A robot positioning device based on AGV system

Abstract

The present application relates to a robot positioning device based on an AGV system, which belongs to the field of satellite assembly technology, and includes two guide rails and a mobile vehicle, a collaborative robot is arranged on the mobile vehicle, a positioning member is arranged between the two guide rails, a plurality of positioning notches are arranged on the positioning member, each positioning notch corresponds to the position to which the collaborative robot needs to move, a locking member is arranged on the mobile vehicle, and the locking member includes a lock box located on the mobile vehicle, a vertically arranged locking pin is arranged inside the lock box, the bottom end of the locking pin extends through the bottom end wall plate of the lock box, and the moving direction of the locking pin is arranged vertically, and a driving component for driving the locking pin to move up and down is arranged inside the lock box, and when the locking pin is opposite to the positioning notch, the locking pin can move downward and be inserted into the positioning notch under the drive of the driving component. The present application has the effect of making it difficult for the mobile vehicle to move when the collaborative robot carries an object, and improving the accuracy of the collaborative robot in carrying objects.

Description

Technical Field

[0001] The present application relates to the field of satellite assembly technology, and in particular to a robot positioning device based on an AGV system. Background Art

[0002] With the rapid development of electronic technology and the deepening of industrial automation, AGV handling robots are increasingly used in industry. AGV handling robots are a type of handling robot that can automatically move along a set trajectory and are widely used in industrial sites.

[0003] The AGV handling robot in the prior art includes a mobile vehicle and a collaborative robot disposed on the mobile vehicle. The current AGV handling robot generally uses wheels to move, so that the AGV handling robot moves to a desired location. However, since the wheels are used for movement, the friction of the wheels is small, so that the position of the mobile vehicle is easily changed during the operation of the AGV handling robot, so that the collaborative robot cannot accurately carry the objects to be carried. Summary of the invention

[0004] In order to prevent the mobile vehicle from moving when the collaborative robot is carrying objects and to improve the accuracy of the collaborative robot in carrying objects, the present application provides a robot positioning device based on an AGV system.

[0005] The present application provides a robot positioning device based on an AGV system, which adopts the following technical solutions:

[0006] A robot positioning device based on an AGV system comprises two parallel guide rails and a mobile vehicle located above the two guide rails and capable of moving along the guide rails, a collaborative robot is arranged on the mobile vehicle, a positioning member is arranged between the two guide rails, the positioning member is provided with a plurality of groups of positioning notches arranged along the length direction of the guide rails, each positioning notch corresponds to the position to which the collaborative robot needs to move, a locking member is arranged on the mobile vehicle, the locking member comprises a lock box located on the mobile vehicle, a vertically arranged locking pin is arranged inside the lock box, the locking pin is slidably connected in the lock box, the bottom end of the locking pin extends through the bottom end wall plate of the lock box, the moving direction of the locking pin is arranged vertically, a driving component for driving the locking pin to move up and down is arranged inside the lock box, when the collaborative robot moves to the required moving position, the locking pin is opposite to the corresponding positioning notch, when the locking pin is opposite to the positioning notch, the locking pin can be driven by the driving component to move downward and be inserted into the positioning notch.

[0007] By adopting the above technical solution, when the collaborative robot moves to the set position, the locking pin is opposite to the corresponding positioning notch, and the driving assembly inside the lock box drives the locking pin to move downward and insert it into the corresponding positioning notch, so that the relative position between the mobile vehicle and the guide rail can be locked. By locking the relative position between the mobile vehicle and the guide rail, it is ensured that the position of the collaborative robot is not easily moved during the work process, thereby ensuring the accuracy of the collaborative robot when working.

[0008] Optionally, the lock box is fixed on the mobile vehicle, the positioning member includes a positioning roller rotatably connected between two guide rails, multiple groups of positioning notches are arranged along the circumferential direction of the positioning roller, and one end of the positioning roller is provided with a driving device for driving the positioning roller to rotate.

[0009] By adopting the above technical solution, the positioning rollers are driven to rotate by the driving device, so that the positioning notches of different groups can be output to an upward state, which is convenient for switching the positioning notches.

[0010] Optionally, the driving device includes a worm wheel fixed on the positioning roller, a worm meshing with the worm wheel, and a driving motor located at one end of the worm for driving the worm to rotate.

[0011] By adopting the above technical solution, the positioning roller is driven to rotate by the cooperation of the worm gear and the worm, and when the positioning roller rotates to a desired state, the positioning roller is not easy to rotate.

[0012] Optionally, the positioning member includes a positioning plate, and multiple groups of positioning notches are arranged side by side along the surface of the positioning plate, and the arrangement direction of the multiple groups of positioning notches is the same as the arrangement direction between the two guide rails; the lock box is slidably connected to the mobile vehicle, and the moving direction of the lock box is the same as the arrangement direction of the two guide rails. The mobile vehicle is provided with a control mechanism for driving the lock box to move on the mobile vehicle.

[0013] By adopting the above technical solution, when the mobile vehicle moves, the lock box moves synchronously under the drive of the control mechanism. The lock box first moves to the group where the corresponding positioning notch is located under the drive of the control mechanism, and then moves to the corresponding positioning notch as the mobile vehicle moves.

[0014] Optionally, the control mechanism includes a control screw rotatably connected to the moving vehicle, the axial direction of the control screw is arranged along the arrangement direction of the two guide rails, the control screw and the lock box are connected by a screw nut, and one end of the control screw is provided with a control motor for driving the control screw to rotate.

[0015] By adopting the above technical solution, the lock box can be accurately moved to a desired position by controlling the lead screw to drive the lock box to move.

[0016] Optionally, the driving assembly includes a rack fixed on the locking pin and a gear meshing with the rack, and a locking motor for driving the gear to rotate is also provided inside the lock box.

[0017] By adopting the above technical solution, the lock pin can be driven to move in the vertical direction through the cooperation of the rack and the gear, and the lock pin can be driven to move quickly.

[0018] Optionally, a groove is provided on the side wall of the locking pin, the rack is located in the groove, and the gear extends into the groove through a notch of the groove to mesh with the rack.

[0019] By adopting the above technical solution, the rack extends into the groove and meshes with the rack, so that the locking pin is not easy to rotate when moving, thereby causing the gear and the rack to disengage.

[0020] Optionally, a fine-adjustment mechanism is further provided between the collaborative robot and the moving vehicle, and the fine-adjustment mechanism can drive the collaborative robot to move along the arrangement direction of the two guide rails.

[0021] By adopting the above technical solution, the position of the collaborative robot can be fine-tuned according to actual conditions, thereby ensuring that the collaborative robot can work more accurately.

[0022] Optionally, the fine-tuning mechanism includes a fixed seat fixed on the mobile vehicle and a mounting seat slidably connected to the fixed seat, the collaborative robot is mounted on the mounting seat, the fixed seat is provided with an adjusting screw rotatably supported on the fixed seat, the adjusting screw and the mounting seat are connected with a screw nut, and one end of the adjusting screw is provided with a fine-tuning motor for driving the adjusting screw to rotate.

[0023] By adopting the above technical solution, the collaborative robot is driven to move by adjusting the lead screw, so that the position of the collaborative robot can be accurately fine-tuned.

[0024] In summary, the present application includes at least one of the following beneficial technical effects:

[0025] 1. When the collaborative robot moves to the set position, the lock pin is opposite to the corresponding positioning notch, and the driving assembly inside the lock box drives the lock pin to move downward and insert into the corresponding positioning notch, so that the relative position between the mobile vehicle and the guide rail can be locked. By locking the relative position between the mobile vehicle and the guide rail, it is ensured that the position of the collaborative robot is not easy to move during the work process, and the accuracy of the collaborative robot during work is guaranteed;

[0026] 2. Ability to fine-tune the position of the collaborative robot according to actual conditions, thereby ensuring that the collaborative robot can work more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of a robot positioning device based on an AGV system in Embodiment 1 of the present application;

[0028] Figure 2 is a schematic structural diagram of a positioning member according to Embodiment 1 of the present application;

[0029] Figure 3 is a schematic structural diagram of a locking member according to Embodiment 1 of the present application;

[0030] Figure 4 This is a schematic diagram of the structure of a robot positioning device based on an AGV system according to the second embodiment of the application;

[0031] Figure 5 yes Figure 4 A partial enlarged view of area A in the middle.

[0032] Explanation of the reference numerals in the accompanying drawings: 1. guide rail; 2. mobile vehicle; 21. slide; 3. collaborative robot; 4. fine-tuning mechanism; 41. fixed seat; 42. mounting seat; 43. guide rod; 44. adjusting screw; 45. fine-tuning motor; 5. positioning mechanism; 51. positioning member; 511. positioning roller; 5111. convex ridge; 5112. positioning notch; 5113. positioning plate; 512. driving device; 5121. worm gear; 5122. worm; 5123. driving motor; 52. locking member; 521. lock box; 5211. cavity; 5212. slider; 522. locking pin; 5221. groove; 5222. rack; 523. gear; 524. locking motor; 6. control mechanism; 61. control screw; 62. control motor. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-5 This application is described in further detail.

[0034] Embodiment 1

[0035] The embodiment of the present application discloses a robot positioning device based on an AGV system.

[0036] Reference Figure 1The robot positioning device based on the AGV system includes two parallel guide rails 1 and a mobile vehicle 2 located above the two parallel guide rails 1 and capable of moving along the length direction of the guide rails 1. A collaborative robot 3 is arranged above the mobile vehicle 2. The collaborative robot 3 is connected to the mobile vehicle 2 through a fine-tuning mechanism 4. The fine-tuning mechanism 4 can drive the collaborative robot 3 to move above the mobile vehicle 2. The moving direction of the collaborative robot 3 is arranged along the arrangement direction of the two guide rails 1. A positioning mechanism 5 is arranged between the space between the two guide rails 1 and the mobile vehicle 2. The positioning mechanism 5 includes a positioning member 51 located between the two guide rails 1 and a locking member 52 located on the mobile vehicle 2 and used in conjunction with the positioning member 51.

[0037] Reference Figure 1 , Figure 2 The positioning member 51 includes a positioning roller 511 rotatably supported between the two guide rails 1, and the axial direction of the positioning roller 511 is arranged along the length direction of the guide rail 1. A driving device 512 for driving the positioning roller 511 to rotate is arranged at one end of the positioning roller 511.

[0038] The shaft of the positioning roller 511 is provided with a plurality of outwardly protruding ribs 5111, and the ribs 5111 are integrally formed with the positioning roller 511. The length direction of the ribs 5111 is arranged along the axial direction of the positioning roller 511. The ribs 5111 are arranged at equal distances along the circumferential direction of the positioning roller 511. A plurality of positioning notches 5112 are arranged at intervals along the length direction of the ribs 5111 on the ribs 5111, and a positioning notch 5112 on one rib 5111 is a group. Each positioning notch 5112 can be set as a point where the moving vehicle 2 needs to stop.

[0039] The driving device 512 includes a worm wheel 5121 fixed at the end of the positioning roller 511 and a worm 5122 meshing with the worm wheel 5121, and the worm 5122 is rotatably connected between the two guide rails 1. A driving motor 5123 is provided at one end of the worm 5122, and the driving motor 5123 is fixed between the two guide rails 1. The motor shaft of the driving motor 5123 is coaxially arranged and fixedly connected with the worm 5122. When the driving motor 5123 is started, the motor shaft of the driving motor 5123 drives the worm 5122 to rotate. With the rotation of the worm 5122, the positioning roller 511 is driven to rotate under the action between the worm 5122 and the worm wheel 5121, so that different convex ridges 5111 on the positioning roller 511 face upward.

[0040] Reference Figure 1 , Figure 3The locking member 52 includes a lock box 521 fixed on the mobile vehicle 2, and the lock box 521 is arranged opposite to the positioning roller 511 in the upper and lower directions. A cavity 5211 is arranged inside the lock box 521, and a vertically arranged lock pin 522 is arranged inside the cavity 5211. The lock pin 522 is slidably connected in the cavity 5211, and the bottom end of the lock pin 522 extends through the bottom end wall plate of the lock box 521. The lock pin 522 is located in a section inside the cavity 5211, and a groove 5221 is arranged on the rod of the lock pin 522. A rack 5222 is fixed inside the groove 5221, and the length direction of the rack 5222 is arranged along the axial direction of the lock pin 522.

[0041] A gear 523 is rotatably connected inside the lock box 521. The gear 523 extends into the interior of the groove 5221 through the insertion opening of the groove 5221 and meshes with the rack located inside the groove 5221. A locking motor 524 is also provided inside the lock box 521. The locking motor 524 is fixed inside the lock box 521. The motor shaft of the locking motor 524 is coaxially fixed with the gear 523.

[0042] The locking pin 522 is located directly above the positioning roller 511 and the extension line of the central axis of the locking pin 522 intersects with the axis of the positioning roller 511 at one point. When the mobile vehicle 2 moves along the length direction of the guide rail 1, as the mobile vehicle 2 moves, the locking pin 522 in the lock box 521 can be opposite to each positioning notch 5112 on the convex ridge 5111 facing upward on the positioning roller 511. The bottom end of the locking pin 522 is a round head and can be inserted into the positioning notch 5112 of the positioning roller 511. When the locking pin 522 moves downward, the bottom end of the locking pin 522 can be inserted into the corresponding positioning notch 5112. When the bottom end of the locking pin 522 is inserted into the corresponding positioning notch 5112, the position of the mobile vehicle 2 on the guide rail 1 can be locked. When the collaborative robot 3 is in the process of carrying, the relative position between the mobile vehicle 2 and the guide rail 1 is not easy to change, so that the position operation of the collaborative robot 3 can be more accurate when working.

[0043] Reference Figure 1The fine-tuning mechanism 4 includes a fixed seat 41 fixed on the top of the mobile vehicle 2. The fixed seat 41 is in the shape of a long strip, and the length direction of the fixed seat 41 is arranged along the arrangement direction of the two guide rails 1. A mounting seat 42 that moves along the length direction of the fixed seat 41 is slidably connected to the fixed seat 41, and the collaborative robot 3 is fixed on the mounting seat 42. Two guide rods 43 are arranged on the fixed seat 41, and the axial direction of the guide rods 43 is arranged along the length direction of the fixed seat 41. The guide rod 43 passes through the mounting seat 42 and is slidably connected to the mounting seat 42. Both ends of the guide rod 43 are fixed to the fixed seat 41 through a fixing block. An adjusting screw 44 is arranged between the two guide rods 43, and the adjusting screw 44 is rotatably supported on the fixed seat 41, and the adjusting screw 44 is parallel to the guide rod 43. The adjusting screw 44 passes through the mounting seat 42 and is connected to the screw nut of the mounting seat 42. A fine-tuning motor 45 is fixed to one end of the adjusting screw 44 , and a motor shaft of the fine-tuning motor 45 is coaxial with and fixedly connected to the adjusting screw 44 .

[0044] The implementation principle of a robot positioning device based on an AGV system in an embodiment of the present application is as follows: when the position of the collaborative robot is moved, when the collaborative robot 3 moves to the set position along the guide rail 1 driven by the mobile vehicle 2, first, the positioning roller 511 is controlled to rotate so that the convex ridge 5111 where the required positioning notch 5112 is located faces upward, and then the locking motor 524 is started, and through the cooperation between the gear 523 and the rack 5222, the locking pin 522 is driven to move downward and inserted into the corresponding positioning notch 5112, so that the position of the mobile vehicle 2 can be fixed.

[0045] Embodiment 2

[0046] The embodiment of the present application discloses a robot positioning device based on an AGV system.

[0047] Reference Figure 4 , Figure 5 The difference between the second embodiment and the first embodiment is that the positioning member 51 includes a positioning plate 5113 arranged flat, a plurality of convex ribs 5111 are arranged along the top surface of the positioning plate 5113, and the arrangement direction between the convex ribs 5111 is arranged along the arrangement direction of the two guide rails 1. The convex ribs 5111 and the positioning plate 5113 are integrally formed.

[0048] The lock box 521 is slidably connected to the moving vehicle 2 and the moving direction of the lock box 521 is arranged along the arrangement direction of the convex ribs 5111. The moving vehicle 2 is provided with a control mechanism 6 for driving the lock box 521 to move on the moving vehicle 2.

[0049] A slide groove 21 is provided on the side wall of the mobile vehicle 2, and the length direction of the slide groove 21 is arranged along the arrangement direction of the convex ribs 5111. A slider 5212 extending into the slide groove 21 is provided on the lock box 521, and the slider 5212 is fixedly connected to the lock box 521, and the slider 5212 is slidably connected in the slide groove 21.

[0050] The control mechanism 6 includes a control screw 61 rotatably connected to the moving vehicle 2, and the axial direction of the control screw 61 is arranged along the arrangement direction of the convex ribs 5111. The control screw 61 is connected to the moving vehicle 2 by a screw nut. A control motor 62 is fixed at one end of the control screw 61, the control motor 62 is fixed to the moving vehicle 2, and the motor shaft of the control motor 62 is coaxial with the control screw 61, and the motor shaft of the control motor 62 is fixed to the control screw 61. When the control motor 62 is started, the motor shaft of the control motor 62 drives the control screw 61 to rotate.

[0051] The implementation principle of a robot positioning device based on an AGV system in an embodiment of the present application is as follows: when the collaborative robot needs to move its position, the lock box 521 is first moved to a position relative to the convex ridge 5111 where the corresponding positioning notch 5112 is located under the drive of the control mechanism 6, and then moves with the movement of the mobile vehicle 2 to be opposite to the positioning notch 5112, and finally controls the locking pin 522 to be inserted into the corresponding positioning notch 5112, thereby locking the relative position between the mobile vehicle 2 and the guide rail 1.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot positioning device based on an AGV system, characterized in that: The invention comprises two parallel guide rails (1) and a mobile vehicle (2) located above the two guide rails (1) and capable of moving along the guide rails (1); a collaborative robot (3) is arranged on the mobile vehicle (2); a positioning member (51) is arranged between the two guide rails (1); the positioning member (51) is provided with a plurality of groups of positioning notches (5112) arranged along the length direction of the guide rails (1); each positioning notch (5112) corresponds to a position to which the collaborative robot (3) needs to move; the mobile vehicle (2) is provided with a locking member (52); the locking member (52) comprises a locking box (521) located on the mobile vehicle (2); a vertical locking member (521) is arranged inside the locking box (521); A locking pin (522) is provided, the locking pin (522) is slidably connected in the locking box (521), the bottom end of the locking pin (522) penetrates through the bottom end wall plate of the locking box (521) and extends out, the moving direction of the locking pin (522) is vertically arranged, and a driving component for driving the locking pin (522) to move up and down is arranged inside the locking box (521), when the collaborative robot (3) moves to the required moving position, the locking pin (522) is opposite to the corresponding positioning notch (5112), and when the locking pin (522) is opposite to the positioning notch (5112), the locking pin (522) can be driven by the driving component to move downward and inserted into the positioning notch (5112); The lock box (521) is fixed on the mobile vehicle (2); the positioning member (51) comprises a positioning roller (511) rotatably connected between two guide rails (1); a plurality of positioning notches (5112) are arranged along the circumferential direction of the positioning roller (511); and a driving device (512) for driving the positioning roller (511) to rotate is provided at one end of the positioning roller (511); The driving device (512) comprises a worm wheel (5121) fixed on the positioning roller (511), a worm (5122) meshing with the worm wheel (5121), and a driving motor (5123) located at one end of the worm (5122) for driving the worm (5122) to rotate.

2. The robot positioning device based on the AGV system according to claim 1, characterized in that: The driving assembly comprises a rack (5222) fixed on the locking pin (522) and a gear (523) meshing with the rack (5222), and a locking motor (524) for driving the gear (523) to rotate is also provided inside the lock box (521).

3. The robot positioning device based on the AGV system according to claim 2, characterized in that: A groove (5221) is provided on the side wall of the locking pin (522), the rack (5222) is located in the groove (5221), and the gear (523) extends into the groove (5221) through the notch of the groove (5221) to mesh with the rack (5222).

4. The robot positioning device based on the AGV system according to claim 1, characterized in that: A fine-tuning mechanism (4) is also provided between the collaborative robot (3) and the moving vehicle (2), and the fine-tuning mechanism (4) is capable of driving the collaborative robot (3) to move along the arrangement direction of the two guide rails (1).

5. The robot positioning device based on the AGV system according to claim 4, characterized in that: The fine-tuning mechanism (4) comprises a fixed seat (41) fixed on the mobile vehicle (2) and a mounting seat (42) slidably connected to the fixed seat (41); the collaborative robot (3) is mounted on the mounting seat (42); an adjusting screw (44) rotatably supported on the fixed seat (41) is provided on the fixed seat (41); a screw nut is connected between the adjusting screw (44) and the mounting seat (42); and a fine-tuning motor (45) is provided at one end of the adjusting screw (44) for driving the adjusting screw (44) to rotate.

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