An AGV secondary positioning device

Abstract

The present application relates to an AGV secondary positioning device, comprising an AGV and a carrier frame slidably placed on the AGV, the carrier frame being used to carry a workpiece; a positioning cone arranged on the carrier frame, and a positioning seat detachably arranged on a docking device, the positioning seat being provided with a mating inclined surface at one end away from abutting the docking device, the mating inclined surface being adapted to the contour of the positioning cone; when the AGV approaches the docking device, the positioning cone slides in along the mating inclined surface and finally abuts against the positioning seat, the present application has the effect of reducing the deviation between the AGV when it is docked at the docking device and the actual set stop position.

Description

Technical Field

[0001] The present application relates to the field of logistics equipment, and in particular to an AGV secondary positioning device. Background Art

[0002] AGVs (Automated Guide Vehicles) are intelligent transport tools that integrate advanced computer control, precise automated guidance, multiple safety features, and efficient load transfer. They are widely used in warehousing, manufacturing, logistics, and other industries, significantly improving operational efficiency and automation. They are essential equipment in modern logistics and production lines.

[0003] During the AGV's travel, it uses its own detection device and controller to achieve navigation functions, so that the AGV can reach the docking equipment and wait. Due to the detection error of the detection device, under normal circumstances, there will be an error of ±5mm (SI unit, millimeter) between the actual position where the AGV stops and the set position. Therefore, there will be a ±5mm error between the workpiece finally placed on the AGV's loading platform and the actual loading area of ​​the placement platform. If the AGV travels on an uneven road or turns, there is a probability that the workpiece will overturn from the loading platform.

[0004] Therefore, in order to reduce the error, there is a method of positioning using a QR code, that is, when the detection device completes the recognition of the QR code, it indicates that the AGV has reached the set position. However, during the process of recognizing the QR code, the detection device does not need to be facing the QR code (for example, the process of a mobile terminal device scanning the QR code), that is: after the detection device completes the recognition of the QR code, there will still be a slight deviation (±1mm) between the position of the AGV and the set stop position of the docking device, and there is room for improvement. Summary of the Invention

[0005] In order to reduce the deviation between the actual set stop position of the AGV when it is docked at the docking equipment, the present application provides an AGV secondary positioning device.

[0006] The AGV secondary positioning device provided in this application adopts the following technical solution:

[0007] An AGV secondary positioning device comprises an AGV and a carrier frame slidably placed on the AGV, the carrier frame being used to carry a workpiece; a positioning cone arranged on the carrier frame, and a positioning seat detachably arranged on a docking device, the positioning seat having a mating inclined surface at one end away from abutting the docking device, the mating inclined surface being adapted to the contour of the positioning cone; when the AGV approaches the docking device, the positioning cone slides in along the mating inclined surface and finally abuts against the positioning seat.

[0008] By adopting the above technical solution, since a sliding carrier is provided on the AGV, the workpiece is carried by the carrier, and the current position of the AGV is detected by the detection device of the AGV to achieve the first positioning. When the controller controls the AGV to carry the workpiece to the vicinity of the docking device, since a positioning seat is provided on the docking device and a positioning cone is provided on the carrier, when the AGV moves, the positioning cone moves synchronously with the AGV. In the process of the positioning cone moving toward the mating inclined surface, the position offset of the AGV approaching the docking device is corrected through the guiding effect of the mating inclined surface of the positioning seat, so that the final stop position of the AGV is relatively accurate, realizing secondary positioning, and playing a positive guiding role in reducing the deviation between the AGV when it stops at the docking device and the actual set stop position.

[0009] Preferably, a limiting mechanism is further included, wherein the limiting mechanism is provided on the docking device and the AGV, and the limiting mechanism is used to limit or release the restriction on the displacement of the carrier along the AGV.

[0010] By adopting the above technical solution, the displacement of the carrier along the AGV is limited or released by the limiting mechanism. When the carrier needs to be displaced along the AGV, the limiting mechanism will release the restriction on the carrier, so that the carrier can meet the demand of moving along the AGV; when the carrier does not need to be displaced along the AGV, the limiting mechanism will limit the carrier, so that the carrier can stay stably on the AGV, thereby improving the stability of the cooperation between the carrier and the AGV.

[0011] Preferably, the limiting mechanism includes a top block, a limiting assembly and a limiting seat, the top block is arranged on the docking device, the limiting assembly moves in the vertical direction and passes through the supporting frame, and the limiting seat is arranged on the AGV; when the positioning cone is not in contact with the mating inclined surface, the free end of the limiting assembly is in contact with the limiting seat to limit the displacement of the supporting frame along the AGV; in the process of the positioning cone sliding in along the mating inclined surface and finally abutting with the positioning seat, the fixed end of the limiting assembly is always in contact with the top block, and the free end of the limiting assembly is separated from the limiting seat.

[0012] By adopting the above technical solution, utilizing the cooperation between the limit assembly, the top block and the limit seat that are movable throughout the carrier, when the carrier needs to be limited, the limit assembly moves toward the limit seat and abuts against the limit seat to achieve the limitation of the carrier; in the process of the positioning cone sliding in along the matching inclined surface and finally abutting against the positioning seat, the fixed end of the limit assembly is always abutted against the top block. During this process, the free end of the limit assembly is separated from the limit seat to release the limitation of the carrier, so that the carrier can be displaced along the AGV.

[0013] Preferably, the limiting assembly includes a connecting rod, a positioning block and a guide shaft, the connecting rod movably passes through the supporting frame, the positioning block and the guide shaft are respectively connected to the two ends of the connecting rod, a wedge-shaped groove is provided on the limiting seat, the contour of the wedge-shaped groove is adapted to the contour of the positioning block, a limiting portion is provided on the groove wall of the wedge-shaped groove, and the limiting portion is used to limit the staying position of the positioning block along the wedge-shaped groove.

[0014] By adopting the above technical solution, during the movement of the connecting rod bearing positioning block toward the limit seat, the guiding effect of the wedge-shaped groove limits the movement path of the connecting rod bearing positioning block toward the limit seat, thereby reducing the deflection of the connecting rod bearing positioning block when it moves toward the limit seat; at the same time, the limiting part limits the position where the positioning block finally stays in the wedge-shaped groove, thereby reducing the probability of the positioning block shaking along the wedge-shaped groove due to looseness in the fit between the positioning block and the wedge-shaped groove, thereby causing the connecting rod to shake following the wedge-shaped groove, thereby causing the supporting frame to shake.

[0015] Preferably, the connecting rod located between the positioning block and the supporting frame is provided with a return spring.

[0016] By adopting the above technical solution, at the moment when the guide shaft is separated from the top block, the elastic force provided by the reset spring is used to drive the connecting rod to follow the positioning block to move toward the wedge-shaped groove, so that the positioning block finally stays in the wedge-shaped groove, thereby realizing the limiting effect on the carrier frame. The mechanical structure is simple, the response speed is fast, and the occurrence of mechanical jamming is relatively low.

[0017] Preferably, the top block is provided with an inclined surface from one end close to the docking device to the end away from the docking device, and the inclined surface is inclined toward the surface of the carrier frame. In the process of the positioning cone sliding in along the matching inclined surface and finally abutting against the positioning seat, the guide shaft carries the connecting rod and the positioning block to move along the inclined surface to the upper surface of the top block.

[0018] By adopting the above technical solution, the guiding effect of the inclined surface enables the guide shaft to carry the connecting rod and the positioning block smoothly along the inclined surface to reach the upper surface of the top block. During this process, the pressure change borne by the reset spring is relatively gentle, thereby reducing the resistance borne by the guide shaft when moving along the top block.

[0019] Preferably, a limit member is provided on the surface of the AGV facing the carrier, and the limit member is used to limit the stroke of the reciprocating motion of the carrier along the width direction of the AGV to between 0 and 10 mm.

[0020] By adopting the above technical solution, the range of reciprocating movement of the carrier along the width direction of the AGV is limited by the limiter, and the position of the carrier on the AGV can be adjusted in a small range. At the same time, the probability of the carrier falling off along the AGV due to excessive movement range of the carrier along the AGV is reduced.

[0021] Preferably, a pressure sensor is provided at one end of the positioning cone abutting against the positioning seat, and the pressure sensor is electrically connected to the controller of the AGV.

[0022] By adopting the above technical solution, when the AGV moves toward the docking device, the positioning cone moves synchronously with the AGV, so that the positioning cone moves along the fitting inclined plane toward the positioning seat, and the pressure between the positioning cone and the positioning seat is detected by the pressure sensor. When the detection value of the pressure sensor reaches the set value, it indicates that the positioning cone and the positioning seat are in contact. The controller can then quickly control the AGV to stop moving, thereby reducing the probability of the AGV and / or the docking device being damaged due to excessive pressure on the AGV or the docking device being damaged due to the AGV having reached the specified position but the AGV continues to work.

[0023] Preferably, an arc-shaped groove is provided on the upper surface of the top block, and when the positioning cone abuts against the positioning seat, the guide shaft is located in the arc-shaped groove.

[0024] By adopting the above technical solution, the guide shaft is limited by the arc-shaped groove. When the positioning cone abuts the positioning seat, the guide shaft can be located in the arc-shaped groove, thereby reducing the probability of the guide shaft being affected by vibration, resulting in the guide shaft and the top block being separated, and the load frame being unable to be limited.

[0025] Preferably, the connection between the side of the arc-shaped groove close to the inclined surface and the top block is rounded.

[0026] By adopting the above technical solution, the connection between the arc groove and the top block is made relatively smooth, reducing the resistance encountered by the guide shaft when moving in the arc groove or sliding out of the arc groove, so as to facilitate smooth movement of the guide shaft.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] 1. During the movement of the positioning cone toward the matching slope, the positioning seat's matching slope guides the positional offset of the AGV as it approaches the docking equipment, thereby ensuring that the AGV's final resting position is relatively accurate. This provides a positive guide to reduce the deviation between the AGV's actual set rest position and the docking equipment.

[0029] 2. The limit mechanism is used to limit or release the load frame's displacement along the AGV. When the load frame needs to move along the AGV, the limit mechanism will release the limit on the load frame, so that the load frame can move along the AGV. When the load frame does not need to move along the AGV, the limit mechanism will limit the load frame so that the load frame can stay stably on the AGV, improving the stability of the cooperation between the load frame and the AGV.

[0030] 3. When the guide shaft separates from the top block, the elastic force provided by the return spring is used to drive the connecting rod to follow the positioning block to move toward the wedge-shaped groove, so that the positioning block finally stays in the wedge-shaped groove, thereby achieving a limiting effect on the carrier frame. The mechanical structure is simple, the response speed is fast, and the occurrence of mechanical jamming is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of an AGV secondary positioning device according to an embodiment of the present application.

[0032] Figure 2 yes Figure 1 An enlarged schematic diagram of part A in an AGV secondary positioning device.

[0033] Figure 3 This is a schematic diagram of the overall structure of an AGV secondary positioning device in an embodiment of the present application when the AGV is docked with a docking device.

[0034] Figure 4 It is a structural diagram of the AGV in an AGV secondary positioning device according to an embodiment of the present application.

[0035] Figure 5 yes Figure 4 An enlarged schematic diagram of part B in an AGV secondary positioning device.

[0036] Explanation of the accompanying reference numerals: 1. AGV; 2. Carrying frame; 3. Positioning cone; 4. Positioning seat; 41. Fitting inclined plane; 5. Limiting mechanism; 51. Top block; 511. Inclined plane; 52. Limiting assembly; 521. Connecting rod; 522. Positioning block; 523. Guide shaft; 53. Limiting seat; 531. Wedge-shaped groove; 5311. Limiting portion; 6. Return spring; 7. Limiting member; 8. Arc-shaped groove; 9. Slide rail; 10. Slider; 11. Gap; 12. Sliding hole; 13. Clamping area; 14. Docking device. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1-5 This application is described in further detail.

[0038] The embodiment of the present application discloses an AGV1 secondary positioning device. Figure 1 and Figure 2An AGV1 secondary positioning device includes an AGV1 and a carrier 2 slidingly arranged on the AGV1, the carrier 2 is used to carry a workpiece, a positioning cone 3 arranged on the carrier 2, and a positioning seat 4 detachably arranged on the docking device 14. The positioning seat 4 is provided with a matching inclined surface 41 at one end away from the docking device 14, and the matching inclined surface 41 is adapted to the contour of the positioning cone 3. When the AGV1 approaches the docking device 14, the positioning cone 3 slides in along the matching inclined surface 41 and finally abuts against the positioning seat 4.

[0039] Specifically, the AGV1 (Automated Guided Vehicle) is an automatic guided vehicle equipped with an electromagnetic or optical automatic guidance device, which can travel along a specified guidance path. It is usually composed of a computer, an electromagnetic or optical guidance device, a control device, a power device and a moving mechanism. It is an existing transportation equipment, and its specific composition and working principle are not described here.

[0040] At the same time, the docking device 14 can be a material rack, etc., and the AGV1 is docked through the docking device 14 so that the workpiece on the docking device 14 can be transported to the carrier 2 through the transport equipment.

[0041] Furthermore, slide rails 9 are symmetrically arranged on the upper surface of AGV1 about the midline in the longitudinal direction, and four sliders 10 are arranged on the surface of the carrier frame 2 facing the AGV1. The four sliders 10 are arranged in a rectangular array on the carrier frame 2, and each two sliders 10 form a group. Each group of sliders 10 is slidably arranged on two slide rails 9, so that the carrier frame 2 can slide back and forth along the width direction of AGV1.

[0042] Correspondingly, a limiter 7 is provided on the surface of the AGV1 facing the carrier 2. The limiter 7 is used to limit the reciprocating stroke of the carrier 2 along the width direction of the AGV1 to between 0 and 10 mm. A limiter 7 is provided on both sides of each slider 10. The limiters 7 are fixed to the slide rail 9 by bolts, and the distance between the two limiters 7 is preset to 0 to 10 mm, so that the carrier 2 always moves within this range. The position of the carrier 2 on the AGV1 can be adjusted within a small range, and at the same time, the probability of the carrier 2 falling off the AGV1 due to excessive movement of the carrier 2 along the AGV1 is reduced.

[0043] In addition, with the center line of the width direction of the carrier 2 as the symmetry axis, positioning cones 3 are provided on both sides of the symmetry axis. Correspondingly, two positioning seats 4 are also provided. The two positioning seats 4 correspond to the positions of the two positioning cones 3 respectively. The functions of the two positioning seats 4 and the two positioning cones 3 are the same, and they will not be described in detail here.

[0044] On the other hand, a pressure sensor is provided at the end where the positioning cone 3 and the positioning seat 4 are in contact. The pressure sensor is electrically connected to the controller of AGV1, and the detection end of the pressure sensor is facing the positioning seat 4. During the movement of AGV1 toward the docking device 14, the positioning cone 3 moves synchronously with AGV1, so that the positioning cone 3 moves toward the positioning seat 4 along the fitting slope 41. The pressure between the positioning cone 3 and the positioning seat 4 is detected by the pressure sensor. When the detection value of the pressure sensor reaches the set value, it indicates that the positioning cone 3 and the positioning seat 4 are in contact. The controller can quickly control AGV1 to stop moving, thereby reducing the probability that the pressure on AGV1 and / or the docking device 14 is too high due to the fact that AGV1 has reached the specified position but AGV1 continues to work, resulting in damage to AGV1 or damage to the docking device 14.

[0045] Therefore, since a sliding carrier 2 is provided on the AGV1, the workpiece is carried by the carrier 2, and the current position of the AGV1 is detected by the detection device of the AGV1 to achieve the first positioning. When the controller controls the AGV1 to carry the workpiece to the vicinity of the docking device 14, since the docking device 14 is provided with a positioning seat 4, and the carrier 2 is provided with a positioning cone 3, when the AGV1 moves, the positioning cone 3 moves synchronously with the AGV1. In the process of the positioning cone 3 moving toward the mating inclined surface 41, the position offset of the AGV1 in the process of approaching the docking device 14 is corrected through the guiding effect of the mating inclined surface 41 of the positioning seat 4, so that the final stop position of the AGV1 is relatively accurate, and the secondary positioning is achieved, which plays a positive guiding role in reducing the deviation between the actual set stop position when the AGV1 is docked at the docking device 14.

[0046] Reference Figure 2 and Figure 3 , also includes a limiting mechanism 5, which is set on the docking device 14 and the AGV1. Since the carrier 2 can be displaced within a range of 0 to 10 mm along the width direction of the AGV1, the limiting mechanism 5 is used to limit or release the restriction on the carrier 2 from moving along the AGV1. The limiting mechanism 5 limits or releases the restriction on the carrier 2 from moving along the AGV1. When the carrier 2 needs to move along the AGV1, the limiting mechanism 5 will release the restriction on the carrier 2, so that the carrier 2 can meet the requirement of moving along the AGV1; when the carrier 2 does not need to move along the AGV1, the limiting mechanism 5 limits the carrier 2, so that the carrier 2 can stay stably on the AGV1, thereby improving the stability of the cooperation between the carrier 2 and the AGV1.

[0047] Specifically, the limiting mechanism 5 includes a top block 51, a limiting assembly 52, and a limiting seat 53. The top block 51 is mounted on the docking device 14. The limiting assembly 52 vertically extends through the carrier 2. The limiting seat 53 is mounted on the AGV 1. The top block 51 is positioned between the two positioning seats 4. The top block 51 and the docking device 14 are vertically positioned, and the two positioning seats 4 are symmetrically arranged about the top block 51. The top block 51 is hollowed out from its midline to its edge along the width direction, forming a gap 11 through which the limiting assembly 52 can pass.

[0048] At the same time, when the positioning cone 3 does not abut against the mating inclined surface 41, the free end of the limiting component 52 abuts against the limiting seat 53 to limit the displacement of the carrier 2 along the AGV1; in the process of the positioning cone 3 sliding in along the mating inclined surface 41 and finally abutting against the positioning seat 4, the fixed end of the limiting component 52 always abuts against the top block 51, and the free end of the limiting component 52 is separated from the limiting seat 53.

[0049] Therefore, by utilizing the cooperation between the limiting component 52, the top block 51 and the limiting seat 53 that are movable throughout the supporting frame 2, when the supporting frame 2 needs to be limited, the limiting component 52 moves toward the limiting seat 53 and abuts against the limiting seat 53 to achieve the limitation of the supporting frame 2; in the process that the positioning cone 3 slides in along the matching inclined surface 41 and finally abuts against the positioning seat 4, the fixed end of the limiting component 52 is always abutted against the top block 51. During this process, the free end of the limiting component 52 is separated from the limiting seat 53 to release the limitation of the supporting frame 2, so that the supporting frame 2 can be displaced along the AGV1.

[0050] Correspondingly, refer to Figure 3 、 Figure 4 as well as Figure 5 The limiting assembly 52 includes a connecting rod 521, a positioning block 522 and a guide shaft 523. The connecting rod 521 is movable through the supporting frame 2. The positioning block 522 and the guide shaft 523 are respectively connected to the two ends of the connecting rod 521. A wedge-shaped groove 531 is provided on the limiting seat 53. The contour of the wedge-shaped groove 531 is adapted to the contour of the positioning block 522. When the connecting rod 521 carries the positioning block 522 and moves toward the limiting seat 53, the guiding effect of the wedge-shaped groove 531 limits the movement path of the connecting rod 521 carrying the positioning block 522 toward the limiting seat 53, thereby reducing the deflection of the connecting rod 521 carrying the positioning block 522 when moving toward the limiting seat 53. A limiting portion 5311 is provided on the groove wall of the wedge-shaped groove 531. The limiting portion 5311 is used to limit the stop position of the positioning block 522 along the wedge-shaped groove 531.

[0051] Specifically, the cross-sectional shape of the connecting rod 521 can be any shape except a circle, such as a triangle, a quadrilateral, a pentagon, etc. (regular or irregular). Correspondingly, the carrier frame 2 is provided with a sliding hole 12 along the thickness direction that is adapted to the cross-sectional shape of the connecting rod 521, so that the connecting rod 521 can smoothly slide back and forth along the sliding hole 12. Because the cross-sectional shape of the connecting rod 521 is a polygon, the sliding hole 12 limits the connecting rod 521 to reciprocating motion only in the vertical direction, but no axial rotation occurs.

[0052] Furthermore, the wedge-shaped groove 531 is formed by the surface of the limiting seat 53 being recessed in the thickness direction toward the positioning block 522. At the same time, two limiting portions 5311 are provided. The two limiting portions 5311 are located on the two groove walls of the wedge-shaped groove 531. Thus, a clamping area 13 is formed between the two limiting portions 5311. When the positioning block 522 is located in the wedge-shaped groove 531, the two side walls of the positioning block 522 will abut against the two limiting portions 5311. The limiting effect of 11 enables the positioning block 522 to be stably engaged in the wedge-shaped groove 531, and the position where the positioning block 522 finally stays in the wedge-shaped groove 531 is limited by the limiting portion 5311, thereby reducing the probability of the positioning block 522 shaking along the wedge-shaped groove 531 due to looseness in the fit between the positioning block 522 and the wedge-shaped groove 531, thereby causing the connecting rod 521 to shake along the wedge-shaped groove 531, and causing the support frame 2 to shake.

[0053] Correspondingly, the connecting rod 521 located between the positioning block 522 and the supporting frame 2 is provided with a reset spring 6, which is sleeved on the connecting rod 521. The two ends of the reset spring 6 are respectively in contact with the supporting frame 2 and the positioning block 522. When the guide shaft 523 is separated from the top block 51, the elastic force provided by the reset spring 6 is used to drive the connecting rod 521 to follow the positioning block 522 to move toward the wedge-shaped groove 531, so that the positioning block 522 finally stays in the wedge-shaped groove 531, thereby realizing the limiting effect on the supporting frame 2. The mechanical structure is simple, the response speed is fast, and the occurrence of mechanical jamming is relatively low.

[0054] Reference Figure 2 and Figure 3The top block 51 is provided with an inclined surface 511 from the end close to the docking device 14 to the end away from the docking device 14, and the inclined surface 511 is inclined toward the surface of the carrier 2. In the process of the positioning cone 3 sliding in along the matching inclined surface 41 and finally abutting against the positioning seat 4, the guide shaft 523 carries the connecting rod 521 and the positioning block 522 to move along the inclined surface 511 toward the upper surface of the top block 51. Through the guiding effect of the inclined surface 511, the guide shaft 523 can carry the connecting rod 521 and the positioning block 522 smoothly along the inclined surface 511 to reach the upper surface of the top block 51. During this process, the pressure change borne by the return spring 6 is relatively gentle, which reduces the resistance borne by the guide shaft 523 when it moves along the top block 51.

[0055] At the same time, an arc-shaped groove 8 is provided on the upper surface of the top block 51. When the positioning cone 3 abuts the positioning seat 4, the guide shaft 523 is located in the arc-shaped groove 8, and the guide shaft 523 is limited by the arc-shaped groove 8. When the positioning cone 3 abuts the positioning seat 4, the guide shaft 523 can be located in the arc-shaped groove 8, thereby reducing the probability that the guide shaft 523 is affected by vibration, resulting in the separation of the guide shaft 523 from the top block 51 and the inability to limit the carrier 2.

[0056] Correspondingly, the connection between the side of the arc groove 8 close to the inclined surface 511 and the top block 51 is chamfered, so that the connection between the arc groove 8 and the top block 51 is relatively smooth, reducing the resistance encountered by the guide shaft 523 when moving into the arc groove 8 or when sliding out along the arc groove 8, so as to facilitate smooth movement of the guide shaft 523.

[0057] The implementation principle of an AGV1 secondary positioning device in an embodiment of the present application is as follows: AGV1, through the cooperation of a controller and a detection device, enables AGV1 to reach the stop position set by the docking device 14. When AGV1 reaches the stop position, AGV1 slowly moves toward the docking device 14 to complete the initial position adjustment operation. During this process, the positioning cone 3 moves synchronously with the AGV1, and then the positioning cone 3 will abut against the positioning seat 4. When the positioning cone 3 abuts against the positioning seat 4, the positioning cone 3 slides into the positioning seat 4 along the fitting inclined surface 41, and slowly corrects the deviation between the actual position of the AGV1 and the set position through the fitting inclined surface 41. When the positioning cone 3 is completely in contact with the fitting inclined surface 41, the AGV1 can accurately stay in the set position, thereby realizing the secondary positioning operation. At the same time, during this process, the positioning cone 3 does not abut against the fitting inclined surface 41. When the engaging inclined surface 41 abuts, the positioning block 522 is located in the wedge-shaped groove 531, thereby limiting the carrier 2. At this time, the carrier 2 cannot be displaced along the AGV1. When the positioning cone 3 begins to abut against the engaging inclined surface 41, the guide shaft 523 begins to move along the inclined surface 511 of the top block 51 toward the upper surface of the top block 51, so that the guide shaft 523 carries the connecting rod 521 and the positioning block 522 to move in the vertical direction, thereby causing the positioning block 522 to gradually separate from the wedge-shaped groove 531. When the positioning cone 3 is completely in contact with the engaging inclined surface 41, the positioning block 522 is completely separated from the wedge-shaped groove 531 to release the limitation on the carrier 2. At this time, the carrier 2 can be displaced along the AGV1. Through the above process, it plays a positive guiding role in reducing the deviation between the AGV1 and the actual set stop position when it is docked at the docking device 14.

[0058] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A secondary positioning device for an AGV (1), characterized in that: It comprises an AGV (1) and a carrier (2) slidably placed on the AGV (1), wherein the carrier (2) is used to carry a workpiece; A positioning cone (3) is provided on the carrier (2), and a positioning seat (4) is detachably provided on the docking device (14), wherein the positioning seat (4) is provided with a matching inclined surface (41) at one end away from the end abutting against the docking device (14), and the matching inclined surface (41) is adapted to the contour of the positioning cone (3); When the AGV (1) approaches the docking device (14), the positioning cone (3) slides in along the engaging inclined surface (41) and finally abuts against the positioning seat (4); It also includes a limiting mechanism (5), which is arranged on the docking device (14) and the AGV (1), and is used to limit or release the displacement of the carrier (2) along the AGV (1); The limiting mechanism (5) comprises a top block (51), a limiting assembly (52) and a limiting seat (53); the top block (51) is arranged on the docking device (14); the limiting assembly (52) is movable in a vertical direction and passes through the carrier (2); and the limiting seat (53) is arranged on the AGV (1); When the positioning cone (3) is not in contact with the engaging inclined surface (41), the free end of the limiting component (52) is in contact with the limiting seat (53) to limit the displacement of the carrier (2) along the AGV (1); In the process of the positioning cone (3) sliding in along the fitting inclined surface (41) and finally abutting against the positioning seat (4), the fixed end of the limiting component (52) always abuts against the top block (51), and the free end of the limiting component (52) is separated from the limiting seat (53).

2. The AGV (1) secondary positioning device according to claim 1, characterized in that: The limiting assembly (52) includes a connecting rod (521), a positioning block (522) and a guide shaft (523). The connecting rod (521) is movably connected to the supporting frame (2). The positioning block (522) and the guide shaft (523) are respectively connected to the two ends of the connecting rod (521). A wedge-shaped groove (531) is provided on the limiting seat (53). The contour of the wedge-shaped groove (531) is adapted to the contour of the positioning block (522). A limiting portion (5311) is provided on the groove wall of the wedge-shaped groove (531). The limiting portion (5311) is used to limit the stopping position of the positioning block (522) along the wedge-shaped groove (531).

3. The secondary positioning device for an AGV (1) according to claim 2, characterized in that: The connecting rod (521) located between the positioning block (522) and the supporting frame (2) is provided with a return spring (6).

4. The secondary positioning device for an AGV (1) according to claim 3, characterized in that: The top block (51) is provided with an inclined surface (511) from one end close to the docking device (14) to the end away from the docking device (14), and the inclined surface (511) is inclined toward the surface of the carrier (2). When the positioning cone (3) slides along the matching inclined surface (41) and finally abuts against the positioning seat (4), the guide shaft (523) carries the connecting rod (521) and the positioning block (522) to move along the inclined surface (511) toward the upper surface of the top block (51).

5. The secondary positioning device for an AGV (1) according to claim 1, characterized in that: A limiting member (7) is provided on the surface of the AGV (1) facing the carrier (2), and the limiting member (7) is used to limit the stroke of the reciprocating motion of the carrier (2) along the width direction of the AGV (1) to be between 0 and 10 mm.

6. The secondary positioning device for an AGV (1) according to claim 1, characterized in that: A pressure sensor is provided at one end where the positioning cone (3) abuts against the positioning seat (4), and the pressure sensor is electrically connected to the controller of the AGV (1).

7. The secondary positioning device for an AGV (1) according to claim 4, characterized in that: An arc-shaped groove (8) is provided on the upper surface of the top block (51), and when the positioning cone (3) abuts against the positioning seat (4), the guide shaft (523) is located in the arc-shaped groove (8).

8. The secondary positioning device for an AGV (1) according to claim 7, characterized in that: The connection between the side of the arc-shaped groove (8) close to the inclined surface (511) and the top block (51) is rounded.

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