AGV (Automatic Guided Vehicle) bearing energy storage container positioning structure

Abstract

The utility model discloses an AGV (automatic guided vehicle) bearing energy storage container positioning structure, which belongs to the technical field of automatic guided vehicles, and is characterized by comprising an AGV, a supporting table is bolted to the top of the interior of the AGV, a positioning frame is arranged at the top of the supporting table, and two double-locking mechanisms are arranged at the four corners of the interior of the positioning frame respectively. A buffering assembly is arranged at the bottom of the positioning frame, the effect of double locking and positioning of the position of the energy storage container can be achieved through a double locking mechanism composed of a mechanical locking assembly and an electromagnetic locking assembly, and compared with a simple mechanical limiting device in the prior art, the energy storage container positioning device has the advantages of being simple in structure and convenient to use. According to the AGV energy storage container locking device, the stability and safety of the AGV during transportation of the energy storage container are guaranteed, even if the electromagnetic locking assembly breaks down, an operator can manually operate the mechanical locking assembly to lock the energy storage container on the AGV guide vehicle, and the safety of the energy storage container can be guaranteed under the emergency situation.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic guided vehicles, and particularly relates to a positioning structure for an AGV carrying an energy storage container on its back. Background Technique

[0002] The back-mounted AGV trolley is used to carry goods such as pallets, racks, and bins on the AGV vehicle body, or tow a material vehicle at the tail of the AGV. The AGV is guided by a magnetic strip to select a destination by identifying landmarks. The vehicle runs smoothly and is suitable for production systems with frequent transportation and long material supply cycles.

[0003] In the existing application of AGV carrying an energy storage container on its back, there are some deficiencies in the positioning of the energy storage container. The traditional positioning method only relies on a simple mechanical limiting device, which is easily affected by vibration and impact during the operation of the AGV, resulting in the displacement of the container and affecting the stability and safety of the AGV when transporting the energy storage container.

[0004] Therefore, a positioning structure for an AGV carrying an energy storage container on its back is proposed. Content of the Utility Model

[0005] The purpose of the utility model is to provide a positioning structure for an AGV carrying an energy storage container on its back, which can solve the problems existing in the existing application of AGV carrying an energy storage container on its back, that is, there are some deficiencies in the positioning of the energy storage container. The traditional positioning method only relies on a simple mechanical limiting device, which is easily affected by vibration and impact during the operation of the AGV, resulting in the displacement of the container and affecting the stability and safety of the AGV when transporting the energy storage container.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A positioning structure for an AGV carrying an energy storage container on its back, including an AGV guiding vehicle. A support platform is bolted to the top inside the AGV guiding vehicle, and a positioning frame is arranged on the top of the support platform. Two double-locking mechanisms are arranged at the four corners inside the positioning frame. A buffer assembly is arranged at the bottom of the positioning frame, and the bottom of the buffer assembly is inside the support platform. A step groove is arranged on the inner wall of the positioning frame, and positioning columns are arranged at the four corners of the top of the step groove.

[0007] The double-locking mechanism includes a mechanical locking component and an electromagnetic locking component. The mechanical locking component and the electromagnetic locking component are both arranged at the four corners inside the positioning frame, and the mechanical locking component penetrates through the inside of the electromagnetic locking component.

[0008] Preferably, the mechanical locking component includes a locking rod. The locking rod is slidably arranged inside the positioning frame, and one side of the locking rod penetrates through the inside of the electromagnetic locking component. A connecting sleeve is sleeved on the surface of the locking rod, and the connecting sleeve is used in cooperation with the electromagnetic locking component.

[0009] Preferably, one side of the locking rod extends to the outside of the positioning frame, and a plurality of fixing teeth are arranged on the side of the locking rod away from the electromagnetic locking assembly. An active rod is slidably connected inside the positioning frame, and a plurality of positioning teeth are arranged at the bottom of the active rod, and the positioning teeth are used in cooperation with the fixing teeth.

[0010] Preferably, the electromagnetic locking assembly includes a partition plate, the partition plate is inside the positioning frame, and one side of the partition plate close to the locking rod is sleeved on the surface of the locking rod.

[0011] Preferably, an electromagnet is bolted to one side of the partition plate, and a magnetic attraction block is arranged on the side of the electromagnet away from the partition plate. A synchronous plate is bolted to one side of the magnetic attraction block, and the synchronous plate is sleeved on the surface of the locking rod and used in cooperation with the connecting sleeve. A push plate is slidably connected inside the partition plate, and two guide rods penetrate through the inside of the push plate. One side of the guide rod close to the magnetic attraction block is connected to it, and a strong magnetic block is bolted to the other side of the guide rod.

[0012] Preferably, a return spring is sleeved on the surface of the guide rod, and the two sides of the return spring close to the magnetic attraction block and the partition plate are connected to the two respectively.

[0013] Preferably, the top of the active rod extends to the top of the positioning frame, and a fixed disk is bolted to the top of the positioning frame. Fixed columns are bolted to the top of the fixed disk in a circular shape. An fixing plate is sleeved on the surface of the active rod, and the top of the fixed column penetrates through the inside of the fixing plate.

[0014] Preferably, the buffer assembly includes a rubber buffer pad, the rubber buffer pad is bolted to the bottom of the positioning frame, and a first connecting frame is arranged in a rectangular shape inside the rubber buffer pad. A connecting rod is rotatably connected inside the first connecting frame, and the other end of the connecting rod is rotatably connected to a second connecting frame. The second connecting frame is inside the support platform, and a damper is bolted to one side of the second connecting frame close to the inner wall of the support platform, and the side of the damper close to the inner wall of the support platform is bolted to it.

[0015] Preferably, a limiting groove is opened at the top of the support platform, and both the second connecting frame and the damper are inside the limiting groove. A sliding rod is bolted inside the limiting groove, and the second connecting frame is slidably sleeved on the surface of the sliding rod.

[0016] Preferably, an industrial camera and a laser range finder are bolted to the top of the positioning frame in a rectangular shape, and the industrial camera and the laser range finder are distributed at intervals. Both the industrial camera and the laser range finder are electrically connected to the controller of the AGV guiding vehicle.

[0017] Compared with the prior art, the beneficial effects of the present utility model are:

[0018] 1. Through the dual locking mechanism composed of a mechanical locking component and an electromagnetic locking component, the present application can achieve the effect of double locking and positioning the position of the energy storage container. Compared with the simple mechanical limit device relied on in the prior art, it can ensure the stability and safety when the AGV transports the energy storage container. And even when the electromagnetic locking component fails, the operator can manually operate the mechanical locking component to lock the energy storage container on the AGV guiding vehicle, which can ensure the safety of the energy storage container in case of emergency;

[0019] 2. Through the setting of the buffer component, when the AGV guiding vehicle encounters vibration and impact during operation, the buffer component can absorb part of the energy, thus reducing the impact on the connection between the positioning frame, the dual locking mechanism and the energy storage container, and ensuring the positioning stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the overall structure diagram of the AGV carrying energy storage container positioning structure of the present utility model;

[0021] Figure 2 is the partial connection schematic diagram of the positioning frame and the dual locking mechanism of the present utility model;

[0022] Figure 3 is the top view schematic diagram of the positioning frame and the dual locking mechanism of the present utility model;

[0023] Figure 4 is the connection schematic diagram of the dual locking mechanism and the bottom structure of the energy storage container of the present utility model;

[0024] Figure 5 is the top view schematic diagram of the electromagnetic locking component of the present utility model;

[0025] Figure 6 of the present utility model Figure 2 is the enlarged schematic diagram of part A;

[0026] Figure 7 is the connection schematic diagram of the buffer component, the support platform and the positioning frame of the present utility model.

[0027] In the figure, 1 is an AGV guiding vehicle; 2 is a support platform; 3 is a positioning frame; 4 is a double locking mechanism; 41 is a mechanical locking component; 411 is a locking rod; 412 is a connecting sleeve; 413 is a fixed tooth; 414 is a movable rod; 415 is a positioning tooth; 42 is an electromagnetic locking component; 421 is a partition; 422 is an electromagnet; 423 is a magnetic attraction block; 424 is a synchronous plate; 425 is a pushing plate; 426 is a guide rod; 427 is a strong magnetic block; 428 is a return spring; 5 is a buffer component; 51 is a rubber buffer pad; 52 is a first connecting frame; 53 is a connecting rod; 54 is a second connecting frame; 55 is a damper; 56 is a sliding rod; 6 is a fixed disk; 7 is a fixed column; 8 is a fixed plate; 9 is a limiting groove; 10 is an industrial camera; 11 is a laser ranging sensor; 12 is a positioning column. Specific embodiments

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figure 1-7 , the present invention provides a technical solution:

[0030] An AGV-mounted energy storage container positioning structure includes an AGV guiding vehicle 1. A support platform 2 is bolted to the top inside the AGV guiding vehicle 1, and a positioning frame 3 is arranged on the top of the support platform 2. Two double locking mechanisms 4 are arranged at the four corners inside the positioning frame 3. A buffer component 5 is arranged at the bottom of the positioning frame 3, and the bottom of the buffer component 5 is inside the support platform 2. A step groove is arranged on the inner wall of the positioning frame 3, and positioning columns 12 are arranged at the four corners of the top of the step groove;

[0031] The double locking mechanism 4 includes a mechanical locking component 41 and an electromagnetic locking component 42. The mechanical locking component 41 and the electromagnetic locking component 42 are both arranged at the four corners inside the positioning frame 3, and the mechanical locking component 41 penetrates through the inside of the electromagnetic locking component 42.

[0032] In this embodiment: The dual locking mechanism 4 composed of the mechanical locking component 41 and the electromagnetic locking component 42, when the energy storage container is placed on the step groove in the positioning frame 3, the electromagnetic locking component 42 works and synchronously drives the mechanical locking component 41 into the structure preset at the bottom of the energy storage container, thereby achieving the effect of positioning the energy storage container. And when the electromagnetic locking component 42 fails, the mechanical locking component 41 can still lock the energy storage container on the AGV guide vehicle 1, ensuring the use safety. Through the setting of the buffer component 5, when the AGV guide vehicle 1 encounters vibrations and impacts during operation, the buffer component 5 can absorb part of the energy, thus reducing the influence on the connection between the positioning frame 3, the dual locking mechanism 4 and the energy storage container, and ensuring the positioning stability.

[0033] Specifically, as Figure 3 、 Figure 4 shown, the mechanical locking component 41 includes a locking rod 411. The locking rod 411 is slidably arranged inside the positioning frame 3, and one side of the locking rod 411 penetrates through the inside of the electromagnetic locking component 42. A connecting sleeve 412 is sleeved on the surface of the locking rod 411, and the connecting sleeve 412 is used in cooperation with the electromagnetic locking component 42.

[0034] Specifically, as Figure 3 、 Figure 4 shown, one side of the locking rod 411 extends to the outside of the positioning frame 3, and a plurality of fixing teeth 413 are arranged on the side of the locking rod 411 away from the electromagnetic locking component 42. An active rod 414 is slidably connected inside the positioning frame 3, and a plurality of positioning teeth 415 are arranged at the bottom of the active rod 414, and the positioning teeth 415 are used in cooperation with the fixing teeth 413.

[0035] In this embodiment: By setting the mechanical locking component 41, when the electromagnetic locking component 42 works, it can push the connecting sleeve 412 to drive the locking rod 411 to move, so that the locking rod 411 enters the structure preset at the bottom of the energy storage container, and then drives the positioning teeth 415 of the active rod 414 to be between the fixing teeth 413, achieving the effect of mechanically locking the energy storage container.

[0036] Specifically, as Figure 3 、 Figure 4 、 Figure 5 shown, the electromagnetic locking component 42 includes a partition plate 421. The partition plate 421 is inside the positioning frame 3, and the side of the partition plate 421 close to the locking rod 411 is sleeved on the surface of the locking rod 411.

[0037] Specifically, as Figure 3 、 Figure 4 、 Figure 5As shown, an electromagnet 422 is bolted to one side of the partition plate 421, and a magnetic attraction block 423 is arranged on the side of the electromagnet 422 away from the partition plate 421. A synchronous plate 424 is bolted to one side of the magnetic attraction block 423. The synchronous plate 424 is sleeved on the surface of the locking rod 411 and is used in cooperation with the connecting sleeve 412. A push plate 425 is slidably connected inside the partition plate 421, and two guide rods 426 penetrate through the inside of the push plate 425. One side of the guide rod 426 close to the magnetic attraction block 423 is connected thereto, and a strong magnetic block 427 is bolted to the other side of the guide rod 426.

[0038] Specifically, as Figure 3 , Figure 4 , Figure 5 shown, a return spring 428 is sleeved on the surface of the guide rod 426, and one side of the return spring 428 close to the magnetic attraction block 423 and the partition plate 421 is connected to both of them respectively.

[0039] In this embodiment: By setting the electromagnetic locking assembly 42, the electromagnet 422 can be energized to generate magnetic force, so that the magnetic attraction block 423 moves towards the electromagnet 422, and pushes the two guide rods 426 to move and makes the return spring 428 contract. The guide rod 426 synchronously drives the push plate 425 and the strong magnetic block 427 to move, so that magnetic attraction is carried out between the strong magnetic block 427 and the preset structure at the bottom of the energy storage container, which can play the role of restricting the energy storage container within the positioning frame 3.

[0040] Specifically, as Figure 6 shown, the top of the movable rod 414 extends to the top of the positioning frame 3, and a fixed disk 6 is bolted to the top of the positioning frame 3. Fixed columns 7 are bolted in a ring shape on the top of the fixed disk 6. The surface of the movable rod 414 is sleeved with a fixed plate 8, and the tops of the fixed columns 7 penetrate through the inside of the fixed plate 8.

[0041] In this embodiment: By setting the fixed disk 6, the fixed plate 8 and the fixed columns 7, and the fixed columns 7 penetrate through the inside of the fixed plate 8, the effect of locking the position of the movable rod 414 can be achieved, and it can be prevented from moving randomly.

[0042] Specifically, as Figure 7 shown, the buffer assembly 5 includes a rubber buffer pad 51, the rubber buffer pad 51 is bolted to the bottom of the positioning frame 3, and a first connecting frame 52 is arranged in a rectangular shape inside the rubber buffer pad 51. A connecting rod 53 is rotatably connected inside the first connecting frame 52, and the other end of the connecting rod 53 is rotatably connected to a second connecting frame 54. The second connecting frame 54 is inside the support table 2, and a damper 55 is bolted to one side of the second connecting frame 54 close to the inner wall of the support table 2. The damper 55 is bolted to the inner wall of the support table 2 on the side close to it.

[0043] Specifically, as Figure 7As shown in the figure, a limiting slot 9 is opened at the top of the support platform 2, and both the second connecting frame 54 and the damper 55 are located inside the limiting slot 9. A sliding rod 56 is bolted inside the limiting slot 9, and the second connecting frame 54 is slidably sleeved on the surface of the sliding rod 56.

[0044] In this embodiment: By setting the buffer assembly 5, when the AGV guide vehicle 1 encounters vibrations and impacts during operation, the damper 55 will synchronously push the second connecting frame 54 to move on the sliding rod 56 through its expansion and contraction, and the connecting rod 53 will move between the first connecting frame 52 and the second connecting frame 54. The damper 55 is used to buffer the vibrations and impacts, and when the rubber buffer pad 51 contacts the support platform 2 and the positioning frame 3, the force is further buffered, which can absorb part of the energy. Therefore, the influence on the connection between the positioning frame 3, the double-locking mechanism 4 and the energy storage container is reduced, ensuring the positioning stability.

[0045] Specifically, as Figure 1 、 Figure 2 shown, an industrial camera 10 and a laser range finder 11 are bolted to the top of the positioning frame 3 in a rectangular shape, and the industrial camera 10 and the laser range finder 11 are distributed at intervals. Both the industrial camera 10 and the laser range finder 11 are electrically connected to the controller of the AGV guide vehicle 1.

[0046] In this embodiment: By setting the industrial camera 10 and the laser range finder 11, during the process of placing the energy storage container on the AGV guide vehicle 1, the laser range finder 11 and the industrial camera 10 can detect the relative position between the energy storage container and the positioning frame 3, and transmit the data to the controller of the AGV guide vehicle 1. The controller of the AGV guide vehicle 1 adjusts the position and attitude of the AGV guide vehicle 1 according to these data, so as to ensure that the energy storage container is accurately placed inside the positioning frame 3 and improve the subsequent positioning effect.

[0047] Working principle: During the process of placing the energy storage container on the AGV guiding vehicle 1, the laser distance sensor 11 and the industrial camera 10 can detect the relative position between the energy storage container and the positioning frame 3, and transmit the data to the controller of the AGV guiding vehicle 1. The controller of the AGV guiding vehicle 1 adjusts the position and attitude of the AGV guiding vehicle 1 according to these data, and the preset structure at the bottom of the energy storage container is sleeved on the surface of the positioning column 12. Then, the electromagnet 422 is energized to generate magnetic force, causing the magnetic attraction block 423 to move towards the electromagnet 422, pushing the two guide rods 426 to move and the return spring 428 to contract. The guide rods 426 drive the push plate 425 and the strong magnetic block 427 to move synchronously, enabling magnetic attraction between the strong magnetic block 427 and the preset structure at the bottom of the energy storage container. When the magnetic attraction block 423 moves, it will push the connecting sleeve 412 and the locking rod 411 to move through the synchronous plate 424, causing the locking rod 411 to enter the preset structure at the bottom of the energy storage container. Then, the positioning tooth 415 is driven to move downward by the movable rod 414, and the fixing plate 8 is sleeved on the surface of the fixed column 7, with the positioning tooth 415 positioned between the fixed teeth 413, which can lock the position of the locking rod 411, thus achieving double locking and positioning of the energy storage container. When the AGV guiding vehicle 1 encounters vibrations and impacts during operation, the telescopic movement of the damper 55 will synchronously push the second connecting frame 54 to move on the sliding rod 56, and the connecting rod 53 will move between the first connecting frame 52 and the second connecting frame 54. The damper 55 is used to buffer the vibrations and impacts, and when the rubber buffer pad 51 contacts the support platform 2 and the positioning frame 3, it further buffers the force, capable of absorbing part of the energy, thereby reducing the impact on the connection between the positioning frame 3, the double locking mechanism 4 and the energy storage container, and ensuring the positioning stability.

[0048] It should be noted that the specific structures, working principles, and usage methods of the AGV guiding vehicle, industrial camera, laser distance sensor, and energy storage container involved in the present utility model are all prior arts, so they are not elaborated in the present utility model. Secondly, the energy storage container involved is of industry standard specifications, and the double locking mechanism, positioning column, and positioning frame are applicable to the industry standard specifications of the energy storage container.

[0049] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An AGV carrying an energy storage container positioning structure, comprising an AGV guide vehicle (1), characterized in that: The top of the interior of the AGV guided vehicle (1) is bolted to a support platform (2), and a positioning frame (3) is arranged on the top of the support platform (2), two double locking mechanisms (4) are arranged at the four corners of the interior of the positioning frame (3), a buffer component (5) is arranged at the bottom of the positioning frame (3), and the bottom of the buffer component (5) is located inside the support platform (2), the inner wall of the positioning frame (3) is arranged with a step groove, and positioning columns (12) are arranged at the four corners of the top of the step groove; The double locking mechanism (4) comprises a mechanical locking component (41) and an electromagnetic locking component (42), wherein the mechanical locking component (41) and the electromagnetic locking component (42) are both located at four corners inside the positioning frame (3), and the mechanical locking component (41) passes through the interior of the electromagnetic locking component (42).

2. The AGV carrying energy storage container positioning structure according to claim 1 is characterized by: The mechanical locking assembly (41) comprises a locking rod (411), the locking rod (411) is slidably arranged inside the positioning frame (3), and one side of the locking rod (411) passes through the interior of the electromagnetic locking assembly (42), a connecting sleeve (412) is sleeved on the surface of the locking rod (411), and the connecting sleeve (412) is used in conjunction with the electromagnetic locking assembly (42).

3. The AGV carrying energy storage container positioning structure according to claim 2 is characterized in that: One side of the locking rod (411) extends to the outside of the positioning frame (3), and a plurality of fixed teeth (413) are provided on the side of the locking rod (411) away from the electromagnetic locking assembly (42); a movable rod (414) is slidably connected to the inside of the positioning frame (3), and a plurality of positioning teeth (415) are provided at the bottom of the movable rod (414), and the positioning teeth (415) are used in conjunction with the fixed teeth (413).

4. The AGV carrying energy storage container positioning structure according to claim 3 is characterized by: The electromagnetic locking assembly (42) comprises a partition (421), the partition (421) is located inside the positioning frame (3), and a side of the partition (421) close to the locking rod (411) is sleeved on the surface of the locking rod (411).

5. The AGV carrying energy storage container positioning structure according to claim 4 is characterized in that: An electromagnet (422) is bolted to one side of the partition (421), and a magnetic block (423) is provided on the side of the electromagnet (422) away from the partition (421); a synchronization plate (424) is bolted to one side of the magnetic block (423), and the synchronization plate (424) is sleeved on the surface of the locking rod (411) and used in conjunction with the connecting sleeve (412); a push plate (425) is slidably connected to the interior of the partition (421), and two guide rods (426) are passed through the interior of the push plate (425); the guide rod (426) is connected to the magnetic block (423) on one side close to the guide rod (426), and a strong magnetic block (427) is bolted to the other side of the guide rod (426).

6. The AGV carrying energy storage container positioning structure according to claim 5, characterized in that: A return spring (428) is sleeved on the surface of the guide rod (426), and the return spring (428) is connected to the magnetic attraction block (423) and the partition plate (421) at one side thereof.

7. The AGV carrying energy storage container positioning structure according to claim 3 is characterized by: The top of the movable rod (414) extends to the top of the positioning frame (3), and the top of the positioning frame (3) is bolted with a fixed plate (6), the top of the fixed plate (6) is annularly bolted with a fixed column (7), the surface of the movable rod (414) is sleeved with a fixed plate (8), and the top of the fixed column (7) passes through the interior of the fixed plate (8).

8. The AGV carrying energy storage container positioning structure according to claim 1, characterized in that: The buffer assembly (5) comprises a rubber buffer pad (51), the rubber buffer pad (51) is bolted to the bottom of the positioning frame (3), and a first connecting frame (52) is arranged in a rectangular shape inside the rubber buffer pad (51), a connecting rod (53) is rotatably connected inside the first connecting frame (52), and the other end of the connecting rod (53) is rotatably connected to a second connecting frame (54), the second connecting frame (54) is located inside the support platform (2), and a damper (55) is bolted to the side of the second connecting frame (54) close to the inner wall of the support platform (2), and the damper (55) is bolted to the side of the inner wall of the support platform (2).

9. The AGV carrying energy storage container positioning structure according to claim 8, characterized in that: A limiting slot (9) is provided on the top of the support platform (2), and the second connecting frame (54) and the damper (55) are both located inside the limiting slot (9). A sliding rod (56) is bolted inside the limiting slot (9), and the second connecting frame (54) is slidably sleeved on the surface of the sliding rod (56).

10. The AGV carrying energy storage container positioning structure according to claim 1, characterized in that: The top of the positioning frame (3) is rectangularly bolted with an industrial camera (10) and a laser distance sensor (11), and the industrial camera (10) and the laser distance sensor (11) are distributed in an interval manner, and the industrial camera (10) and the laser distance sensor (11) are both electrically connected to the controller of the AGV guided vehicle (1).

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