AGV tool positioning system

Abstract

The invention discloses an AGV tool positioning system which comprises a leveling floor, the leveling floor is connected with a guide device, the guide device is provided with two sets of vertically-arranged rollers used for pre-positioning a tool in the X direction and the Y direction in a clamping mode, the leveling floor is connected with a horizontal movement device, the horizontal movement device is provided with a universal ball, and the universal ball is connected with the leveling floor. The universal ball adjusts the position of the tool in the horizontal plane direction in a point contact mode, and the guide device is matched with the horizontal movement device and used for conducting multi-level positioning on the position of the tool. According to the automatic welding device, the AGV carries the tool to the leveling floor, the guide device clamps and fixes the tool through the rolling wheels and controls the X direction and the Y direction of the tool, when the universal ball makes contact with the tool, secondary positioning is conducted on the tool through rotation, the positioning precision of the tool can be improved through multi-layer positioning, and the welding precision is further improved.

Description

Technical Field

[0001] The present invention relates to the field of AGV transportation technology, and in particular to an AGV tooling positioning system. Background Art

[0002] With the development of science and technology, more and more automated equipment is being used in automobile welding production lines, and AGV unmanned transport vehicles are a typical example. AGV is a type of transportation equipment that does not require manual driving and is widely used in factories, warehouses, logistics centers and other places for automated transportation of goods. AGV usually relies on a series of technologies, such as lasers, magnetic strips, and visual recognition, to navigate and plan routes, and automatically complete tasks such as cargo handling, delivery, and sorting.

[0003] Since the lifting mechanism of the AGV transporter has a certain amount of shaking when working, the body positioning accuracy is low, and the AGV's own positioning accuracy is ±3mm. The automated workstation has strict requirements on the body stopping accuracy, so an AGV tooling positioning system is needed to solve this problem. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned background technical problems and to provide an AGV tooling positioning system.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An AGV tool positioning system includes: a leveling floor, the leveling floor is connected to a guide device, the guide device is provided with two groups of vertically arranged rollers, and is used to pre-position the tool in the X direction and the Y direction by clamping, the leveling floor is connected to a horizontal motion device, the horizontal motion device is provided with a universal ball, the universal ball adjusts the position of the tool in the horizontal plane direction by point contact, and the guide device cooperates with the horizontal motion device to perform multi-level positioning of the tool position.

[0007] As a further solution of the present invention: the guide device includes a base, the base is connected to the first cylinder and the transmission assembly, and the first cylinder is connected to a connecting plate through the transmission assembly.

[0008] As a further solution of the present invention: the end of the connecting plate is forked.

[0009] As a further solution of the present invention: the two bifurcated ends of the connecting plate are respectively provided with a first positioning roller and a second positioning roller, a plurality of the first positioning rollers are coaxially arranged along the X direction, and a plurality of the second positioning rollers are coaxially arranged along the Y direction.

[0010] As a further solution of the present invention: a guardrail is arranged around the base.

[0011] As a further solution of the present invention: the horizontal motion device includes a first support seat, and the universal ball is arranged on the top of the first support seat.

[0012] As a further solution of the present invention: a second cylinder is arranged on one side of the first support seat, the second cylinder is fixedly mounted on the leveling floor, an output end of the second cylinder is connected to a positioning pin, and the positioning pin passes through the first support seat.

[0013] As a further solution of the present invention: the leveling floor is fixedly installed with a plurality of second support seats, and the universal ball is arranged on the top of each of the second support seats.

[0014] As a further solution of the present invention: it also includes a sensor bracket, on which a vehicle type sensor is provided for identifying the type of the AGV transporter loaded with tooling.

[0015] As a further solution of the present invention: the leveling floor is connected to a signal air source converter, and the signal air source converter is provided with an air source interface and a signal interface.

[0016] Beneficial effects of the present invention:

[0017] (1) In the present invention, the AGV transporter transports the tooling to the leveling floor, and the guide device clamps and fixes the tooling through rollers to control the X and Y directions of the tooling. When the universal ball contacts the tooling, the tooling is positioned for a second time by rotation. Multi-level positioning can improve the positioning accuracy of the tooling and further improve the welding accuracy.

[0018] (2) In the present invention, the AGV tool positioning system realizes precise positioning of the tool through a simple but flexibly arranged structure. The system runs stably and is easy to maintain. The system has low noise and vibration, low friction, and low energy consumption. It is easy to realize the production of multiple models of automobile AGV tool positioning systems, thereby reducing manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a structural schematic diagram of the AGV tooling positioning system of the present invention in a working state;

[0021] Figure 2 It is a bottom view of the AGV tooling positioning system of the present invention in a working state;

[0022] Figure 3 It is a structural schematic diagram of the AGV tooling positioning system of the present invention;

[0023] Figure 4 yes Figure 1The enlarged view of point A in the middle;

[0024] Figure 5 yes Figure 3 Enlarged view of point B in the middle.

[0025] In the figure:

[0026] 1. AGV transporter; 2. Leveling floor; 3. Guide device; 31. Base; 32. Guardrail; 33. First cylinder; 34. Transmission assembly; 35. Connecting plate; 36. First positioning roller; 37. Second positioning roller; 4. Horizontal motion device; 41. First support seat; 42. Universal ball; 43. Second cylinder; 44. Locating pin; 45. Second support seat; 5. Signal air source converter; 51. Air source interface; 52. Signal interface; 6. Sensor bracket. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-Figure 3 As shown, the present invention is an AGV tooling positioning system, comprising: a leveling floor 2, a plurality of support columns are arranged at the bottom of the leveling floor 2, and its height matches the height of a commonly used AGV transport vehicle 1. The leveling floor 2 is a square ring structure, and the ring structure is provided with an entrance and exit, which is convenient for the AGV transport vehicle 1 to enter and leave the workstation.

[0029] See also Figure 1 , Figure 4 As shown, the leveling floor 2 is connected to the guide device 3, and a guide device 3 is arranged at each diagonal corner of the leveling floor 2, so that the tooling on the top of the AGV transporter 1 can be clamped by two diagonally arranged guide devices 3, which facilitates the positioning of the tooling.

[0030] The guide device 3 is provided with two groups of rollers arranged vertically, which are used to pre-position the tooling in the X direction and the Y direction by clamping. The two groups of rollers arranged vertically are the first positioning roller 36 and the second positioning roller 37 respectively.

[0031] Specifically, the guide device 3 includes a base 31, which is fixed to the leveling floor 2, and a guardrail 32 is arranged around the base 31. The base 31 connects the first cylinder 33 and the transmission assembly 34, and the first cylinder 33 is connected to a connecting plate 35 through the transmission assembly 34. The end of the connecting plate 35 is forked, and the two forked ends of the connecting plate 35 are perpendicular to each other. The two forked ends of the connecting plate 35 are respectively provided with a first positioning roller 36 and a second positioning roller 37. A plurality of first positioning rollers 36 are coaxially arranged along the X direction, and a plurality of second positioning rollers 37 are coaxially arranged along the Y direction.

[0032] In this embodiment, the AGV transporter 1 transports the tooling to the leveling floor 2, and the first cylinder 33 drives the connecting plate 35 to move toward the tooling until the first positioning roller 36 and the second positioning roller 37 contact the tooling. The two diagonally opposite guide devices 3 clamp the tooling through the first positioning roller 36 and the second positioning roller 37 to control the X and Y directions of the tooling. This is a pre-positioning process. During this process, the tooling shakes due to the shaking of the lifting mechanism of the AGV transporter 1. At this time, the positioning error of the tooling position from the preset position is large and does not meet the welding accuracy requirements. The tooling needs to be positioned again.

[0033] See also Figure 1 , Figure 3 , Figure 5 As shown, the leveling floor 2 is connected to a horizontal motion device 4, and the horizontal motion device 4 is provided with a universal ball 42. The universal ball 42 adjusts the position of the tooling in the horizontal plane direction in a point contact manner.

[0034] Specifically, the horizontal motion device 4 includes a first support seat 41, and a universal ball 42 is arranged on the top of the first support seat 41. A second cylinder 43 is arranged on one side of the first support seat 41, and the second cylinder 43 is fixedly installed on the leveling floor 2. The output end of the second cylinder 43 is connected to a positioning pin 44, and the positioning pin 44 passes through the first support seat 41. The second cylinder 43 can drive the positioning pin 44 to rise and fall, so that the positioning pin 44 can be stuck in the positioning groove at the bottom of the tooling when it is raised. The leveling floor 2 is also fixedly installed with a plurality of second support seats 45, and a universal ball 42 is arranged on the top of each of the second support seats 45. The first support seat 41 and the second support seat 45 provide Z-direction support for the tooling.

[0035] When the universal ball 42 contacts the tooling, it can drive the tooling to make further position adjustments by rotating, i.e., secondary positioning, so as to correct the error caused by the shaking of the tooling during the pre-positioning process, so as to improve the positioning accuracy of the tooling and further improve the welding accuracy.

[0036] In this embodiment, the guide device 3 cooperates with the horizontal motion device 4 to perform multi-level positioning of the tooling position. First, the AGV transporter 1 transports the tooling to the leveling floor 2, and after receiving the command, it lowers the tooling height until the bottom of the tooling contacts the universal ball 42, and the first cylinder 33 drives the connecting plate 35 to move toward the tooling, and the two diagonally opposite guide devices 3 pre-position the tooling through the first positioning roller 36 and the second positioning roller 37. At this time, the positioning error of the tooling is relatively large. The universal ball 42 is rotated to make the universal ball 42 drive the tooling to move horizontally. This is a secondary positioning of the tooling to adjust the X and Y directions of the entire tooling to further improve the positioning accuracy of the tooling. It not only corrects the shaking caused by the lifting mechanism of the AGV transporter 1, but also compensates for the mechanical errors caused by the first positioning roller 36 and the second positioning roller 37 during the pre-positioning process (such as the poor fit between the roller and the tooling surface, incomplete or uneven contact, wear of the roller after long-term use, installation accuracy of the roller, and uneven friction between the roller and the tooling). Then the second cylinder 43 drives the positioning pin 44 to move upward, so that the positioning pin 44 is stuck in the positioning groove at the bottom of the tooling, and the positioning is completed. The external robot welds the positioned tooling and takes it away.

[0037] In the present application, the universal ball 42 only needs to touch the local area of ​​the target object (tooling) to accurately adjust its position, which is simple to operate and easy to implement. This point contact sliding method can not only complete positioning in a short time, but also reduce material waste and reduce production costs. Moreover, the point contact type can reduce the contact area between objects, reduce friction, and reduce wear on tooling. In addition, the point contact method can be applied to different materials and contact surfaces, without considering specific textures and shapes, and can adapt to a wider range of scenarios.

[0038] It is understandable that the leveling floor 2 is also connected to the signal gas source converter 5, and the signal gas source converter 5 is provided with a gas source interface 51 and a signal interface 52. The gas source interface 51 can be connected to an external gas supply device through a pipeline, so as to provide driving gas to the first cylinder 33 and the second cylinder 43. The signal interface 52 is connected to an external controller, and when the tooling positioning is completed, the operation of the robot can be controlled by the controller.

[0039] It should be noted that a sensor bracket 6 is provided on a second support seat 45, and a vehicle type sensor is provided on the sensor bracket 6. When the AGV transport vehicle enters the workstation, the vehicle type can be identified by the vehicle type sensor, thereby realizing intelligent control of multiple vehicle types.

[0040] The AGV tool positioning system achieves precise positioning of tooling through a simple but flexibly arranged structure. The system runs stably and is easy to maintain. The system has low noise and vibration, low friction, and low energy consumption. It is easy to realize the production of multiple models of automobile AGV tool positioning systems, reducing manufacturing costs.

[0041] Six groups of AGV transporters 1 of different models (model a, model b, model c, model d, model e, and model f) are used to transport the tooling to the workstation for three-wheel positioning. The following table shows the experimental data of the AGV tooling positioning system proposed in this application during the actual positioning process:

[0042] Table 1 Statistics of positioning accuracy of AGV tooling positioning system

[0043] Model First positioning error Second positioning error The third positioning error Average Error a 0.03mm 0.01mm -0.01mm 0.03mm b -0.02mm 0.01mm -0.02mm -0.01mm c 0.04mm 0.05mm 0.03mm 0.04mm d -0.02mm -0.03mm 0.01mm -0.01mm e -0.03mm 0.01mm -0.03mm -0.02mm f 0.01mm -0.05mm -0.04mm -0.03mm

[0044] According to the above experimental data, the maximum error of the AGV tooling positioning system is 0.05mm, which is higher than the AGV's own positioning accuracy of ±3mm in the existing technology, and is more in line with the requirements of the automated workstation for vehicle body stopping accuracy.

[0045] The working principle of the present invention is as follows: the AGV transporter 1 transports the tooling to the leveling floor 2, and after receiving the command, lowers the height of the tooling until the bottom of the tooling contacts the universal ball 42, and the first cylinder 33 drives the connecting plate 35 to move toward the tooling. The two diagonally opposite guide devices 3 pre-position the tooling through the first positioning roller 36 and the second positioning roller 37. At this time, the positioning error of the tooling is relatively large, and the universal ball 42 is rotated to make the universal ball 42 drive the tooling to move horizontally. This is a secondary positioning of the tooling to adjust the X and Y directions of the entire tooling to further improve the positioning accuracy of the tooling. Then the second cylinder 43 drives the positioning pin 44 to move upward, so that the positioning pin 44 is stuck in the positioning groove at the bottom of the tooling, and the positioning is completed.

[0046] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. An AGV tooling positioning system, characterized in that: include: A leveling floor (2), the leveling floor (2) being connected to a guide device (3), the guide device (3) being provided with two sets of rollers arranged vertically for pre-positioning the tooling in a clamping manner in the X direction and the Y direction; The leveling floor (2) is connected to a horizontal motion device (4), and the horizontal motion device (4) is provided with a universal ball (42), and the universal ball (42) adjusts the position of the tooling in the horizontal plane direction in a point contact manner; The guide device (3) cooperates with the horizontal motion device (4) to perform multi-level positioning of the tooling position.

2. The AGV tooling positioning system according to claim 1, characterized in that: The guide device (3) comprises a base (31), wherein the base (31) is connected to a first cylinder (33) and a transmission assembly (34), and the first cylinder (33) is connected to a connecting plate (35) via the transmission assembly (34).

3. The AGV tooling positioning system according to claim 2, characterized in that: The end of the connecting plate (35) is in a forked shape.

4. The AGV tooling positioning system according to claim 3, characterized in that: The two bifurcated ends of the connecting plate (35) are respectively provided with a first positioning roller (36) and a second positioning roller (37); a plurality of the first positioning rollers (36) are coaxially arranged along the X direction, and a plurality of the second positioning rollers (37) are coaxially arranged along the Y direction.

5. The AGV tooling positioning system according to claim 2, characterized in that: A guardrail (32) is arranged around the base (31).

6. The AGV tooling positioning system according to claim 1, characterized in that: The horizontal motion device (4) comprises a first support seat (41), and the universal ball (42) is arranged on the top of the first support seat (41).

7. The AGV tooling positioning system according to claim 6, characterized in that: A second cylinder (43) is disposed on one side of the first support seat (41), the second cylinder (43) is fixedly mounted on the leveling floor (2), the output end of the second cylinder (43) is connected to a positioning pin (44), and the positioning pin (44) passes through the first support seat (41).

8. The AGV tooling positioning system according to claim 1, characterized in that: The leveling floor (2) is fixedly mounted with a plurality of second support seats (45), and the tops of the second support seats (45) are each provided with the universal ball (42).

9. The AGV tooling positioning system according to claim 1, characterized in that: It also includes a sensor bracket (6), on which a vehicle type sensor is arranged for identifying the vehicle type of the AGV transport vehicle (1) loaded with tooling.

10. The AGV tooling positioning system according to claim 1, characterized in that: The leveling floor (2) is connected to a signal air source converter (5), and the signal air source converter (5) is provided with an air source interface (51) and a signal interface (52).

Images