AGV auxiliary positioning device

Abstract

The utility model relates to the technical field of AGV positioning, in particular to an AGV auxiliary positioning device. Comprising a guide mechanism, a limiting mechanism, a detection mechanism and a fine positioning mechanism, the two sets of fine positioning machines are located on the two sides of the guide mechanism correspondingly, and each fine positioning mechanism comprises a lifting mechanism, a lifting support and a connecting mechanism used for being connected with an AGV skip car; the lifting mechanisms are fixed to the two sides of the guide mechanism, and the driving ends of the lifting mechanisms are connected with the lifting support and used for driving the lifting support to move up and down. The connecting mechanism is mounted on the lifting bracket; the limiting mechanism is located at one end of the guide mechanism, and the detection mechanisms are located on the two sides of the guide mechanism. Through the arrangement of the guide mechanism, the detection mechanism and the fine positioning mechanism, the AGV positioning precision is effectively improved, and the device is simple in structure, low in cost and low in follow-up maintenance cost.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV positioning, and more specifically, to an AGV auxiliary positioning device. Background Art

[0002] The current AGV parts delivery method is generally to deliver to manual positions, and the AGV stopping accuracy is low (stopping accuracy ±10mm). As the use of AGV becomes more and more widespread, there are more and more cases of AGV and automatic lines being handed over, and the stopping accuracy requirements for AGV have been greatly improved (stopping accuracy ±1mm). There are two ways to solve the low stopping accuracy of AGV: ① Add an auxiliary positioning mechanism to assist in positioning the AGV through the supporting component and the clamping device; ② The automatic line uses visual auxiliary grasping. The existing auxiliary positioning mechanism has the following problems: ① When the towing load is large, the material strength and rigidity of the supporting component are required to be high. Under large loads, the universal ball of the supporting component is easily damaged. This structure is not suitable for auxiliary positioning of AGVs with large loads; ② When the AGV material cart enters the front end of the supporting component, it runs to a horizontal state by climbing a slope. During the climbing operation, the towed parts are prone to tilt and fall, posing a safety hazard; ③ The clamping device positions the material cart through the V-shaped clamping block and the positioning bearing. The positioning bearing is installed. As the years of use increase, the clamping block wears and the clamping device accuracy decreases. The cost of using visual-assisted grasping in automatic lines increases significantly, and the visual equipment has a high failure rate and high maintenance cost. Utility Model Content

[0003] In order to overcome the defects in the prior art, the utility model provides an AGV auxiliary positioning device, which can effectively improve the parking accuracy of the AGV material vehicle.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: an AGV auxiliary positioning device, including a guiding mechanism for guiding and positioning the AGV trolley, a limiting mechanism for limiting the movement position of the AGV trolley, a detection mechanism for detecting the position of the AGV trolley, and a precise positioning mechanism; the precise positioning machine is provided with two groups, which are respectively located on both sides of the guiding mechanism, and the precise positioning mechanism includes a lifting mechanism, a lifting bracket, and a connecting mechanism for connecting with the AGV trolley; the lifting mechanism is fixed on both sides of the guiding mechanism, and the driving end of the lifting mechanism is connected to the lifting bracket for driving the lifting bracket to move up and down; the connecting mechanism is installed on the lifting bracket; the limiting mechanism is located at one end of the guiding mechanism, and the detection mechanism is located on both sides of the guiding mechanism.

[0005] According to the above technical solution, the AGV trolley moves along the guide mechanism to the station where the precision positioning mechanism is located, and the detection mechanism detects whether the AGV trolley has moved to the position. After moving to the station, the precision positioning mechanism is started, and the lifting mechanism drives the lifting frame to gradually rise. The lifting frame lifts the AGV trolley from the bottom of the AGV trolley. When the lifting frame contacts the AGV trolley from the bottom, the connecting mechanism is connected to the connecting hole at the bottom of the AGV trolley to prevent the AGV from deflecting during the rising process, and at the same time, the positioning accuracy of the AGV trolley can be improved. The utility model effectively improves the positioning of the AGV trolley through the setting of the guide mechanism, the precision positioning mechanism and the detection mechanism, and the device has a simple structure and low cost.

[0006] In one embodiment, the guide mechanism includes a linear guide rail. The AGV trolley runs along the guide rail, which can prevent the AGV trolley from going off track and improve the positioning accuracy of the AGV trolley.

[0007] In one embodiment, the limiting mechanism includes limiting columns, and two groups of limiting columns are provided, which are respectively located on both sides of one end of the guide mechanism. The setting of the limiting mechanism is used to prevent the AGV material vehicle from being unable to stop in time and colliding with other devices, thereby improving the safety of positioning.

[0008] In one embodiment, an anti-collision strip is further provided on the limit column. The anti-collision strip can prevent the AGV material vehicle from being damaged and play a buffering role.

[0009] In one embodiment, the detection mechanism includes a first in-place detection mechanism installed on one side of the guide mechanism, which is used to detect whether the AGV material vehicle moves to the station where the precision positioning mechanism is located. After the first in-place detection mechanism detects that the AGV material vehicle moves to the specified position, it transmits the instruction to the background to control the ACV to stop moving, thereby realizing the positioning of the AGV material vehicle on the horizontal plane.

[0010] In one embodiment, the detection mechanism further includes a second in-place detection mechanism installed on the lifting bracket, which is used to detect whether the AGV trolley is accurately positioned. When the AGV trolley is positioned at the station where the fine positioning mechanism is located, the fine positioning mechanism starts to start, driving the AGV trolley to rise to the specified position, and the second in-place detection mechanism detects whether the AGV trolley has risen to the specified position. When the AGV trolley reaches the specified position, the second in-place detection mechanism transmits a signal to the background to control the lifting mechanism to stop the action, thereby realizing the positioning of the AGV in the Z-axis direction.

[0011] In one embodiment, the first in-place detection mechanism and the second in-place detection mechanism are infrared detection sensors.

[0012] In one embodiment, the lifting mechanism includes a base, a lifting cylinder, and an auxiliary guide telescopic column; the fixed end of the lifting cylinder is installed on the base, and the movable end of the lifting cylinder is connected to the lifting bracket; the auxiliary guide telescopic column is provided with at least two groups, which are respectively located on both sides of the lifting cylinder; one end of the auxiliary guide telescopic column is fixedly connected to the base, and the other end is fixedly connected to the lifting bracket. The lifting cylinder drives the lifting bracket to perform lifting and lowering movements, and the auxiliary guide telescopic column plays a guiding role to prevent the lifting bracket from tilting during the lifting process, and also improve the positioning accuracy.

[0013] In one of the embodiments, the connecting mechanism includes a locating pin and a locating block; the locating pin and the locating block are respectively located at both ends of the lifting bracket; and the locating pins on the two sets of lifting brackets are set diagonally. The position setting of the locating pins and the locating blocks is set in conjunction with the AGV trolley. In order to avoid over-limiting, locating pins are set diagonally, and the locating pins and the limiting blocks on the trolley have a hole pin diameter difference of ±0.5mm. After the locating pins are adjusted, the stop position accuracy of the AGV trolley can reach ±1mm. The locating pins are made of 20CrMo material, which is high in strength and wear-resistant; if wear occurs, only the locating pins or the limiting blocks on the AGV trolley need to be replaced, and the subsequent maintenance costs are low.

[0014] In one embodiment, the lifting cylinders are provided in plurality, and the plurality of lifting cylinders are arranged side by side and spaced apart. If the weight of the material towed by the AGV material vehicle increases, it is only necessary to enlarge or increase the lifting cylinder of the precision positioning device to be applicable, which greatly reduces the cost of subsequent modification.

[0015] Compared with the prior art, the beneficial effects are: the AGV auxiliary positioning device provided by the utility model effectively improves the positioning accuracy of the AGV through the setting of the guiding mechanism, the detection mechanism and the precise positioning mechanism, and the device has a simple structure, low cost and low subsequent maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0017] Figure 2 It is a schematic diagram of the positional relationship of various mechanisms of the utility model.

[0018] Figure 3 It is a structural schematic diagram of the precise positioning mechanism of the utility model.

[0019] Figure numerals: 1. guide mechanism; 2. limit mechanism; 21. anti-collision strip; 31. first in-place detection mechanism; 32. second in-place detection mechanism; 4. precise positioning mechanism; 41. lifting cylinder; 42. base; 43. lifting bracket; 44. auxiliary guide telescopic column; 45. positioning block; 46. positioning pin. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The utility model is described in one of the embodiments in combination with the specific implementation methods. Among them, the drawings are only used for exemplary descriptions, and only schematic diagrams are shown, not physical drawings, and cannot be understood as limitations on this patent; in order to better illustrate the embodiments of the utility model, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0021] In the description of the present utility model, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for exemplary explanations and cannot be understood as a limitation of this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that satisfy both A and B.

[0022] Embodiment 1:

[0023] like Figures 1 to 3As shown, an AGV auxiliary positioning device includes a guide mechanism 1 for guiding and positioning an AGV trolley, a limit mechanism 2 for limiting the movement position of the AGV trolley, a detection mechanism for detecting the position of the AGV trolley, and a precise positioning mechanism 4; the precise positioning machine is provided with two groups, which are respectively located on both sides of the guide mechanism 1, and the precise positioning mechanism 4 includes a lifting mechanism, a lifting bracket 43, and a connecting mechanism for connecting with the AGV trolley; the lifting mechanism is fixed on both sides of the guide mechanism 1, and the driving end of the lifting mechanism is connected to the lifting bracket 43, which is used to drive the lifting bracket 43 to move up and down; the connecting mechanism is installed on the lifting bracket 43; the limit mechanism 2 is located at one end of the guide mechanism 1, and the detection mechanism is located on both sides of the guide mechanism 1.

[0024] According to the above technical solution, the AGV trolley moves along the guide mechanism 1 to the workstation where the precision positioning mechanism 4 is located, and the detection mechanism detects whether the AGV trolley has moved to the workstation. After moving to the workstation, the precision positioning mechanism 4 is started, and the lifting mechanism drives the lifting frame to gradually rise. The lifting frame lifts the AGV trolley from the bottom of the AGV trolley. While the lifting frame contacts the AGV trolley from the bottom, the connecting mechanism is connected to the connecting hole at the bottom of the AGV trolley to prevent the AGV from deflecting during the ascent, and at the same time, the positioning accuracy of the AGV trolley can also be improved. The utility model effectively improves the positioning of the AGV trolley through the setting of the guide mechanism 1, the precision positioning mechanism 4 and the detection mechanism, and the device has a simple structure and low cost.

[0025] like Figure 2 As shown, the guide mechanism 1 includes a linear guide rail. The AGV trolley runs along the guide rail, which can prevent the AGV trolley from going off track and improve the positioning accuracy of the AGV trolley.

[0026] like Figure 1 As shown, the limiting mechanism 2 includes limiting columns, and two groups of limiting columns are provided, respectively located on both sides of one end of the guide mechanism 1. The setting of the limiting mechanism 2 is used to prevent the AGV material vehicle from failing to stop in time and colliding with other devices, thereby improving the safety of positioning.

[0027] like Figure 1 and Figure 2 As shown, the detection mechanism includes a first in-place detection mechanism 31, which is installed on one side of the guide mechanism 1 and is used to detect whether the AGV material cart moves to the station where the precision positioning mechanism 4 is located. After the first in-place detection mechanism 31 detects that the AGV material cart moves to the specified position, it transmits the instruction to the background to control the ACV to stop moving, thereby realizing the positioning of the AGV material cart on the horizontal plane.

[0028] like Figure 1 and Figure 2As shown, the detection mechanism also includes a second in-place detection mechanism 32, which is installed on the lifting bracket 43 and is used to detect whether the AGV trolley is accurately positioned. When the AGV trolley is positioned at the station where the fine positioning mechanism 4 is located, the fine positioning mechanism 4 starts to start, driving the AGV trolley to rise to the specified position, and the second in-place detection mechanism 32 is used to detect whether the AGV trolley has risen to the specified position. When the AGV trolley reaches the specified position, the second in-place detection mechanism 32 transmits a signal to the background to control the lifting mechanism to stop the action, thereby realizing the positioning of the AGV in the Z-axis direction.

[0029] Specifically, the first in-place detection mechanism 31 and the second in-place detection mechanism 32 are infrared detection sensors.

[0030] like Figure 1 and Figure 3 As shown, the lifting mechanism includes a base 42, a lifting cylinder 41, and an auxiliary guide telescopic column 44; the fixed end of the lifting cylinder 41 is installed on the base 42, and the movable end of the lifting cylinder 41 is connected to the lifting bracket 43; the auxiliary guide telescopic column 44 is provided with at least two groups, which are respectively located on both sides of the lifting cylinder 41; one end of the auxiliary guide telescopic column 44 is fixedly connected to the base 42, and the other end is fixedly connected to the lifting bracket 43. The lifting cylinder 41 drives the lifting bracket 43 to perform lifting and lowering movements, and the auxiliary guide telescopic column 44 plays a guiding role to prevent the lifting bracket 43 from tilting during the lifting process, and at the same time, it can also improve the positioning accuracy.

[0031] like Figure 3 As shown, the connecting mechanism includes a locating pin 46 and a locating block 45; the locating pin 46 and the locating block 45 are respectively located at the two ends of the lifting bracket 43; and the locating pins 46 on the two groups of lifting brackets 43 are set diagonally. The position setting of the locating pin 46 and the locating block 45 is set in coordination with the AGV trolley. In order to avoid over-limiting, the locating pin 46 is set at the diagonal. The locating pin 46 and the limiting block on the trolley have a hole pin diameter difference of ±0.5mm. After the locating pin 46 is adjusted, the stop position accuracy of the AGV trolley can reach ±1mm. The locating pin 46 is made of 20CrMo material, which is high in strength and wear-resistant; if wear occurs, only the locating pin 46 or the limiting block on the AGV trolley needs to be replaced, and the subsequent maintenance cost is low.

[0032] The utility model provides an AGV auxiliary positioning device, which effectively improves the positioning accuracy of the AGV through the arrangement of a guiding mechanism 1, a detection mechanism and a precise positioning mechanism 4, and the device has a simple structure, low cost and low subsequent maintenance cost.

[0033] Example 2

[0034] The other structures of this embodiment are the same as those of embodiment 1, except that in this embodiment, the lifting cylinders are provided in plurality, and the plurality of lifting cylinders are arranged side by side and spaced apart. If the weight of the material towed by the AGV material cart increases, it is only necessary to enlarge or increase the lifting cylinder 41 of the precision positioning device to be applicable, which greatly reduces the cost of subsequent modification.

[0035] Example 3

[0036] The other structures of this embodiment are the same as those of embodiment 1, except that Figure 1 As shown, an anti-collision strip 21 is also provided on the limiting column. The anti-collision strip 21 can prevent the AGV material car from being damaged and play a buffering role.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. An AGV auxiliary positioning device, characterized in that: The invention comprises a guide mechanism (1) for guiding and positioning an AGV trolley, a limit mechanism (2) for limiting the movement position of the AGV trolley, a detection mechanism for detecting the position of the AGV trolley, and a precision positioning mechanism (4); the precision positioning machine is provided with two groups, which are respectively located on both sides of the guide mechanism (1); the precision positioning mechanism (4) comprises a lifting mechanism, a lifting bracket (43), and a connecting mechanism for connecting with the AGV trolley; the lifting mechanism is fixed on both sides of the guide mechanism (1); the driving end of the lifting mechanism is connected to the lifting bracket (43) and is used to drive the lifting bracket (43) to move up and down; the connecting mechanism is installed on the lifting bracket (43); the limit mechanism (2) is located at one end of the guide mechanism (1), and the detection mechanism is located on both sides of the guide mechanism (1).

2. The AGV auxiliary positioning device according to claim 1, characterized in that: The guide mechanism (1) comprises a linear guide rail.

3. The AGV auxiliary positioning device according to claim 1, characterized in that: The limiting mechanism (2) comprises limiting columns, and two groups of limiting columns are provided, respectively located on both sides of one end of the guiding mechanism (1).

4. The AGV auxiliary positioning device according to claim 3, characterized in that: An anti-collision strip (21) is also provided on the limiting column.

5. The AGV auxiliary positioning device according to claim 1, characterized in that: The detection mechanism comprises a first in-position detection mechanism (31), which is installed on one side of the guide mechanism (1) and is used to detect whether the AGV trolley has moved to the workstation where the precision positioning mechanism (4) is located.

6. The AGV auxiliary positioning device according to claim 5, characterized in that: The detection mechanism also includes a second in-position detection mechanism (32) installed on the lifting bracket (43) and used to detect whether the AGV trolley is accurately positioned.

7. The AGV auxiliary positioning device according to claim 6, characterized in that: The first in-place detection mechanism (31) and the second in-place detection mechanism (32) are infrared detection sensors.

8. The AGV auxiliary positioning device according to any one of claims 1 to 6, characterized in that: The lifting mechanism comprises a base (42), a lifting cylinder (41), and an auxiliary guide telescopic column (44); the fixed end of the lifting cylinder (41) is installed on the base (42), and the movable end of the lifting cylinder (41) is connected to the lifting bracket (43); the auxiliary guide telescopic column (44) is provided with at least two groups, which are respectively located on both sides of the lifting cylinder (41); one end of the auxiliary guide telescopic column (44) is fixedly connected to the base (42), and the other end is fixedly connected to the lifting bracket (43).

9. The AGV auxiliary positioning device according to claim 8, characterized in that: The connection mechanism comprises a positioning pin (46) and a positioning block (45); the positioning pin (46) and the positioning block (45) are respectively located at two ends of the lifting bracket (43); and the positioning pins (46) on the two groups of lifting brackets (43) are arranged diagonally.

10. The AGV auxiliary positioning device according to claim 9, characterized in that: The lifting cylinders (41) are provided in plurality, and the plurality of lifting cylinders (41) are arranged side by side and at intervals.

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