CN219749784U

CN219749784U - AGV dolly positioner

Info

Publication number: CN219749784U
Application number: CN202321126439.XU
Authority: CN
Inventors: 赵忠国; 孙兴国; 王帆
Original assignee: Yingke Vision Control Hefei Technology Co ltd
Current assignee: Yingke Vision Control Hefei Technology Co ltd
Priority date: 2023-05-10
Filing date: 2023-05-10
Publication date: 2023-09-26
Anticipated expiration: 2033-05-10

Abstract

The utility model discloses an AGV trolley positioning device, which belongs to the technical field of AGV trolley parking and comprises a positioning bottom plate and an AGV trolley body, wherein the AGV trolley body is parked on the positioning bottom plate; the AGV trolley body is provided with a positioning mechanism and a positioning driving motor, and the positioning mechanism is driven to be adjusted up and down by the positioning driving motor; distance measuring sensors are arranged at the front end and the rear end of the AGV trolley body; and the positioning bottom plate is provided with a positioning hole corresponding to the positioning mechanism. The AGV trolley positioning device provided by the utility model adopts a simple mechanical structure to assist in positioning by detecting with the sensor, has simple action and accurate positioning, and can meet the requirements of most scenes.

Description

AGV dolly positioner

Technical Field

The utility model relates to the technical field of AGV trolley parking, in particular to an AGV trolley positioning device.

Background

The AGV dolly need not the transportation of manual intervention just can accomplish the material voluntarily, in the transportation, accurate location material transportation position is the very important link in the dolly transportation. In order to ensure the positioning accuracy and reliability, the AGV cannot control the positioning method after the automatic navigation is finished by adopting a proper sensor to perform auxiliary detection at present. Or detecting AGV stopping coordinates through a plurality of sensors, controlling the path deviation of the AGV trolley according to the feedback coordinate position, repeatedly starting and stopping, and finally stopping and repeating the operation with the accuracy within 1-2 mm. The positioning mode can control the parking precision of the AGV trolley to be about 1-5mm, but is complex in calculation, strong in sensor precision dependence and high in cost. In addition, the method of stopping accurately by repeated starting and stopping wastes a great amount of adjustment time, and reduces the actual execution efficiency.

Disclosure of Invention

In order to solve the defects in the prior art, the utility model aims to provide the AGV trolley positioning device which adopts a simple mechanical structure to assist in positioning by sensor detection, has simple action and accurate positioning, and can meet most of scene requirements.

The technical scheme adopted for solving the technical problems is as follows:

the AGV trolley positioning device comprises a positioning bottom plate and an AGV trolley body, wherein the AGV trolley body is parked on the positioning bottom plate;

the AGV trolley body is provided with a positioning mechanism and a positioning driving motor, and the positioning mechanism is driven to be adjusted up and down by the positioning driving motor; distance measuring sensors are arranged at the front end and the rear end of the AGV trolley body;

and the positioning bottom plate is provided with a positioning hole corresponding to the positioning mechanism.

Further, the positioning mechanism comprises a positioning beam, and the positioning beam can move up and down; the positioning beam further comprises positioning columns positioned at the front end and the rear end of the positioning beam, and the positions of the positioning holes correspond to the positioning columns.

Further, a screw nut is integrated in the middle of the positioning beam; the lead screw is integrated on the AGV trolley body through the bearing seat, and the lead screw is driven to rotate through the positioning driving motor, so that the positioning beam can move up and down.

Further, the bottom end of the positioning column is conical.

Further, the ranging sensor comprises an upper ranging sensor and a lower ranging sensor, and a sensor sensing plate is arranged on the positioning bottom plate.

Further, the sensor sensing plate is inclined at the position corresponding to the upper ranging sensor, and is flat at the position corresponding to the lower ranging sensor.

Furthermore, the front end and the rear end of the positioning bottom plate are sloping surfaces.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the AGV trolley positioning device, the position of the AGV trolley can be subjected to real-time positioning detection through the distance measuring sensor, repeated starting and stopping of the AGV trolley are not needed in the positioning process, the adjustment time is saved, and the actual execution efficiency is improved;

2. the AGV trolley positioning device is simple and reliable in mechanical structure, accurate in action and high in parking precision, so that the trolley can meet the field arrangement requirements of most of requirements for accurate positioning;

3. according to the AGV trolley positioning device, the front end and the rear end of the positioning bottom plate are designed to be slope surfaces, so that the traveling of the trolley can be facilitated.

Drawings

Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a side view;

FIG. 3 is a cross-sectional view;

FIG. 4 is a schematic view of a positioning mechanism;

fig. 5 is a schematic diagram of a sensor plate structure.

In the figure: 1-positioning bottom plate, 2-AGV dolly body, 3-positioning mechanism, 3.1-positioning beam, 3.2-lead screw nut, 3.3-lead screw, 3.4-reference column, 4-location driving motor, 5-upper range finding sensor, 6-lower range finding sensor, 7-sensor sensing board, 8-locating hole.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be noted that, for convenience of description, only the portions related to the utility model are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1-3, this embodiment provides an AGV dolly positioner, including locating bottom plate 1 and AGV dolly body 2, locating bottom plate 1 places the position that needs accurate location at the AGV dolly, AGV dolly body 2 parks on locating bottom plate 1.

Specifically, the AGV trolley body 2 is provided with a positioning mechanism 3 and a positioning driving motor 4, and the positioning mechanism 3 is driven to be adjusted up and down by the positioning driving motor 4; the positioning bottom plate 1 is provided with a positioning hole 8 corresponding to the positioning mechanism 3. The front end and the rear end of the AGV trolley body 2 are also provided with distance measuring sensors, the relative deviation of the parking position of the AGV trolley body 2 can be calculated through the distance measuring sensors, and when the deviation is in a certain range, the positioning driving motor 4 drives the positioning mechanism 3 to move downwards, so that the accurate positioning of the AGV trolley body 2 is completed; when the deviation is larger than the set value, the parking position of the AGV trolley body 2 is proved to be abnormal, and the upper computer is required to mobilize the AGV trolley to adjust the position until the deviation value is in a normal range.

In this embodiment, as shown in fig. 4, the positioning mechanism 3 includes a positioning beam 3.1, a screw nut 3.2, a screw 3.3, and a positioning column 3.4. Specifically, a screw nut 3.2 is integrated in the middle of the positioning beam 3.1; the lead screw 3.3 is integrated on the AGV trolley body 2 through a bearing seat, and the lead screw 3.3 is driven to rotate through the positioning driving motor 4, so that the positioning beam 3.1 can move up and down. The positioning columns 3.4 are integrally arranged on the positioning beam 3.1 at the front end and the rear end, and the bottom ends of the positioning columns 3.4 are conical. The positioning bottom plate 1 is provided with positioning holes 8 corresponding to the positioning columns 3.4. When the relative deviation of the parking position of the AGV trolley body 2 is in a certain range, the positioning driving motor 4 drives the screw rod 3.3 to rotate, the screw rod nut 3.2 drives the positioning beam 3.1 to descend, the positioning column 3.4 also descends until the positioning column descends to a set distance, at the moment, the conical surface of the positioning column 3.4 is in contact with the positioning hole 8 on the positioning bottom plate 1, and when the movement of the positioning beam 3.1 is finished, the AGV trolley body 2 completes accurate positioning at the same time.

As shown in fig. 5, the ranging sensor includes an upper ranging sensor 5 and a lower ranging sensor 6, and a sensor sensing plate 7 is disposed on the positioning base plate 1. The sensor sensing plate 7 is inclined at the position corresponding to the upper distance measuring sensor 5, and is flat at the position corresponding to the lower distance measuring sensor 6. The inclination angle (trigonometric function calculation) of the AGV dolly body 2 can be known by comparing the two lower distance measuring sensors 6; the deviation value (trigonometric function calculation) of the forward direction of the AGV trolley body 2 can be known by the two upper ranging sensors 5, and thus the deviation value of the AGV trolley body 2 on the plane (x, y) can be obtained. Since the diameter of the positioning hole 8 is fixed, as long as the conical head of the positioning column 3.4 is within the diameter range of the positioning hole 8, the positioning column 3.4 is pressed down at this time, the conical surface of the positioning column 3.4 is contacted with the side of the positioning hole 8, and the pressing down is continued, a component force for translating the trolley is generated, and the component force is larger than the friction force which needs to be overcome by translating the trolley until the conical surface is completely overlapped with the positioning hole 8, and the positioning is completed.

In addition, the front end and the rear end of the positioning bottom plate 1 in the embodiment are sloping surfaces, so that the trolley can walk conveniently.

Working principle:

after the AGV trolley body 2 runs on the positioning bottom plate 1, parking is performed, the upper ranging sensor 5 and the lower ranging sensor 6 at two ends feed back measurement data simultaneously, and according to the feedback data, the relative deviation of the parking position of the AGV trolley body 2 can be calculated. When the deviation value is smaller than 1/2 of the difference between the diameter of the conical head of the positioning column 3.4 and the diameter of the positioning hole 8 in the positioning bottom plate 1, the positioning driving motor 4 is directly started to drive the positioning beam 3.1 to move downwards to a set distance at a certain speed, at the moment, the conical surface of the positioning column 3.4 is in contact with the positioning hole 8 in the positioning bottom plate 1, and when the movement of the positioning beam 3.1 is finished, the AGV trolley body 2 completes accurate positioning at the same time. The positioning action is completed by a pure mechanical structure, and the positioning precision can be easily within 0.1 mm. If the relative deviation value of the parking position of the AGV trolley body 2 is greater than or equal to 1/2 of the difference value of the diameter of the conical head of the positioning column 3.4 and the diameter of the positioning hole 8 on the positioning bottom plate 1, the deviation between the parking position of the trolley and the required position is proved to be abnormal, and the AGV trolley body 2 can be mobilized by the upper computer to adjust the position again until the deviation value is in a normal range.

It will be appreciated by persons skilled in the art that the scope of the utility model referred to in the present utility model is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present utility model (but not limited to) having similar functions are replaced with each other.

Claims

1. The AGV trolley positioning device is characterized by comprising a positioning bottom plate (1) and an AGV trolley body (2), wherein the AGV trolley body (2) is parked on the positioning bottom plate (1);

a positioning mechanism (3) and a positioning driving motor (4) are arranged on the AGV trolley body (2), and the positioning mechanism (3) is driven to be adjusted up and down through the positioning driving motor (4); distance measuring sensors are arranged at the front end and the rear end of the AGV trolley body (2);

the positioning bottom plate (1) is provided with a positioning hole (8) corresponding to the positioning mechanism (3).

2. The AGV trolley positioning device according to claim 1, characterized in that the positioning mechanism (3) comprises a positioning beam (3.1), the positioning beam (3.1) being movable up and down; the positioning beam further comprises positioning columns (3.4) positioned at the front end and the rear end of the positioning beam (3.1), and the positions of the positioning holes (8) correspond to the positioning columns (3.4).

3. The AGV trolley positioning device according to claim 2, characterized in that a screw nut (3.2) is integrated in the middle of the positioning beam (3.1); the lead screw (3.3) is integrated on the AGV trolley body (2) through the bearing seat, and the lead screw (3.3) is driven to rotate through the positioning driving motor (4), so that the positioning beam (3.1) can move up and down.

4. An AGV trolley positioning device according to claim 2, characterized in that the bottom end of the positioning column (3.4) is conical.

5. The AGV positioning device according to claim 1, wherein the distance measuring sensor comprises an upper distance measuring sensor (5) and a lower distance measuring sensor (6), and the positioning base plate (1) is provided with a sensor sensing plate (7).

6. The AGV carriage positioning device according to claim 5, wherein the sensor sensing plate (7) has an inclined surface at a position corresponding to the upper ranging sensor (5) and a flat surface at a position corresponding to the lower ranging sensor (6).

7. The AGV positioning device according to claim 1, wherein the front and rear ends of the positioning bottom plate (1) are sloping surfaces.