CN220115496U

CN220115496U - AGV system positioner

Info

Publication number: CN220115496U
Application number: CN202321705105.8U
Authority: CN
Inventors: 李晋彪; 钟森明; 曾志铭
Original assignee: GAC Honda Automobile Co Ltd
Current assignee: GAC Honda Automobile Co Ltd
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2023-12-01
Anticipated expiration: 2033-06-30

Abstract

The utility model relates to the technical field of AGV positioning, in particular to an AGV system positioning device which comprises a Y-direction positioning mechanism, an X-direction positioning mechanism, a Z-direction positioning mechanism and an XY positioning mechanism, wherein the Z-direction positioning mechanism and the XY positioning mechanism are arranged on the Y-direction positioning mechanism. Y to positioning mechanism carries out Y to the location to the AGV system, X to positioning mechanism carries out X to the location to the AGV system, Z to positioning mechanism carries out Z to the location to the AGV system, XY positioning mechanism carries out X again to the AGV system, Y to the simultaneous location, further improves the AGV system in X to, Y to the positioning accuracy to the AGV system to multi-direction location, greatly improved the positioning accuracy of AGV system.

Description

AGV system positioner

Technical Field

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

Background

The AGV is an automatic guided vehicle (Automated Guided Vehicle) which is an industrial vehicle for automatically or manually loading cargoes, automatically driving or dragging a cargo truck to a designated place according to a set route, and automatically or manually loading and unloading cargoes. The AGV system refers to a generic name for the combination of devices or loads loaded on an AGV cart.

Many factories all use AGVs when transporting the part, and AGVs and transfer machine need handing-over, and AGVs stop the precision poor (about + -10 mm), and the transfer machine requires the positioning accuracy of part high (require + -1 mm), and both contradict, and current method is generally through the tongs increase visual detection and absorb the deviation. The fixed position of the part is visually detected, the deviation is calculated, the same distance is offset through the robot, the relative position precision of the gripper and the part is ensured, and finally the purpose that the gripper accurately grabs the part is achieved.

The existing method has the problems of high cost of visual detection equipment, high failure rate, long visual positioning time consumption and low positioning efficiency.

Still another accurate positioner of AGV among the prior art, including equipment frame, equipment frame includes first equipment frame and second equipment frame, and first equipment frame and the parallel subtended setting of second equipment frame are provided with the guide block of outwards expanding on the equipment frame, and lifting mechanism is installed on equipment frame's entablature upper portion, and lifting mechanism is used for lifting the AGV dolly. The equipment frame is accomplished AGV dolly horizontal location, and lifting mechanism can lift the AGV dolly, accomplishes the location of vertical direction to accurate butt joint is accomplished with robot and automation equipment to the AGV dolly.

The prior art can only perform Y-direction positioning, cannot perform X-direction positioning, and still has poor positioning accuracy.

Disclosure of Invention

The utility model provides an AGV system positioning device for solving the problem of poor positioning accuracy in the prior art.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides an AGV system positioner, includes Y to positioning mechanism, X to positioning mechanism, Z to positioning mechanism and XY positioning mechanism, Z is to positioning mechanism and XY positioning mechanism all locate Y to positioning mechanism on.

Y to positioning mechanism carries out Y to the location to the AGV system, X to positioning mechanism carries out X to the location to the AGV system, Z to positioning mechanism carries out Z to the location to the AGV system, XY positioning mechanism carries out X again to the AGV system, Y to the simultaneous location, further improves the AGV system in X to, Y to the positioning accuracy to the AGV system to multi-direction location, greatly improved the positioning accuracy of AGV system.

Further, the Y-direction positioning mechanism comprises a first positioning plate and a second positioning plate, wherein the first positioning plate and the second positioning plate are arranged in parallel, and a gap for accommodating an AGV system is formed between the first positioning plate and the second positioning plate; the Z-direction positioning mechanism and the XY positioning mechanism are arranged on the first positioning plate and the second positioning plate; the X-direction positioning mechanism is arranged between the first positioning plate and the second positioning plate and is positioned at one end of the first positioning plate and one end of the second positioning plate in the length direction.

Further, the Y-direction positioning mechanism further comprises a plurality of first guide wheels and second guide wheels, wherein the first guide wheels are arranged on the first positioning plate, and the second guide wheels are arranged on the second positioning plate; when the AGV system is located between the first locating plate and the second locating plate, the first guide wheel and the second guide wheel are connected with the side wall of the AGV system.

Further, the Z-direction positioning mechanism comprises a plurality of third guide wheels and a plurality of fourth guide wheels, the third guide wheels are arranged on the first positioning plate, and the axes of the third guide wheels are perpendicular to the first guide wheels; the fourth guide wheel is arranged on the second positioning plate, and the axis of the fourth guide wheel is perpendicular to the second guide wheel.

Further, the top of the third guide wheel is 3mm away from the first locating plate, and the top of the fourth guide wheel is 3mm away from the second locating plate.

Further, the XY positioning mechanism comprises a first positioning pin, a second positioning pin and a driving piece; the first locating pin is arranged on the first locating plate, and the second locating pin is arranged on the second locating plate; the driving member may drive the first and second locating pins to move in a vertical direction into the locating holes of the insertion AGV system.

Further, the first locating pin is located at one end of the first locating plate, which is close to the X-direction locating mechanism, and the second locating pin is located at one end of the second locating plate, which is far away from the X-direction locating mechanism.

Further, X is to positioning mechanism includes a plurality of support columns and a plurality of clamping assembly, the support column is located between first locating plate and the second locating plate, and is located first locating plate, second locating plate length direction's one end, clamping assembly locates on the support column, clamping assembly can press from both sides solid AGV system.

Further, the clamping assembly comprises a driving cylinder, a fixed block and a movable block; the driving cylinder and the fixed block are fixedly arranged on the supporting column, one end of the movable block is hinged with the piston of the driving cylinder, and the other end of the movable block is a free end; the middle part of the movable block is hinged with the fixed block.

Further, one end of the first positioning plate and one end of the second positioning plate, which are far away from the X-direction positioning mechanism, are respectively provided with a guide plate, and the guide plates are bent towards the outer side.

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

the X-direction positioning mechanism, the Y-direction positioning mechanism and the Z-direction positioning mechanism respectively position the AGV in the X, Y, Z direction, and then the XY positioning mechanism positions the AGV system in the X, Y direction again, so that the positioning accuracy of the AGV is further improved, and the effect of greatly improving the positioning accuracy of the AGV is achieved;

2. the third guide wheel and the fourth guide wheel are respectively arranged on the first positioning plate and the second positioning plate, when the AGV system moves between the first positioning plate and the second positioning plate, Y-direction positioning and Z-direction positioning are simultaneously performed, and Y-direction and Z-direction simultaneous positioning is performed, so that the positioning efficiency is improved, errors are reduced, and the positioning precision is improved;

3. the AGV system positioning device provided by the utility model is not provided with electronic equipment such as a visual detection device, and is low in failure rate and high in positioning speed.

Drawings

FIG. 1 is a schematic overall construction of an embodiment of an AGV system positioning device according to the utility model;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a state diagram of the use of one embodiment of the AGV system positioning device of the present utility model;

FIG. 4 is a schematic view of the overall structure of the AGV body and part positioning mechanism in an embodiment of an AGV system positioning apparatus according to the utility model.

In the accompanying drawings: 1. a first positioning plate; 2. a second positioning plate; 3. the first guide wheel; 4. the second guide wheel; 5. a third guide wheel; 6. a fourth guide wheel; 7. a support column; 8. a clamping assembly; 81. a drive cylinder; 82. a fixed block; 83. a movable block; 9. a first positioning pin; 10. a second positioning pin; 11. a driving member; 12. a first positioning hole; 13. a second positioning hole; 14. a guide plate; 15. an AGV body; 16. part positioning mechanism.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are orientations or positional relationships indicated by terms "upper", "lower", "left", "right", "long", "short", etc., based on the orientations or positional relationships shown in the drawings, this is merely for convenience in describing the present utility model and simplifying the description, and is not an indication or suggestion that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and that it is possible for those of ordinary skill in the art to understand the specific meaning of the terms described above according to specific circumstances.

The technical scheme of the utility model is further specifically described by the following specific embodiments with reference to the accompanying drawings:

example 1

Referring to fig. 1 to 4, an embodiment 1 of an AGV system positioning apparatus according to the present utility model includes a Y-direction positioning mechanism, an X-direction positioning mechanism, a Z-direction positioning mechanism, and an XY-direction positioning mechanism, where the Z-direction positioning mechanism and the XY-direction positioning mechanism are both disposed on the Y-direction positioning mechanism.

In this embodiment, AGV system includes AGV body 15 and part positioning mechanism 16, and part positioning mechanism 16 locates AGV body 15 top, is to the accurate positioning of realizing part positioning mechanism 16 to AGV system location. The Y-direction positioning mechanism performs Y-direction positioning on the part positioning mechanism 16, the X-direction positioning mechanism performs X-direction positioning on the part positioning mechanism 16, the Z-direction positioning mechanism performs Z-direction positioning on the part positioning mechanism 16, the XY positioning mechanism performs X-direction and Y-direction simultaneous positioning on the part positioning mechanism 16 again, and the positioning precision of the part positioning mechanism 16 in the X-direction and the Y-direction is further improved, so that the part positioning mechanism 16 is positioned in multiple directions, and the positioning precision of the part positioning mechanism 16 is greatly improved.

In this embodiment, the Y-directional positioning mechanism includes a first positioning plate 1 and a second positioning plate 2, where the first positioning plate 1 and the second positioning plate 2 are arranged in parallel, and a gap for accommodating an AGV system is provided between the first positioning plate 1 and the second positioning plate 2; the Z-direction positioning mechanism and the XY positioning mechanism are arranged on the first positioning plate 1 and the second positioning plate 2; the X-direction positioning mechanism is arranged between the first positioning plate 1 and the second positioning plate 2 and is positioned at one end of the first positioning plate 1 and one end of the second positioning plate 2 in the length direction.

Specifically, the first positioning plate 1 and the second positioning plate 2 are fixed on the ground through a plurality of square columns, and the distance between the first positioning plate 1, the second positioning plate 2 and the ground is approximately equal to the distance between the part positioning mechanism 16 and the ground. The first locating plate 1 and the second locating plate 2 are both spaced apart from the part locating mechanism 1610mm, so that when the AGV body 15 moves between the first locating plate 1 and the second locating plate 2, the locating precision of the AGV body to the part locating mechanism 16 can reach +/-10 mm.

In this embodiment, the Y-directional positioning mechanism further includes a plurality of first guide wheels 3 and second guide wheels 4, where the first guide wheels 3 are disposed on the first positioning plate 1, and the second guide wheels 4 are disposed on the second positioning plate 2; when the AGV system is located between the first locating plate 1 and the second locating plate 2, the first guide wheel 3 and the second guide wheel 4 are connected with the side wall of the AGV system.

Specifically, the first guide roller 3 and the second guide roller 4 each have three. The three first guide wheels 3 are sequentially arranged at the top of the first positioning plate 1 along the length direction of the first positioning plate 1. The three second guide wheels 4 are sequentially arranged at the top of the second positioning plate 2 along the length direction of the second positioning plate 2, and the first guide wheels 3 and the second guide wheels 4 are arranged in one-to-one correspondence. When the AGV body 15 moves between the first positioning plate 1 and the second positioning plate 2, two side walls of the part positioning mechanism 16 are respectively connected with the first guide wheel 3 and the second guide wheel 4, so that the effect of Y-direction positioning of the part positioning mechanism 16 is achieved. Since the first guide wheel 3 and the second guide wheel 4 are rotatable, abrasion to the component positioning mechanism 16 can be reduced.

In this embodiment, the Z-directional positioning mechanism includes a plurality of third guide wheels 5 and a plurality of fourth guide wheels 6, the third guide wheels 5 are disposed on the first positioning plate 1, and an axis of the third guide wheels 5 is perpendicular to the first guide wheels 3; the fourth guide wheel 6 is arranged on the second positioning plate 2, and the axis of the fourth guide wheel 6 is perpendicular to the second guide wheel 4.

Specifically, the number of the third guide wheels 5 and the fourth guide wheels 6 is three, the third guide wheels 5 and the fourth guide wheels 6 are arranged at the tops of the first positioning plate 1 and the second positioning plate 2 along the length direction of the first positioning plate 1 and the second positioning plate 2 respectively, the third guide wheels 5 are in one-to-one correspondence with the first guide wheels 3, and the fourth guide wheels 6 are in one-to-one correspondence with the second guide wheels 4. When the AGV body 15 moves to the position in front of the first positioning plate 1 and the second positioning plate 2, bottoms of two sides of the part positioning mechanism 16 are respectively in sliding contact with the third guide wheel 5 and the fourth guide wheel 6, and at the moment, the third guide wheel 5 and the fourth guide wheel 6 jack up the part positioning mechanism 16, namely, Z-direction positioning of the part positioning mechanism 16 is completed. And when AGV body 15 removes between first locating plate 1 and second locating plate 2, part positioning mechanism 16 can contact with first guide pulley 3, second guide pulley 4, third guide pulley 5, fourth guide pulley 6 simultaneously, carries out Y promptly and to the location of Z promptly, has improved positioning efficiency, also can reduce the error simultaneously, improves positioning accuracy.

In this embodiment, the top of the third guide wheel 5 is 13mm away from the first locating plate, and the top of the fourth guide wheel 6 is 23mm away from the second locating plate. So set up, when making part positioning mechanism 16 contact with third guide pulley 5, fourth guide pulley 6, by 3mm, make part positioning mechanism 16 can get into the operation position just.

In this embodiment, the X-direction positioning mechanism includes a plurality of support columns 7 and a plurality of clamping assemblies 8, the support columns 7 are located between the first positioning plate 1 and the second positioning plate 2, and are located at one ends of the first positioning plate 1 and the second positioning plate 2 in the length direction, the clamping assemblies 8 are located on the support columns 7, and the clamping assemblies 8 can clamp the AGV system.

Specifically, the two support columns 7 are arranged on the ground, and the two support columns 7 are arranged in parallel along the Y direction in the tail end directions of the first positioning plate 1 and the second positioning plate 2. The top of each support column 7 is provided with a clamping component 8, when the part positioning mechanism 16 moves to be in contact with all the first guide wheels 3, the second guide wheels 4, the third guide wheels 5 and the fourth guide wheels 6, the part positioning mechanism 16 is represented to finish Y-direction rough positioning and Z-direction accurate positioning, and at the moment, the part positioning mechanism 16 can be subjected to X-direction rough positioning through the X-direction positioning mechanism, namely the part positioning mechanism 16 is clamped by the clamping component 8.

In this embodiment, the clamping assembly 8 includes a driving cylinder 81, a fixed block 82, and a movable block 83; the driving cylinder 81 and the fixed block 82 are fixedly arranged on the supporting column 7, one end of the movable block 83 is hinged with a piston of the driving cylinder 81, and the other end is a free end; the middle part of the movable block 83 is hinged with the fixed block 82.

Specifically, the driving cylinder 81 is an air cylinder, the driving cylinder 81 is mounted at the top of the supporting column 7, the fixing block 82 is in an L shape, one end of the fixing block 82 is mounted at the top of the supporting column 7 through a bolt, and the other end extends towards a direction away from the supporting column 7. When the piston of the drive cylinder 81 is extended, the free end of the movable block 83 will move in the direction of the fixed block 82, thereby being able to clamp the part positioning mechanism 16.

Example 2

Referring to fig. 1 and 2, in an embodiment 2 of an AGV system positioning apparatus according to the present utility model, the XY positioning mechanism includes a first positioning pin 9, a second positioning pin 10, and a driving member 11; the first positioning pin 9 is arranged on the first positioning plate 1, and the second positioning pin 10 is arranged on the second positioning plate 2; the drive 11 drives the first 9 and second 10 alignment pins vertically into the alignment holes of the insertion AGV system.

Specifically, the first positioning pin 9 and the second positioning pin 10 are fixed to the first positioning plate 1 and the second positioning plate 2, respectively, by steel plates. The bottoms of the first locating pin 9 and the second locating pin 10 are respectively provided with a driving piece 11, and the driving pieces 11 can be electric cylinders, air cylinders or hydraulic cylinders, and the electric cylinders are selected in the embodiment. The bottoms of the first positioning pin 9 and the second positioning pin 10 are respectively arranged on the piston of the driving piece 11, so that the driving piece 11 can drive the first positioning pin 9 and the second positioning pin 10 to move up and down. The part positioning mechanism 16 is provided with a first positioning hole 12 and a second positioning hole 13 corresponding to the positions of the first positioning pin 9 and the second positioning pin 10, when the part positioning mechanism 16 completes coarse positioning in the Y direction, coarse positioning in the X direction and accurate positioning in the Z direction, then the driving piece 11 drives the first positioning pin 9 and the second positioning pin 10 to move upwards until the first positioning pin 9 and the second positioning pin 10 are inserted into the first positioning hole 12 and the second positioning hole 13, and therefore accurate positioning in the X direction and the Y direction of the part positioning mechanism 16 is achieved.

In this embodiment, the first positioning pin 9 is located at one end of the first positioning plate 1 near the X-direction positioning mechanism, and the second positioning pin 10 is located at one end of the second positioning plate 2 far away from the X-direction positioning mechanism. By the arrangement, the first positioning pin 9 and the second positioning pin 10 can position two diagonal angles of the part positioning mechanism 16, so that accurate positioning is realized under the condition that the number of the first positioning pins 9 and the second positioning pins 10 is reduced as much as possible.

Example 3

Referring to fig. 1, in an embodiment 3 of an AGV system positioning device according to the present utility model, in this embodiment, one end of each of the first positioning plate 1 and the second positioning plate 2, which is far away from the X-direction positioning mechanism, is provided with a guiding plate 14, and the guiding plate 14 is bent towards the outside.

Specifically, one sides of the first positioning plate 1 and the second positioning plate 2 far away from the X-direction positioning mechanism are respectively provided with a vertical square steel, the square steel is respectively provided with a first guide plate 14 and a second guide plate 14, one end of the first guide plate 14 far away from the first positioning plate 1 is bent thirty degrees towards the direction far away from the second positioning plate 2, and one end of the second guide plate 14 far away from the second positioning plate 2 is bent thirty degrees towards the direction far away from the first positioning plate 1, so that the first guide plate 14 and the second guide plate 14 form a horn mouth shape, and the part positioning mechanism 16 is convenient to enter between the first positioning plate 1 and the second positioning plate 2.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and not by way of limitation of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

1. The utility model provides a AGV system positioner which characterized in that, includes Y to positioning mechanism, X to positioning mechanism, Z to positioning mechanism and XY positioning mechanism, Z is to positioning mechanism and XY positioning mechanism all locate Y to positioning mechanism.

2. The positioning device of the AGV system according to claim 1, wherein the Y-direction positioning mechanism comprises a first positioning plate (1) and a second positioning plate (2), the first positioning plate (1) and the second positioning plate (2) are arranged in parallel, and a gap for accommodating the AGV system is arranged between the first positioning plate (1) and the second positioning plate (2); the Z-direction positioning mechanism and the XY positioning mechanism are arranged on the first positioning plate (1) and the second positioning plate (2); the X-direction positioning mechanism is arranged between the first positioning plate (1) and the second positioning plate (2) and is positioned at one end of the first positioning plate (1) and one end of the second positioning plate (2) in the length direction.

3. The AGV system positioning device according to claim 2, wherein the Y-direction positioning mechanism further comprises a plurality of first guide wheels (3) and second guide wheels (4), the first guide wheels (3) are arranged on the first positioning plate (1), and the second guide wheels (4) are arranged on the second positioning plate (2); when the AGV system is located between the first locating plate (1) and the second locating plate (2), the first guide wheel (3) and the second guide wheel (4) are connected with the side wall of the AGV system.

4. The AGV system positioning device according to claim 2, wherein the Z-direction positioning mechanism comprises a plurality of third guide wheels (5) and a plurality of fourth guide wheels (6), the third guide wheels (5) are arranged on the first positioning plate (1), and the axis of the third guide wheels (5) is perpendicular to the first guide wheels (3); the fourth guide wheel (6) is arranged on the second positioning plate (2), and the axis of the fourth guide wheel (6) is perpendicular to the second guide wheel (4).

5. The AGV system positioning device according to claim 4, wherein the top of the third guide wheel (5) is 3mm from the first positioning plate (1) and the top of the fourth guide wheel (6) is 3mm from the second positioning plate (2).

6. The AGV system positioning device according to claim 2, wherein the XY positioning mechanism comprises a first positioning pin (9), a second positioning pin (10) and a driver (11); the first positioning pin (9) is arranged on the first positioning plate (1), and the second positioning pin (10) is arranged on the second positioning plate (2); the driving piece (11) can drive the first locating pin (9) and the second locating pin (10) to move into a locating hole of the AGV system in the vertical direction.

7. The AGV system positioning device according to claim 6, wherein the first positioning pin (9) is located at an end of the first positioning plate (1) that is closer to the X-direction positioning mechanism, and the second positioning pin (10) is located at an end of the second positioning plate (2) that is farther from the X-direction positioning mechanism.

8. The AGV system positioning device according to claim 2, wherein the X-direction positioning mechanism comprises a plurality of support columns (7) and a plurality of clamping assemblies (8), the support columns (7) are arranged between the first positioning plate (1) and the second positioning plate (2) and positioned at one ends of the first positioning plate (1) and the second positioning plate (2) in the length direction, the clamping assemblies (8) are arranged on the support columns (7), and the clamping assemblies (8) can clamp the AGV system.

9. The AGV system positioning device according to claim 8, wherein the gripper assembly (8) includes a drive cylinder (81), a fixed block (82) and a movable block (83); the driving cylinder (81) and the fixed block (82) are fixedly arranged on the supporting column (7), one end of the movable block (83) is hinged with a piston of the driving cylinder (81), and the other end is a free end; the middle part of the movable block (83) is hinged with the fixed block (82).

10. The AGV system positioning device according to any one of claims 2 to 9, wherein the first positioning plate (1) and the second positioning plate (2) are each provided with a guide plate (14) at an end thereof remote from the X-direction positioning mechanism, and the guide plates (14) are bent outward.