AGV (Automatic Guided Vehicle) transportation switching device for inertial measurement unit automatic calibration test bed

Abstract

The utility model discloses an inertial measurement unit automatic calibration test bench AGV transportation switching device, and belongs to the technical field of spacecraft transportation. The device comprises an AGV automatic butt joint base, a replaceable protection base and a damping protection base, the AGV automatic butt joint base is connected with an AGV transport vehicle platform, the replaceable protection base and the damping protection base protect a transported inertial measurement unit, and collision damage caused by sliding of the inertial measurement unit in the transport process is prevented. Contact type design is adopted in the device, and fixation and protection in the processes of storage delivery, transportation, station handover and the like of the inertial measurement unit are achieved.

Description

Technical Field

[0001] The utility model relates to an AGV transportation transfer device for an inertial measurement unit automatic calibration test bench, belonging to the technical field of spacecraft transportation. Background Art

[0002] To achieve full-automatic calibration of a strapdown inertial measurement unit, problems of transportation, transfer, and station handover are inevitably faced. The processes of storage outbound, inertial measurement unit transportation, and station handover are difficult points in full-automatic operation. An AGV can realize equipment transportation, and a robotic arm completes the inertial measurement unit calibration function. To achieve full-automatic operation, the processes of storage outbound, station handover, and storage inbound also need to be completed by both of them. Content of the Utility Model

[0003] The technical problem solved by the utility model is: overcoming the deficiencies of the prior art, an AGV transportation transfer device for an inertial measurement unit automatic calibration test bench is proposed, which adopts a contact-type fixed transportation design to realize the fixation of equipment in processes such as storage outbound, transportation, and station handover.

[0004] The technical solution of the utility model is:

[0005] An AGV transportation transfer device for an inertial measurement unit automatic calibration test bench includes an AGV automatic docking base, a replaceable protective seat, and a damping protective base;

[0006] On the bottom plate of the AGV automatic docking base, there are multiple positioning insertion slots, and the positioning insertion slots are connected to the guiding convex platforms of the AGV transfer vehicle platform; on both sides of the bottom plate, a handle is connected respectively, and the handle overlaps with the side of the transfer and transit platform;

[0007] The replaceable protective seat is of an O-shaped closed frame structure, fixed on the edge of the bottom plate of the AGV automatic docking base, and encloses the inertial measurement unit equipment from the outside;

[0008] The damping protective base is of a plate-like structure, fixed on the surface of the bottom plate of the AGV automatic docking base; on both sides of the upper surface of the damping protective base, there are multiple stepped counterbores and a positioning protective insertion slot respectively; on each side, the stepped counterbores are distributed in a semi-circular shape, and the positioning protective insertion slot is located within the semi-circle, and the positioning protective insertion slot cooperates with the guiding spring positioning contacts of the AGV transfer vehicle platform.

[0009] Furthermore, on the side edge of the bottom plate of the AGV automatic docking base, there are multiple fastening threaded holes, and on the side edge of the replaceable protective seat, there are multiple assembly holes. The number of the fastening threaded holes is the same as that of the assembly holes and their positions correspond one by one. The fastening threaded holes and the assembly holes are connected by fastening screws to fixedly connect the AGV automatic docking base and the replaceable protective seat.

[0010] Furthermore, the hole position tolerance of the assembly holes is ±0.1.

[0011] Further, the sinking depth and diameter of the stepped counterbore are greater than the height and diameter of the screw head used.

[0012] Further, the flatness of the handle is better than 0.1.

[0013] Further, it also includes a lateral damping protector, which has the same shape as the replaceable protective seat and is installed on the inner surface of the replaceable protective seat.

[0014] Further, a plurality of tapered counterbores are provided on the surface of the lateral damping protector, and a plurality of threaded holes are provided on the side of the replaceable protective seat. The tapered counterbores are connected to the threaded holes of the replaceable protective seat through screws passing through the tapered counterbores; the chamfer and diameter of the tapered counterbore are greater than the height of the screw head and the diameter of the tapered top.

[0015] The advantages of the present utility model compared with the prior art are as follows:

[0016] (1) This device adopts a contact design, there is no fastening process during transportation, which improves the transfer efficiency. At the same time, it adopts a damping protection design, which plays a good role in protecting the paint film area of the transported inertial unit.

[0017] (2) This device is used as a basis for geometric expansion design, and it has realized the compatibility of inertial units with various different geometric shapes. This design can also be used for the production transfer of other equipment - type automated production lines. At the same time, this device has the advantages of simple assembly, easy processing, and low requirements for the use environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present utility model. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0019] Figure 1 is a schematic structural diagram of the AGV transportation transfer device for the inertial unit automatic calibration test bench according to the embodiment of the present utility model;

[0020] Figure 2 is a schematic diagram of the AGV automatic docking base according to the embodiment of the present utility model. 2(a) is a top view, 2(b) is a left view, 2(c) is a bottom view, and 2(d) is an axonometric view;

[0021] Figure 3 is a schematic diagram of the replaceable protective seat according to the embodiment of the present utility model. 3(a) is a top view, 3(b) is a left view, and 3(c) is an axonometric view;

[0022] Figure 4 is a schematic diagram of the damping protection base according to the embodiment of the present utility model. 4(a) is a top view, 4(b) is a left view, 4(c) is a bottom view, and 4(d) is an axonometric view;

[0023] FIG5 is a schematic diagram of a lateral damping protector according to an embodiment of the present invention, wherein FIG5(a) is a left side view, FIG5(b) is a top view, and FIG5(c) is an axonometric view. DETAILED DESCRIPTION

[0024] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0025] This utility model proposes an AGV transport transfer device for an automated calibration test bench of an inertial group. Figure 1 As shown, it includes an AGV automatic docking base 1, a replaceable protective seat 2, a damping protection base 3, and a lateral damping protector 4.

[0026] The AGV automatic docking base 1 is a key component for docking and transport fixation, as shown in Figure 2(d). Material selection can be tailored to the load capacity of the AGV transport measurement. In this embodiment, aluminum alloy is used. Four positioning slots 5 are located on the bottom surface of the AGV automatic docking base 1. These slots, in conjunction with the guide bosses on the AGV transport vehicle platform, enable docking and fixation of the device's transport interface. The positioning slots 5 are designed to accommodate the selected AGV transport vehicle platform interface and can be modified to accommodate the actual selected AGV transport vehicle platform.

[0027] like Figures 2(a) to 2(c) As shown, symmetrically distributed transfer platform handles 6 are located on both sides of the AGV automatic docking base 1, overlapping the transfer platform. The contact surfaces between the handles and the transfer platform are flat. The flatness design value for this device is 0.1, which is adapted to the requirements of the selected AGV transport vehicle. Five M5 fastening threaded holes 7 are symmetrically distributed on each side, enabling the AGV automatic docking base 1 to be fastened to the replaceable protective seat 2. The fastening screw specifications are designed based on the weight of the transferred product and the contact fixing method. The addition of a transfer design for the replaceable protective seat 2 improves the versatility of the AGV automatic docking base 1.

[0028] On the surface of the AGV automatic docking base 1, 20 M3 fastening threaded holes 8 are symmetrically distributed around the positioning and insertion slot 5, which are used to realize the fastening connection between the AGV automatic docking base 1 and the damping protection base 3. This device and the transported product adopt a surface contact fixing method, and the damping protection base 3 realizes paint film protection of the contact surface between the transported product and this device.

[0029] The replaceable protective seat 2 is an important device for the transportation process of this device. The material of this part is aluminum alloy. Figures 3(a) to 3(c)As shown in the figure, an O-shaped closed frame structure is adopted to effectively prevent the products being transported from tipping over. The key design point lies in the design of the assembly hole 9 for the fastening threaded hole of the AGV automatic docking base 1. The hole position tolerance of the assembly hole is ±0.1. Twenty-two M3 threaded holes 10 are symmetrically distributed on the side and are firmly connected to the lateral damping protector 4 to protect against the collision damage caused by the lateral slip of the products being transported during the transportation process.

[0030] The damping protection base 3 is as Figures 4(a) to 4(d) shown. As a protective part of this device, the key design point is the stepped counterbore mounting hole 11. The sinking depth and diameter of the stepped counterbore should be greater than the height and diameter requirements of the screw head to prevent the screw from being too high or too large in diameter and protruding from the surface, causing product scratching. At the same time, it is easier for the product to slip during transportation when protruding from the product surface. Two positioning protection insertion slots 12 cooperate with the guiding spring positioning contacts of the AGV transfer vehicle platform to complete the signal determination when docking with the AGV transfer vehicle.

[0031] The lateral damping protector 4 plays a protective role on the side of the product. As Figures 5(a) to 5(c) shown, the key design point is the tapered counterbore mounting hole 13. The chamfer and diameter of the tapered counterbore should be greater than the height of the screw head and the diameter of the tapered top to prevent local pressure from being too large when the product being transported slips laterally and impacts the screw, causing product damage, etc.

[0032] The realization of this device for inertial measurement unit transfer, transportation protection, etc. is as follows:

[0033] (1) Inertial measurement unit transfer of the AGV transportation adapter device for the inertial measurement unit calibration test bench: The AGV automatic docking base, replaceable protective seat, damping protection base, and lateral damping protector parts are rigidly connected by screws to form a closed-loop transportation device. By controlling the dimensional tolerance, the gap on both sides of the transported inertial measurement unit is controlled, and non-fixed transfer is achieved through surface contact.

[0034] (2) Inertial measurement unit transportation protection of the AGV transportation adapter device for the inertial measurement unit calibration test bench: Through the damping effect of the damping protection base and the lateral damping protector, effective protection of the surface contact part of the transported inertial measurement unit is achieved.

[0035] (3) Weight control of the AGV transportation adapter device for the inertial measurement unit calibration test bench: The AGV automatic docking base and the replaceable protective seat are the main load-bearing mechanisms of the device. Selecting aluminum alloy material effectively reduces the weight of the device and improves the ability to transport the inertial measurement unit.

[0036] This device adopts a contact-type fixed transportation method. The inertial measurement unit (IMU) is combined with an automated guided vehicle (AGV) and a robotic arm to achieve warehousing loading and transportation as well as unloading at the production site, simplifying the loading and unloading methods during the automatic warehousing transfer process, improving the production efficiency of automatic warehousing transfer loading and unloading, and meeting the general transfer requirements of multiple inertial measurement units with different specifications. This device has certain requirements for the warehousing transfer route and the flatness of the route, and is applicable to the transfer transportation needs between indoor warehouses and production sites.

[0037] The above-described embodiments are only relatively preferred specific implementation manners of the present utility model. The ordinary variations and substitutions made by those skilled in the art within the scope of the technical solution of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An AGV transportation transfer device for an inertial measurement unit automatic calibration test bench, characterized in that It includes an AGV automatic docking base, a replaceable protective seat, and a damping protective base; On the bottom plate of the AGV automatic docking base, there are multiple positioning insertion slots, which are connected to the guiding convex platforms of the AGV transfer vehicle platform; on both sides of the bottom plate, there is a handle connected respectively, and the handle overlaps with the side of the transfer and transit platform; The replaceable protective seat is of an O-shaped closed frame structure and is fixed on the edge of the bottom plate of the AGV automatic docking base to wrap the inertial measurement unit device from the outside; The damping protective base is of a plate-like structure and is fixed on the surface of the bottom plate of the AGV automatic docking base. The inertial measurement unit device is placed on the damping protective base; on both sides of the upper surface of the damping protective base, there are multiple stepped counterbores and a positioning protective insertion slot respectively; the stepped counterbores on each side are distributed in a semi-circular shape, and the positioning protective insertion slot is located within the semi-circle. The positioning protective insertion slot cooperates with the guiding spring positioning contacts of the AGV transfer vehicle platform.

2. The AGV transportation transfer device of the inertial measurement unit automatic calibration test bench according to claim 1, characterized in that, On the side edge of the bottom plate of the AGV automatic docking base, there are multiple fastening threaded holes, and on the side edge of the replaceable protective seat, there are multiple assembly holes. The number of the fastening threaded holes is the same as that of the assembly holes and their positions correspond one by one. The fastening threaded holes and the assembly holes are connected by fastening screws to fixedly connect the AGV automatic docking base and the replaceable protective seat.

3. The AGV transportation transfer device of the inertial navigation unit automatic calibration test bench according to claim 1, characterized in that The hole position tolerance of the assembly hole is ±0.

1.

4. An AGV transportation transfer device for an inertial navigation system automated calibration test bench according to claim 1, characterized in that, The sinking depth and diameter of the stepped counterbore are larger than the height and diameter of the screw head used.

5. An AGV transportation transfer device for an inertial measurement unit automated calibration test bench according to claim 1, characterized in that, The flatness of the handle is better than 0.

1.

6. The AGV transportation transfer device of the inertial measurement unit automatic calibration test bench according to claim 1, characterized in that, It also includes a lateral damping protector, whose shape is the same as that of the replaceable protective seat, and is installed on the inner surface of the replaceable protective seat.

7. The AGV transportation transfer device of the inertial measurement unit automatic calibration test bench according to claim 6, characterized in that, On the surface of the lateral damping protector, there are multiple tapered counterbores, and on the side edge of the replaceable protective seat, there are multiple threaded holes. The tapered counterbores are connected to the threaded holes of the replaceable protective seat through screws; the chamfer and diameter of the tapered counterbore are larger than the height of the screw head and the diameter of the tapered top.

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