Auxiliary docking mechanism for AGV (Automatic Guided Vehicle)
By designing the AGV auxiliary docking mechanism, the gradual reduction of the size and floating mechanism between the guide block and the U-shaped groove is solved, and high-precision material docking is achieved.
Patent Information
- Application Number
- CN202510530631.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-25
- Publication Date
- 2025-07-08
AI Technical Summary
The positioning accuracy of existing AGVs can only reach ±5mm at maximum, and the stability is greatly affected by the environment, making it difficult to achieve higher-precision material docking.
An AGV auxiliary docking mechanism is designed, including a mobile terminal guide and a fixed terminal guide. The size of the guide block and the U-shaped groove is gradually reduced. Combined with the floating mechanism, it ensures that the guide block is gradually corrected during the docking process to achieve high-precision docking.
Under the condition that the AGV itself positioning accuracy is less than or equal to ±10mm, the accuracy docking of the material is achieved, which improves the docking accuracy and reduces the impact of environmental interference.
Smart Images
Figure CN120270351A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of AGV logistics, and particularly relates to an AGV auxiliary docking mechanism. Background Art
[0002] An automated guided vehicle (AGV) is a transportation device that can move autonomously within a specific path or area in the logistics field, and is mainly used for material handling, cargo transportation, warehousing management, and other tasks.
[0003] AGVs are classified into several categories according to the navigation method, such as magnetic stripe navigation, two-dimensional code navigation, laser navigation, visual navigation, and integrated navigation of multiple navigation methods. Among them, the laser + visual + two-dimensional code navigation method has the highest positioning accuracy; however, the AGV positioning accuracy can only reach ±5 mm at most, and its stability is greatly affected by the environment. How to achieve higher-precision material docking is an urgent problem to be solved.
[0004] In view of the above problems, an AGV auxiliary docking mechanism is designed. Summary of the Invention
[0005] In view of the problems in the prior art, the present invention proposes the following technical solutions:
[0006] An AGV auxiliary docking mechanism, comprising
[0007] A mobile end guide member, the mobile end guide member includes a guide block, the guide block has an A end and a B end distributed relatively, and the size from the A end to the B end gradually decreases;
[0008] A fixed end guide member, the fixed end guide member includes a guide plate, a longitudinally through U-shaped groove is provided on the guide plate, the U-shaped groove has an open C end and an open D end distributed relatively, and the size from the open C end to the open D end gradually decreases;
[0009] Wherein, the size of the B end is smaller than the size of the D end. When the guide block is gradually inserted into the interior of the U-shaped groove, the guide block contacts the side wall of the U-shaped groove to gradually correct the position of the guide block.
[0010] As a preference of the above technical solution, the size of the B end is smaller than the size of the open C end by more than 20 mm. When the B end of the guide block contacts the D end of the U-shaped groove, the gap between the mobile end guide member and the fixed end guide member is within 1 mm.
[0011] As a preference of the above technical solution, the outer side of the guide plate extends outward to form a base plate, and the base plate is assembled with external equipment.
[0012] As a preference of the above technical solution, a buffer pad is provided on the B end of the guide block.
[0013] As an optimization of the above technical solution, it further includes an AGV cart, an AGV rack is arranged on the AGV cart, the AGV rack has a rack bottom plate, and the mobile end guide is assembled with the rack bottom plate.
[0014] As an optimization of the above technical solution, a longitudinally penetrating through-hole is opened in the middle of the guide block, and a groove is opened on the end surface of the A end of the guide block opposite to the rack bottom plate;
[0015] A floating mechanism is arranged between the mobile end guide and the rack bottom plate. The floating mechanism includes a bracket assembled in the through-hole, and guide rails distributed on both sides of the bracket and slidably matched with it. The length direction of the guide rails is the same as the left-right direction when the AGV cart moves, and the guide rails are connected to the rack bottom plate;
[0016] A first spring for driving its reset is arranged on the bracket. The movable end of the first spring passes through the groove and is connected to a limit plate, and the limit plate is connected to the rack bottom plate.
[0017] As an optimization of the above technical solution, four groups of cam followers distributed in a matrix are arranged on the bracket. The cam followers are inserted into the inside of the guide rail and are rotatably matched with it.
[0018] As an optimization of the above technical solution, the floating mechanism further includes at least two guide rods. The guide rods movably penetrate through the bracket and are connected to the side wall of the through-hole. The length direction of the guide rods is the same as the front-back direction when the AGV cart moves, and a second spring for driving the bracket to reset is sleeved on the guide rods.
[0019] The beneficial effects of the present invention are:
[0020] 1. In an AGV auxiliary docking mechanism in the present technical solution, the size from the A end to the B end of the guide block gradually decreases, and the size from the C end to the D end of the opening of the U-shaped groove gradually decreases. That is, the overall shapes of the guide block and the U-shaped groove are trapezoidal. When the AGV cart drives the mobile end guide to move towards the fixed end guide for docking operation, the side wall of the U-shaped groove gradually guides and corrects the position of the guide block. When the docking operation is completed, the gap between the mobile end guide and the fixed end guide is within 1 mm. In an AGV auxiliary docking mechanism in the present technical solution, under the condition that the self-positioning accuracy of the AGV is less than or equal to ±10 mm, the accurate docking of materials with an accuracy of ±2 mm can be realized, and it has a high docking accuracy.
[0021] 2. In an AGV auxiliary docking mechanism in this technical solution, a floating mechanism is added between the mobile guide member and the bottom plate of the rack. When the AGV vehicle performs the material docking operation, the guide block gradually inserts into the inside of the U-shaped groove from left to right. At this time, the guide block can float in the front-back and left-right directions on the AGV vehicle to match the U-shaped groove. In an AGV auxiliary docking mechanism in this technical solution, floating can occur between the mobile guide member and the AGV vehicle. Without changing the positioning position of the AGV vehicle itself, the final positioning accuracy of the mobile guide member is ensured, the influence of the position of the AGV vehicle on the material docking accuracy is reduced, and the smooth progress of high-precision material docking is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 FIG. 6 shows a schematic diagram of the docking state of an AGV auxiliary docking mechanism in Embodiment 1;
[0023] Figure 2 FIG. Figure 1 shows a top view of an AGV auxiliary docking mechanism in
[0024] Figure 3 FIG. 8 shows an application diagram of an AGV auxiliary docking mechanism in Embodiment 1;
[0025] Figure 4 FIG. 10 shows a schematic diagram of the floating mechanism of an AGV auxiliary docking mechanism in Embodiment 2.
[0026] Reference numerals: AGV vehicle 10; AGV rack 11; bottom plate of the rack 12;
[0027] Mobile guide member 20; guide block 21; end A 22; end B 23; through hole 24; buffer pad 25; groove 26;
[0028] Fixed-end guide member 30; guide plate 31; U-shaped groove 32; open end C 33; end D 34; substrate 35;
[0029] Guide rail 41; bracket 42; cam follower 43; guide rod 44; limit plate 45; spring one 46; spring two 47. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.
[0031] Embodiment 1
[0032] As Figure 1 , Figure 2 , Figure 3As shown, an AGV auxiliary docking mechanism includes an AGV trolley 10, on which an AGV rack 11 is provided, and the AGV rack 11 has a rack bottom plate 12;
[0033] A mobile end guiding member 20 assembled with the rack bottom plate 12. The mobile end guiding member 20 includes a guiding block 21, which has an A end 22 and a B end 23 distributed relatively, and the size from the A end 22 to the B end 23 gradually decreases. In this embodiment, the AGV is used to carry materials, and a loading plate is provided at the upper end of the guiding block 21 for supporting the material tray;
[0034] A fixed end guiding member 30, which includes a guiding plate 31. In this embodiment, a substrate 35 extends outward from the outside of the guiding plate 31, and the substrate 35 is assembled with external equipment so that the position of the fixed end guiding member 30 is fixed; a longitudinally penetrating U-shaped groove 32 is provided on the guiding plate 31, and the U-shaped groove 32 has an opening C end 33 and a D end 34 distributed relatively, and the size from the opening C end 33 to the D end 34 gradually decreases;
[0035] Wherein, the size of the B end 23 is smaller than the size of the D end 34. When the guiding block 21 is gradually inserted into the inside of the U-shaped groove 32, the guiding block 21 contacts the side wall of the U-shaped groove 32 to gradually correct the position of the guiding block 21.
[0036] For the dimension settings of the mobile end guiding member 20 and the fixed end guiding member 30, more specifically as Figure 1 、 Figure 2 shown, the size of the B end 23 is more than 20 mm smaller than the size of the opening C end 33. When the guiding block 21 is docked with the U-shaped groove 32, as long as the positioning accuracy of the guiding block 21 is within ±10 mm, the side surface of the guiding block 21 must be able to contact the inner side of the U-shaped groove 32. As the guiding block 21 moves to the right, the front and rear positions of the guiding block 21 are gradually corrected, that is, the front and rear positions of the AGV trolley 10 relative to the external equipment are gradually modified.
[0037] The AGV trolley 10 drives the guiding block 21 to move from left to right. The side wall of the U-shaped groove 32 gradually guides and corrects the position of the guiding block 21. When the guiding block 21 moves to the rightmost end, that is, when the B end 23 of the guiding block 21 contacts the D end 34 of the U-shaped groove 32, the gap between the mobile end guiding member 20 and the fixed end guiding member 30 is within 1 mm, so as to ensure that the positioning accuracy of the guiding block 21 is within ±2 mm, realizing the high-precision docking of the AGV trolley 10.
[0038] In an AGV auxiliary docking mechanism in this technical solution, the dimension from end A 22 to end B 23 of the guide block 21 gradually decreases, and the dimension from the opening end C 33 to end D 34 of the U-shaped groove 32 gradually decreases. That is, the overall shapes of the guide block 21 and the U-shaped groove 32 are trapezoidal. When the AGV cart 10 drives the mobile end guide member 20 to move towards the fixed end guide member 30 for docking operation, the side wall of the U-shaped groove 32 gradually guides and corrects the position of the guide block 21. When the docking operation is completed, the gap between the mobile end guide member 20 and the fixed end guide member 30 is within 1 mm. In an AGV auxiliary docking mechanism in this technical solution, under the condition that the self-positioning accuracy of the AGV is less than or equal to ±10 mm, the accurate docking of materials with an accuracy of ±2 mm can be achieved, and it has a relatively high docking accuracy.
[0039] Embodiment 2
[0040] As Figure 1 、 Figure 2 、 Figure 3 shown, an AGV auxiliary docking mechanism includes an AGV cart 10, and an AGV rack 11 is arranged on the AGV cart 10. The AGV rack 11 has a rack bottom plate 12.
[0041] A mobile end guide member 20 assembled with the rack bottom plate 12. The mobile end guide member 20 includes a guide block 21. The guide block 21 has ends A 22 and B 23 distributed oppositely, and the dimension from end A 22 to end B 23 gradually decreases. The AGV in this embodiment is used to carry materials, and a loading plate is arranged at the upper end of the guide block 21 for supporting the material tray.
[0042] A fixed end guide member 30. The fixed end guide member 30 includes a guide plate 31. In this embodiment, a substrate 35 extends outward from the outside of the guide plate 31, and the substrate 35 is assembled with an external device so that the position of the fixed end guide member 30 is fixed. A longitudinally penetrating U-shaped groove 32 is arranged on the guide plate 31. The U-shaped groove 32 has opposite ends C 33 and D 34 of the opening, and the dimension from the opening end C 33 to end D 34 gradually decreases.
[0043] Among them, the dimension of end B 23 is smaller than that of end D 34. When the guide block 21 gradually inserts into the inside of the U-shaped groove 32, the guide block 21 contacts the side wall of the U-shaped groove 32 and gradually corrects the position of the guide block 21.
[0044] For the dimension settings of the mobile end guide member 20 and the fixed end guide member 30, more specifically, as Figure 1 、 Figure 2As shown, the size of the B end 23 is more than 20 mm smaller than the size of the open C end 33. When the guide block 21 is docked with the U-shaped groove 32, as long as the positioning accuracy of the guide block 21 is within ±10 mm, the side surface of the guide block 21 will surely contact the inner side of the U-shaped groove 32. As the guide block 21 moves to the right, the front and rear positions of the guide block 21 are gradually corrected, that is, the front and rear positions of the AGV cart 10 relative to the external device are gradually modified.
[0045] The AGV cart 10 drives the guide block 21 to move from left to right. The side wall of the U-shaped groove 32 gradually guides and corrects the position of the guide block 21. When the guide block 21 moves to the rightmost end, that is, when the B end 23 of the guide block 21 contacts the D end 34 of the U-shaped groove 32, the gap between the mobile end guide 20 and the fixed end guide 30 is within 1 mm, so as to ensure that the positioning accuracy of the guide block 21 is within ±2 mm, realizing the high-precision docking of the AGV cart 10.
[0046] In an AGV auxiliary docking mechanism in this technical solution, the size from the A end 22 to the B end 23 of the guide block 21 gradually decreases, and the size from the open C end 33 to the D end 34 of the U-shaped groove 32 gradually decreases, that is, the overall shapes of the guide block 21 and the U-shaped groove 32 are set as trapezoids. When the AGV cart 10 drives the mobile end guide 20 to move towards the fixed end guide 30 for docking operation, the side wall of the U-shaped groove 32 gradually guides and corrects the position of the guide block 21. When the docking operation is completed, the gap between the mobile end guide 20 and the fixed end guide 30 is within 1 mm; in an AGV auxiliary docking mechanism in this technical solution, under the condition that the self-positioning accuracy of the AGV is less than or equal to ±10 mm, the accuracy docking of materials within ±2 mm can be realized, with relatively high docking accuracy.
[0047] Since the guide block 21 is installed on the AGV cart 10, the positioning accuracy of the AGV cart 10 itself is only ±10 mm, and the weight of the AGV cart 10 itself is more than 100 kg. It is very difficult to change the position of the AGV cart 10 only by the hard extrusion between the guide block 21 and the U-shaped groove 32, and it is also easy to cause the situation of mechanism jamming. For this, the present invention is further optimized, such as Figure 4 As shown, an AGV auxiliary docking mechanism further includes a floating mechanism arranged between the mobile end guide 20 and the rack bottom plate 12.
[0048] As Figure 4 shown, a longitudinally penetrating through hole 24 is formed in the middle of the guide block 21, and a groove 26 is formed on the end face of the A end 22 of the guide block 21 opposite to the rack bottom plate 12. In this embodiment, a buffer pad 25 is arranged on the B end 23 of the guide block 21. The setting of the buffer pad 25 reduces the impact generated in the left and right directions when the guide block 21 is docked with the U-shaped groove 32.
[0049] The floating mechanism includes a bracket 42 assembled in the through hole 24 and guide rails 41 distributed on both sides of the bracket 42 and slidably engaged therewith. The length direction of the guide rails 41 is consistent with the left-right direction when the AGV cart 10 moves, and the guide rails 41 are connected to the rack bottom plate 12. A first spring 46 for driving its reset is provided on the bracket 42. The movable end of the first spring 46 passes through the slot 26 and then is connected to a limit plate 45, and the limit plate 45 is connected to the rack bottom plate 12. In this embodiment, the length direction of the guide rails 41 is consistent with the left-right direction when the AGV cart 10 moves, the bracket 42 is slidably engaged with the guide rails 41, and the first spring 46 is provided to reset the bracket 42. When the guide block 21 is subjected to a force in the left-right direction, the guide block 21 and the bracket 42 can move in the left-right direction relative to the rack bottom plate 12 and the AGV cart 10, that is, the mobile end guide member 20 can float left and right.
[0050] As Figure 3 , Figure 4 shown, the floating mechanism further includes at least two guide rods 44. The guide rods 44 movably penetrate the bracket 42 and are connected to the side wall of the through hole 24. The length direction of the guide rods 44 is consistent with the front-back direction when the AGV cart 10 moves. A second spring 47 for driving the bracket 42 to reset is sleeved on the guide rods 44. In this embodiment, the guide rods 44 movably penetrate the bracket 42, the length direction of the guide rods 44 is consistent with the front-back direction when the AGV cart 10 moves, and the second spring 47 is provided to reset the bracket 42. When the guide block 21 is subjected to a force in the front-back direction, the guide block 21 and the bracket 42 can move in the front-back direction relative to the rack bottom plate 12 and the AGV cart 10, that is, the mobile end guide member 20 can float back and forth.
[0051] In an AGV auxiliary docking mechanism of this technical solution, a floating mechanism is added between the mobile end guide member 20 and the rack bottom plate 12. When the AGV cart 10 performs a material docking operation, the guide block 21 is gradually inserted into the inside of the U-shaped groove 32 from left to right. At this time, the guide block 21 can float in the front-back and left-right directions on the AGV cart 10 to match the U-shaped groove 32. In an AGV auxiliary docking mechanism of this technical solution, floating can occur between the mobile end guide member 20 and the AGV cart 10. Without changing the self-positioning position of the AGV cart 10, the final positioning accuracy of the mobile end guide member 20 is ensured, the influence of the position of the AGV cart 10 on the material docking accuracy is reduced, and the smooth progress of high-precision material docking is guaranteed.
[0052] Further, as Figure 4As shown in the figure, four sets of cam followers 43 distributed in a matrix are provided on the bracket 42, and the cam followers 43 are inserted into the inside of the guide rail 41 and rotatably cooperate with it; the sliding cooperation between the bracket 42 and the guide rail 41 is converted into the rotational cooperation between the cam followers 43 and the guide rail 41, reducing the friction when the guide block 21 moves in the left-right direction and ensuring the smoothness of material docking.
[0053] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them.
Claims
1. An AGV auxiliary docking mechanism, characterized in that including a mobile end guide member (20), the mobile end guide member (20) includes a guide block (21), the guide block (21) has an A end (22) and a B end (23) distributed relatively, and the size from the A end (22) to the B end (23) gradually decreases; a fixed end guide member (30), the fixed end guide member (30) includes a guide plate (31), a longitudinally penetrating U-shaped groove (32) is arranged on the guide plate (31), the U-shaped groove (32) has an opening C end (33) and a D end (34) distributed relatively, and the size from the opening C end (33) to the D end (34) gradually decreases; wherein, the size of the B end (23) is smaller than the size of the D end (34), when the guide block (21) is gradually inserted into the inside of the U-shaped groove (32), the guide block (21) contacts with the side wall of the U-shaped groove (32) to gradually correct the position of the guide block (21).
2. The AGV auxiliary docking mechanism according to claim 1, characterized in that, The size of the B end (23) is more than 20 mm smaller than the size of the opening C end (33). When the B end (23) of the guide block (21) contacts with the D end (34) of the U-shaped groove (32), the gap between the mobile end guide member (20) and the fixed end guide member (30) is within 1 mm.
3. An AGV auxiliary docking mechanism according to claim 1, characterized in that, A substrate (35) extends outward from the outside of the guide plate (31), and the substrate (35) is assembled with an external device.
4. An AGV auxiliary docking mechanism according to claim 1, wherein, A buffer pad (25) is arranged on the B end (23) of the guide block (21).
5. The AGV auxiliary docking mechanism according to claim 1, characterized in that, It further includes an AGV cart (10), an AGV rack (11) is arranged on the AGV cart (10), the AGV rack (11) has a rack bottom plate (12), and the mobile end guide member (20) is assembled with the rack bottom plate (12).
6. An AGV auxiliary docking mechanism according to claim 5, characterized in that, A longitudinally penetrating through hole (24) is opened in the middle of the guide block (21), and a groove (26) is opened on the end face of the A end (22) of the guide block (21) opposite to the rack bottom plate (12); A floating mechanism is arranged between the mobile end guide member (20) and the rack bottom plate (12), the floating mechanism includes a bracket (42) assembled in the through hole (24), guide rails (41) distributed on both sides of the bracket (42) and slidably matched with it, the length direction of the guide rails (41) is consistent with the left and right direction when the AGV cart (10) moves, and the guide rails (41) are connected with the rack bottom plate (12); A first spring (46) for driving it to reset is arranged on the bracket (42), the movable end of the first spring (46) passes through the groove (26) and then is connected with a limit plate (45), and the limit plate (45) is connected with the rack bottom plate (12).
7. An AGV auxiliary docking mechanism according to claim 6, characterized in that, Four groups of cam followers (43) distributed in a matrix are arranged on the bracket (42), and the cam followers (43) are inserted into the inside of the guide rails (41) and rotatably matched with them.
8. An AGV auxiliary docking mechanism according to claim 6, characterized in that, The floating mechanism further includes at least two guide rods (44). The guide rods (44) movably penetrate through the bracket (42) and are connected to the side wall of the through hole (24). The length direction of the guide rods (44) is consistent with the front-back direction when the AGV vehicle (10) moves. A second spring (47) for driving the bracket (42) to reset is sleeved on the guide rods (44).