. 3 is a top view of the high-precision positioning and transporting mobile cart according to the embodiment of the present invention;

fig. 4 is a plan view of the structure of the carrier when it is extended from the vehicle body.

In the figure:

1. a vehicle body main body; 11. a first sensor; 12. a three-color lamp; 2. a carrying mechanism; 21. an object stage; 211. a second sensor; 212. a third sensor; 22. a slide rail; 23. a lifting device; 3. a traveling mechanism; 31. a base; 32. a wheel; 33. a ground foot supporting device; 4. a control module; 41. a car controller; 42. a human-machine interface; 43. a start button; 44. a stop button; 45. an emergency stop button.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts throughout, or parts having the same or similar functions. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly and can include, for example, fixed or removable connections, mechanical or electrical connections, direct connections, indirect connections through an intermediary, communication between two elements, or an interaction between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, unless otherwise expressly specified or limited, the first feature "on" or "under" the second feature may include both the first and second features being in direct contact, and may also include the first and second features being in contact, not in direct contact, but with another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1-4, the utility model provides a high-precision positioning carrying moving trolley, which comprises a trolley body main body 1, a carrying mechanism 2, a traveling mechanism 3 and a control module 4, wherein the trolley body main body 1 is provided with a first sensor 11, and the first sensor 11 is used for positioning the trolley body main body 1 in the front-back direction; the object carrying mechanism 2 comprises an object carrying table 21 and a slide rail 22, the slide rail 22 is installed inside the vehicle body main body 1, the object carrying table 21 is connected with the slide rail 22 in a sliding mode, the object carrying table 21 can move along the slide rail 22 and extend out of the vehicle body main body 1, a second sensor 211 and a third sensor 212 are respectively arranged on the left side and the right side of the object carrying table 21, and the second sensor 211 and the third sensor 212 are used for left-right positioning of the vehicle body main body 1; the traveling mechanism 3 is arranged at the bottom of the vehicle body main body 1, and the traveling mechanism 3 can drive the vehicle body main body 1 to move front and back and left and right; the control module 4 comprises a car controller 41, the car controller 41 is in communication connection with the first sensor 11, the second sensor 211 and the third sensor 212, and can control the driving and carrying mechanism 2 and the traveling mechanism 3 according to the measurement signals of the first sensor 11, the second sensor 211 and the third sensor 212. Preferably, the control module 4 also comprises a lidar for scanning terrain and positioning.

In this embodiment, the first sensor 11, the second sensor 211 and the third sensor 212 are all common laser displacement sensors, and the high-precision positioning, transporting and moving trolley is provided with an AGV system inside and has an AGV cruise function. During the use, this travelling car passes through laser radar scanning topography, carries out once the location back through the AGV system, moves to assigned position, once fixes a position after accomplishing, and car controller 41 carries out front and back position location to automobile body main part 1 through first sensor 11, carries out the left and right sides location of automobile body main part 1 through second sensor 211 and third sensor 212, prevents that automobile body main part 1 drifts, compensates the inertial deviation that automobile body main part 1 removed. This high accuracy location transport travelling car can carry out the secondary positioning to automobile body main part 1 on the basis of AGV system location, carries out the secondary calibration to the removal deviation, has improved positioning accuracy. In addition, the object stage 21 in this embodiment is slidably connected to the slide rail 22, and the object stage 21 can be extended out and retracted into the vehicle body 1, thereby facilitating use and storage.

Specifically, the traveling mechanism 3 includes a base 31, a driving device and a plurality of wheels 32, the vehicle body 1 is mounted on the base 31, the driving device is mounted in the base 31, the plurality of wheels 32 are rotatably connected to the base 31, the driving device is in communication connection with the car controller 41, and the driving device can drive the plurality of wheels 32 to rotate. In this embodiment, drive arrangement is step motor, and step motor is provided with threely, and after the measurement signal of car control unit 41 receipt first sensor 11, second sensor 211 and third sensor (212), three step motor mutually supported effect can carry out the regulation of four degrees of freedom all around to automobile body main part 1, through the step-by-step adjustment of EtherCat (Ethernet control automation technology) bus, prevents to lose the step, ensures the accurate location of automobile body main part 1.

Specifically, the traveling mechanism 3 further includes a plurality of foot supporting devices 33, and the foot supporting devices 33 are uniformly distributed on the bottom side of the base 31. In this embodiment, the foot supporting devices 33 are preferably provided with four feet, and are distributed at four corners of the base 31, so that the problems of unstable parking of the vehicle body 1 and the like are prevented, the shaking of the vehicle body 1 is reduced, and the stability of the vehicle body 1 is enhanced. The ground supporting device 33 is a common device, and the detailed structure and principle thereof are not described in this embodiment.

Specifically, the object carrying mechanism 2 further includes a lifting device 23, the lifting device 23 is in communication connection with the car controller 41, and the lifting device 23 can lift the slide rail 22 to adjust the position and height of the object carrying table 21. In this embodiment, the lifting device 23 is an electric lifting device, and may be a hydraulic lifting device, the slide rail 22 is fixedly connected to the lifting end of the lifting device 23, and when the lifting device 23 is started, the slide rail 22 and the object stage 21 thereon can be driven to lift together, so that the height of the object stage 21 in the vertical direction can be adjusted, and the object stage 21 can be located at a proper height. The lifting device 23 is a common device in the art, and the detailed structure and principle thereof are not described in detail herein.

Specifically, the control module 4 further includes a human-machine interface 42, and the human-machine interface 42 is in communication connection with the car controller 41. In this embodiment, the human-machine interface 42 is a touch screen, and the running state of the high-precision positioning and transporting mobile car can be checked in real time through the touch screen.

Specifically, the control module 4 further includes a start button 43 and a stop button 44, the start button 43 and the stop button 44 are disposed on the top of the vehicle body 1, and the start button 43 and the stop button 44 are in communication connection with the car controller 41. In this embodiment, the start button 43 and the stop button 44 are used for controlling the start and stop of the mobile cart, and the start button 43 and the stop button 44 are arranged at the top of the car body main body 1, so that the workers can conveniently touch the mobile cart in time.

Specifically, the control module 4 further includes an emergency stop button 45, and the emergency stop button 45 is disposed on the top of the vehicle body 1 and is in communication connection with the car controller 41. In the event of an emergency, such as a crash of the dolly system, a lack of response to pressing the stop button 44, or any other emergency, the stop button 44 fails, the operator can now press the emergency stop button 45 to forcibly stop the dolly. The emergency stop button 45 is also arranged at the top of the vehicle body main body 1, so that the staff can conveniently touch the vehicle body main body in time.

Specifically, the vehicle body 1 is provided with a three-color lamp 12. In the embodiment, when the mobile trolley works, the three-color lamp 12 is started to flash, so that the field worker can be warned.

Specifically, be provided with the battery in the automobile body main part 1, the battery is used for each mechanism's power supply, and the guarantee power consumption is sufficient, can look for when the travelling car is idle to fill electric pile and charge for this battery.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A high accuracy location transport travelling car which characterized in that includes:

the automobile body comprises an automobile body main body (1), wherein a first sensor (11) is arranged on the automobile body main body (1), and the first sensor (11) is used for positioning the automobile body main body (1) in the front-back direction;

the carrying mechanism (2) comprises a carrying table (21) and a sliding rail (22), the sliding rail (22) is mounted inside the vehicle body main body (1), the carrying table (21) is connected with the sliding rail (22) in a sliding mode, the carrying table (21) can move along the sliding rail (22) and extends out of the vehicle body main body (1), a second sensor (211) and a third sensor (212) are arranged on the left side and the right side of the carrying table (21) respectively, and the second sensor (211) and the third sensor (212) are used for left-right positioning of the vehicle body main body (1);

the travelling mechanism (3) is mounted at the bottom of the vehicle body main body (1), and the travelling mechanism (3) can drive the vehicle body main body (1) to move front and back and left and right;

the control module (4) comprises a trolley controller (41), the trolley controller (41) is in communication connection with the first sensor (11), the second sensor (211) and the third sensor (212), and the carrying mechanism (2) and the traveling mechanism (3) can be controlled and driven according to measurement signals of the first sensor (11), the second sensor (211) and the third sensor (212).

2. The high-precision positioning and carrying trolley according to claim 1, wherein the traveling mechanism (3) comprises a base (31), a driving device and a plurality of wheels (32), the trolley body (1) is mounted on the base (31), the driving device is mounted in the base (31), the plurality of wheels (32) are rotatably connected with the base (31), the driving device is in communication connection with the trolley controller (41), and the driving device can drive the plurality of wheels (32) to rotate.

3. A high precision positioning transfer trolley according to claim 2, characterized in that the travelling mechanism (3) further comprises a plurality of foot supports (33), the plurality of foot supports (33) being evenly distributed on the bottom side of the base (31).

4. The high-precision positioning and transporting trolley according to claim 1, wherein the carrying mechanism (2) further comprises a lifting device (23), the lifting device (23) is connected with the trolley controller (41) in a communication manner, and the lifting device (23) can lift the sliding rail (22) to adjust the position height of the carrying platform (21).

5. A high precision positioning handling mobile trolley according to claim 1, characterized in that the control module (4) further comprises a human-machine interface (42), said human-machine interface (42) being in communication connection with the trolley controller (41).

6. The high-precision positioning and carrying trolley according to claim 1, wherein the control module (4) further comprises a start button (43) and a stop button (44), the start button (43) and the stop button (44) are arranged on the top of the trolley body (1), and the start button (43) and the stop button (44) are in communication connection with the trolley controller (41).

7. The high-precision positioning and carrying trolley according to claim 6, wherein the control module (4) further comprises an emergency stop button (45), and the emergency stop button (45) is arranged on the top of the trolley body (1) and is in communication connection with the trolley controller (41).

8. The high precision positioning handling mobile cart of claim 1, further comprising a lidar configured to scan terrain.

9. The high precision positioning and transporting mobile cart according to claim 1, wherein said body (1) is provided with a tri-color light (12).

10. The high precision positioning and transporting mobile cart according to claim 1, wherein a battery is provided in said cart body (1).