Accurate positioning mechanism for AGV (Automatic Guided Vehicle) stop station

Abstract

The utility model discloses an accurate positioning mechanism of an AGV (automatic guided vehicle) stop station, and belongs to the technical field of automatic guided vehicles. The AGV parking device solves the defects that in the prior art, traditional AGV parking is poor in parking precision and large in positioning deviation. A main body structure of the AGV comprises an AGV body and a fixing seat used for being matched with a parking position of the AGV body, a guide clamping rail and a locking and positioning mechanism are arranged on one side of the fixing seat, and a guide plate used for being matched with the guide clamping rail for lateral alignment and a bottom positioning block used for being matched with the locking and positioning mechanism for locking and positioning are arranged at the bottom of the AGV body. Lateral positioning plates used for being matched with the two side faces of the AGV body for accurate positioning are arranged on the fixing base. The device is mainly used for butt joint of robot workstations, butt joint of automatic trusses, feeding and discharging of automatic equipment and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic guided vehicles, and in particular relates to a precise positioning mechanism for an AGV stop position. Background Art

[0002] With the improvement of automation level, more and more AGVs (automatic guided vehicles) need to achieve precise docking with other equipment, such as docking of robot workstations, docking of automatic trusses, loading and unloading of automatic equipment, etc. This requires AGVs to have precise docking accuracy.

[0003] There are two main ways for existing AGVs to dock. The first is to achieve navigation itself, which is generally achieved by laser, QR code, magnetic stripe and other navigation methods. However, the external environment such as light, temperature, metal, magnetic field, etc. has a greater impact on this method, and the docking accuracy of the AGV can be controlled at most within ±5mm. The second is rail clamping guidance, which can achieve lateral positioning of the AGV when docking, but the positioning deviation is also relatively large, and after the AGV stops, it will produce a slight slip when docking with external equipment, thereby affecting the efficiency of automated docking. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a precise positioning mechanism for an AGV stop position.

[0005] In order to achieve the above purpose, the utility model is implemented by adopting the following technical solutions:

[0006] A precise positioning mechanism for an AGV stop position comprises an AGV body and a fixed seat for cooperating with the parking position of the AGV body, a guide clamping rail and a locking positioning mechanism are arranged on one side of the fixed seat, a guide plate for cooperating with the guide clamping rail for lateral guidance and a bottom positioning block for cooperating with the locking positioning mechanism for locking and positioning are arranged at the bottom of the AGV body, and a lateral positioning plate for cooperating with the two side surfaces of the AGV body for precise positioning is arranged on the fixed seat.

[0007] Preferably, a beam switch and a forward positioning block are also provided on the fixing seat.

[0008] Preferably, the beam switch is mounted on a fixing base via a switch bracket.

[0009] Preferably, the side of the AGV body is provided with a lateral wear-resistant plate for cooperating with the lateral positioning plate, and the front is provided with a positive anti-collision block for cooperating with the positive positioning block.

[0010] Preferably, the lateral wear-resistant plates and the lateral positioning plates are each provided at two locations, and the distance between the two lateral positioning plates matches the outer dimensions between the two lateral wear-resistant plates.

[0011] Preferably, the front end of the lateral positioning plate is provided with an arc chamfer to facilitate the sliding in of the lateral wear-resistant plate.

[0012] Preferably, the locking and positioning mechanism includes a cylinder fixing seat, a joint and a transition plate, the cylinder fixing seat is provided with a cylinder and an ear seat, the cylinder rod of the cylinder is connected to the joint, the joint is connected to the lower end of the transition plate through a lower pin shaft, the middle part of the transition plate is hingedly connected to the ear seat through an upper pin shaft, and the upper end of the transition plate is installed with a baffle for cooperating with the bottom positioning block for positioning.

[0013] Preferably, a polyurethane block is provided on the baffle.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. When the AGV body is about to run to the parking position, it first uses its own navigation to reach the position before the guide clamp rail, and the guide plate enters the bell mouth at the front end of the guide clamp rail. The bell mouth guides the guide plate in the lateral direction until the guide plate at the lower end of the AGV body completely enters the guide clamp rail. The mechanical bell mouth is used for lateral guidance to achieve the lateral positioning of the AGV;

[0016] 2. Enter the lateral positioning plate through the lateral wear-resistant plates on both sides of the AGV body. Since the gap between the lateral positioning plate and the lateral wear-resistant plates on both sides of the AGV body is very small, the lateral precise positioning of the AGV body is achieved;

[0017] 3. The AGV body reaches the correct parking position by fitting the positive anti-collision block and the positive positioning block together. At this time, the AGV body will block the shooting switch, and the shooting switch will send the AGV body arrival signal to the system. After the AGV body is in place, the system controls the cylinder to move, the cylinder rod retracts, and pulls the transition plate to rotate around the upper pin shaft, thereby driving the baffle to flip up to an upright state. The polyurethane block installed on the baffle presses the bottom positioning block under the AGV body. Since there is an obstruction of the positive positioning block in front of the positive anti-collision block, the front and rear positions of the AGV body are also accurately determined. Since the left and right and front and back of the AGV body are mechanically locked, the AGV body is accurately positioned without causing the body position to slide;

[0018] In summary, the utility model uses mechanical guidance and pneumatic clamping to achieve precise positioning of the AGV, which is not affected by external light, temperature, metal, magnetic field and other environments, and will not shake due to vibration, so that the AGV docking accuracy is guaranteed to be within ±1mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2It is the front view of the utility model;

[0021] Figure 3 It is a structural schematic diagram of the AGV body in the utility model;

[0022] Figure 4 It is a lateral schematic diagram of the utility model in the positioning state;

[0023] Figure 5 for Figure 4 A partial enlarged view of the middle A;

[0024] Figure 6 It is a structural schematic diagram of the utility model in the positioning state;

[0025] Figure 7 for Figure 6 A partial enlarged view of point B in the middle;

[0026] Figure 8 It is a structural schematic diagram of the locking and positioning mechanism in the utility model;

[0027] Fig. 9 It is a structural schematic diagram of the transition plate in the utility model.

[0028] In the figure: 1. ground; 2. AGV body; 21. caster; 22. guide plate; 23. lateral wear-resistant plate; 24. forward anti-collision block; 25. bottom positioning block; 3. fixing seat; 4. lateral positioning plate; 5. through-shooting switch; 51. switch bracket; 6. forward positioning block; 7. guide clamping rail; 8. cylinder fixing seat; 9. cylinder; 91. pneumatic joint; 92. cylinder rod; 10. joint; 11. transition plate; 12. baffle; 13. polyurethane block; 14. upper pin; 15. ear seat; 16. lower pin. DETAILED DESCRIPTION

[0029] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0030] Embodiment 1:

[0031] like Figure 1-3 As shown, a precise positioning mechanism for an AGV stop position includes an AGV body 2 and a fixed seat 3 for cooperating with the parking position of the AGV body 2, a guide clamping rail 7 and a locking positioning mechanism are arranged on one side of the fixed seat 3, a guide plate 22 for cooperating with the guide clamping rail 7 for lateral guidance and a bottom positioning block 25 for cooperating with the locking positioning mechanism for locking and positioning are arranged at the bottom of the AGV body 2, and a lateral positioning plate 4 for cooperating with the two side surfaces of the AGV body 2 for precise positioning is arranged on the fixed seat 3.

[0032] Embodiment 2:

[0033] A precise positioning mechanism for an AGV stop position, which is different from the embodiment 1 in that a through-shooting switch 5 and a forward positioning block 6 are also provided on the fixing seat 3; the through-shooting switch 5 is installed on the fixing seat 3 through a switch bracket 51.

[0034] For example Figure 3 As shown, the bottom of the AGV body 2 generally has four casters 21, and the side of the AGV body 2 is provided with a lateral wear-resistant plate 23 for cooperating with the lateral positioning plate 4, and the front is provided with a positive anti-collision block 24 for cooperating with the positive positioning block 6; the lateral wear-resistant plate 23 and the lateral positioning plate 4 are each provided with two locations, and the distance between the two lateral positioning plates 4 matches the outer dimensions between the two lateral wear-resistant plates 23, and the front end of the lateral positioning plate 4 is provided with an arc chamfer for facilitating the sliding in of the lateral wear-resistant plate 23.

[0035] like Figure 8-9 As shown, the locking and positioning mechanism includes a cylinder fixing seat 8, a joint 10 and a transition plate 11. The cylinder fixing seat 8 is fixed to the ground 1 by screws. The cylinder 9 and the ear seat 15 are arranged on the cylinder fixing seat 8. The cylinder rod 92 of the cylinder 9 is connected to the joint 10. The joint 10 is connected to the lower end of the transition plate 11 through the lower pin shaft 16. The middle part of the transition plate 11 is hingedly connected to the ear seat 15 through the upper pin shaft 14. The upper end of the transition plate 11 is installed with a baffle 12 for cooperating with the bottom positioning block 25 for positioning, and the baffle 12 is provided with a polyurethane block 13.

[0036] The working principle of the utility model is:

[0037] When the AGV body 2 is about to run to the parking position, it first uses its own navigation to reach the position before the guide clamp rail 7. At this time, the lateral and forward accuracy of the moving AGV body 2 are relatively poor. With the operation of the AGV body 2, the guide plate 22 enters the bell mouth at the front end of the guide clamp rail 7, and the bell mouth guides the guide plate 22 in the lateral direction until the guide plate 22 at the lower end of the AGV body 2 completely enters the guide clamp rail 7; at this time, the cylinder 9 is in an extended state, and the baffle 12 is in a tilted posture driven by the cylinder rod 92 through the transition plate 11, which will not hinder the entry of the AGV body 2; finally, Figure 4-5 As shown, the lateral wear plates 23 on both sides of the AGV body 2 are completely inserted into the lateral positioning plates 4. Since the gap between the lateral positioning plates 4 and the lateral wear plates 23 on both sides of the AGV body 2 is very small, the lateral precise positioning of the AGV body 2 is achieved.

[0038] AGV body 2 continues to move forward. Figure 6-7 As shown, until the positive anti-collision block 24 and the positive positioning block 6 are attached together, the AGV body 2 reaches the correct parking position. At this time, the AGV body 2 will block the shooting switch 5, and the shooting switch 5 sends the AGV body 2 arrival signal to the system.

[0039] like Figure 4 As shown, after the AGV body 2 is in place, the system controls the cylinder 9 to move, the cylinder rod 92 retracts, and pulls the transition plate 11 to rotate around the upper pin 14, thereby driving the baffle 12 to flip up to an upright state, and the polyurethane block 13 installed on the baffle 12 presses the bottom positioning block 25 under the AGV body 2. Figure 6 There is an obstruction of the forward positioning block 6 in front of the forward anti-collision block 24, and the front and rear positions of the AGV body 2 are also accurately determined.

[0040] Since the left and right sides and the front and back sides of the AGV body 2 are all mechanically locked, the AGV body 2 is accurately positioned without causing the body to slide.

[0041] When the AGV body 2 needs to move away, the system notifies the cylinder 9 to operate, the air is supplied in the pipeline of the pneumatic joint 91 in reverse, the cylinder rod 92 extends, and the joint 10 pushes the transition plate 11 to flip counterclockwise along the upper pin shaft 14 until the baffle 12 and the polyurethane block 13 are lowered to the bottom positioning block 25, and the AGV body 2 drives out smoothly.

Claims

1. A precise positioning mechanism for an AGV stop position, characterized in that: The invention comprises an AGV body (2) and a fixed seat (3) for cooperating with the parking position of the AGV body (2); a guide rail (7) and a locking and positioning mechanism are arranged on one side of the fixed seat (3); a guide plate (22) for cooperating with the guide rail (7) for lateral guidance and a bottom positioning block (25) for cooperating with the locking and positioning mechanism for locking and positioning are arranged at the bottom of the AGV body (2); and a lateral positioning plate (4) for cooperating with the two side surfaces of the AGV body (2) for positioning is arranged on the fixed seat (3).

2. The precise positioning mechanism for the AGV stop position according to claim 1 is characterized in that: The fixing seat (3) is also provided with a shooting switch (5) and a forward positioning block (6).

3. The precise positioning mechanism for the AGV stop position according to claim 2 is characterized in that: The beam switch (5) is mounted on the fixing base (3) via a switch bracket (51).

4. The precise positioning mechanism for the AGV stop position according to claim 2 is characterized in that: The AGV body (2) is provided with a lateral wear-resistant plate (23) on the side for cooperating with the lateral positioning plate (4), and a forward anti-collision block (24) on the front for cooperating with the forward positioning block (6).

5. The precise positioning mechanism for the AGV stop position according to claim 4 is characterized in that: The lateral wear-resistant plates (23) and the lateral positioning plates (4) are each provided at two locations, and the distance between the two lateral positioning plates (4) matches the outer dimensions between the two lateral wear-resistant plates (23).

6. The precise positioning mechanism for the AGV stop position according to claim 5 is characterized in that: The front end of the lateral positioning plate (4) is provided with an arc chamfer to facilitate the sliding in of the lateral wear-resistant plate (23).

7. The precise positioning mechanism for the AGV stop position according to any one of claims 1 to 6, characterized in that: The locking and positioning mechanism comprises a cylinder fixing seat (8), a joint (10) and a transition plate (11); a cylinder (9) and an ear seat (15) are arranged on the cylinder fixing seat (8); a cylinder rod (92) of the cylinder (9) is connected to the joint (10); the joint (10) is connected to the lower end of the transition plate (11) via a lower pin shaft (16); the middle part of the transition plate (11) is hingedly connected to the ear seat (15) via an upper pin shaft (14); and a baffle (12) for cooperating with a bottom positioning block (25) for positioning is installed at the upper end of the transition plate (11).

8. The precise positioning mechanism for the AGV stop position according to claim 7 is characterized in that: A polyurethane block (13) is arranged on the baffle (12).

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