Sensor mounting, positioning and calibrating device for transfer robot

Abstract

The utility model discloses a sensor installation positioning calibration device for a transfer robot, which relates to the technical field of transfer robots and comprises a supporting bottom plate and two primary positioning frames, the two primary positioning frames are arranged on two sides of the supporting bottom plate, and a secondary positioning frame is arranged on the upper sides of the two primary positioning frames. Sliding grooves are formed in the upper sides of the first-stage positioning frames on the two sides, the two ends of the second-stage positioning frame are slidably connected with the corresponding sliding grooves, a steering wheel positioning calculation displayer is arranged on the inner wall of one side of the second-stage positioning frame, and a positioning sliding rail is fixedly arranged on the lower side of the middle of the second-stage positioning frame; the lower side of the positioning sliding rail is slidably sleeved with a sliding block, and the lower side of the sliding block is fixedly provided with a positioning laser. A steering wheel positioning clamping shell is fixedly embedded in the middle of the upper surface of the supporting bottom plate. According to the utility model, the horizontal and vertical positioning of the moving steering wheel can be quickly determined, so that the mounting position of the corresponding sensing device is determined.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a sensor installation, positioning and calibration device for a transport robot. Background Art

[0002] With the continuous increase in labor costs, the development and demand for unmanned logistics, and the growing demand for AGVs, the market for converting existing vehicle bodies into AGVs has also been driven. Among these, stacker forklifts are more common in warehousing and logistics. However, due to the large body of this type of forklift and the basic errors in the body assembly and installation process by the vehicle manufacturer, AGV conversion manufacturers inevitably encounter errors in sensor installation and positioning calibration when converting ordinary stacker forklifts into AGVs. Especially in the context of the current AGV navigation accuracy reaching 10mm, the precise positioning and installation of related sensor devices (cameras, lidar, etc.) is particularly important when converting AGV bodies. The ability to align and calibrate the installation, build the positioning map of the body, and control the motion of the body steering wheel are extremely important. At the same time, accurate calibration installation can also reduce many errors caused by the horizontal deviation between the moving steering wheel and the sensor during subsequent body debugging. During the modification of multiple vehicles, each vehicle may have different degrees of sensor installation position deviation due to differences in its assembly process, brand, and model. Therefore, it is extremely important to design a device that can calibrate the horizontal and vertical alignment of the steering wheel center and the installed sensor. Utility Model Content

[0003] In view of the above-mentioned problems existing in the installation of related sensor devices when modifying the AGV body, the present utility model is proposed.

[0004] Therefore, the purpose of this utility model is to provide a sensor installation, positioning and calibration device for a handling robot, which solves the problem in the prior art that during the modification of multiple vehicles, each vehicle will have different degrees of sensor installation position deviation due to differences in its assembly process, brand, shape, etc.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0006] A sensor installation positioning and calibration device for a handling robot comprises a supporting base plate and a first-level positioning frame, wherein the two first-level positioning frames are arranged on both sides of the supporting base plate, and a second-level positioning frame is arranged on the upper side of the two first-level positioning frames, and a slide groove is provided on the upper side of the first-level positioning frames on both sides, and both ends of the second-level positioning frame are slidably connected to the corresponding slide groove, the first-level positioning frame is thread-lockedly connected to the supporting base plate by a first bolt, and the second-level positioning frame is thread-lockedly connected to the first-level positioning frame by a second bolt, a steering wheel positioning calculation display is provided on one inner wall of the second-level positioning frame, a positioning slide rail is fixedly provided on the lower middle side of the second-level positioning frame, a slider is provided on the lower sliding sleeve of the positioning slide rail, and a positioning laser is fixedly installed on the lower side of the slider;

[0007] A steering wheel positioning card is fixedly embedded in the middle of the upper surface of the support base plate, a pressure conduction belt is provided in the middle of the steering wheel positioning card, the lower side of the pressure conduction belt is electrically connected to a pressure sensor, and a pressure signal output line is provided on one side of the pressure sensor.

[0008] Preferably, scale lines are provided on the inner side of the positioning slide rail.

[0009] Preferably, limit blocks are fixedly provided on both sides of the positioning slide rail.

[0010] Preferably, vehicle body passing ramps are fixedly provided on both sides of the steering wheel positioning housing.

[0011] Preferably, slope plates are fixedly provided on both sides of the supporting guard plate.

[0012] Preferably, disassembly and assembly handles are fixedly provided on both sides of the upper surface of the steering wheel positioning housing.

[0013] In the above technical solution, the technical effects and advantages provided by the utility model are:

[0014] 1. The present invention is provided with a steering wheel positioning calculation display, which is a single-chip calculation display with a built-in battery. It is used to receive the signal output by the pressure sensor, calculate the current position of the steering wheel, and display the data on the screen.

[0015] 2. The utility model is provided with a positioning laser, which is a laser emitter that emits a vertical laser beam and is used to emit laser to confirm the installation position of the sensor.

[0016] 3. The utility model provides a positioning slide rail, which is installed on a secondary positioning frame. The positioning slide rail is marked with scale lines to facilitate checking the current position of the slider.

[0017] 4. In the present invention, a secondary positioning frame is provided by sliding inside the primary positioning frame. The secondary positioning frame and the primary positioning frame are in contact with each other through balls and can slide up and down. The secondary door frame can be raised and lowered by unscrewing the corresponding fixed screws.

[0018] 5. The utility model uses a pressure conducting belt and a pressure sensor at the bottom (such as Figure 6 ), this part consists of two parts, one is the pressure conduction belt, the other is the pressure sensor. When the vehicle body presses against the pressure sensing belt, it will generate a conductive downward force. At this time, the pressed part will be received by the pressure sensor at the bottom, and the data signal will be transmitted to the steering wheel positioning calculation display, and the position of the steering wheel relative to the pressure sensor will be calculated and displayed.

[0019] 6. Position the casing by steering wheel (such as Figure 4 ), this is a modular installation component made of polyethylene material, which can bear weight. A groove is reserved in the middle of the component for installing the pressure sensing belt and the pressure sensor at the bottom. The component is high on both sides and low in the middle. When the steering wheel is driven into it, the steering wheel can be stuck in the middle. There are two disassembly and assembly handles on both sides of the component for grabbing and placing the module during disassembly and installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 This is a structural diagram of a sensor installation, positioning and calibration device for a handling robot proposed in the present invention;

[0022] Figure 2 for Figure 1 A side structural diagram of the middle secondary positioning frame;

[0023] Figure 3 for Figure 1 Schematic diagram of the internal structure;

[0024] Figure 4 for Figure 1 Schematic diagram of the overall structure of the center steering wheel positioning jamb;

[0025] Figure 5 for Figure 1 A schematic diagram of the top view of the middle support base plate;

[0026] Figure 6 for Figure 4 Schematic diagram of the internal structure.

[0027] Description of reference numerals:

[0028] 1. Steering wheel positioning calculation display; 2. Positioning laser; 3. Positioning slide rail; 4. Secondary positioning frame; 5. Pressure signal output line; 6. Steering wheel positioning jamb; 7. Ramp plate; 8. Support base plate; 9. First-level positioning frame; 10. Vehicle body passing ramp; 11. Disassembly and assembly handle; 12. Pressure transmission belt; 13. Pressure sensor; 14. Limit block; 15. Scale line; 16. Slider. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The embodiment of the utility model discloses a sensor installation, positioning and calibration device for a handling robot.

[0031] Example 1

[0032] Reference Figure 1-6 , a sensor installation positioning and calibration device for a handling robot, including a supporting base plate 8 and a first-level positioning frame 9, two first-level positioning frames 9 are arranged on both sides of the supporting base plate 8, and ramp plates 7 are fixedly provided on both sides of the support guard plate to facilitate the vehicle body to drive in and out, and a second-level positioning frame 4 is provided on the upper side of the two first-level positioning frames 9, and a slide groove is provided on the upper side of the first-level positioning frames 9 on both sides, and both ends of the second-level positioning frame 4 are slidably connected to the corresponding slide groove, the first-level positioning frame 9 is threadedly locked with the supporting base plate 8 by a first bolt, and the second-level positioning frame 4 is threadedly locked with the first-level positioning frame 9 by a second bolt, and a steering wheel positioning calculation display 1 is provided on the inner wall of one side of the second-level positioning frame 4, and a positioning slide rail 3 is fixedly provided on the lower middle side of the second-level positioning frame 4, and a slider 16 is provided on the lower sliding sleeve of the positioning slide rail 3, and a positioning laser 2 is fixedly installed on the lower side of the slider 16.

[0033] Example 2

[0034] Reference Figure 1-6 A steering wheel positioning card shell 6 is fixedly embedded in the middle of the upper surface of the supporting base plate 8, and a pressure conduction belt 12 is provided in the middle of the steering wheel positioning card shell 6. The lower side of the pressure conduction belt 12 is electrically connected to a pressure sensor 13, and a pressure signal output line 5 is provided on one side of the pressure sensor 13. Vehicle body passing ramps 10 are fixedly provided on both sides of the steering wheel positioning card shell 6 to facilitate the passage of the vehicle body. Disassembly and assembly handles 11 are fixedly provided on both sides of the upper surface of the steering wheel positioning card shell 6 for grabbing and placing the module during disassembly and installation.

[0035] Example 3

[0036] Reference Figure 1-6A scale line 15 is provided on the inner side of the positioning rail 3 to facilitate viewing the position of the slider 16 at this moment. Limit blocks 14 are fixedly provided on both sides of the positioning rail 3 to prevent the slider 16 from slipping off from both ends of the positioning rail 3 as much as possible.

[0037] In the utility model, when in use, since a steering wheel positioning calculation display 1 is provided, which is a single-chip calculation display with a built-in battery for receiving the signal output by the pressure sensor, the position of the steering wheel at the moment is obtained by calculation, and the data is displayed on the screen, since a positioning laser 2 is provided, the positioning laser 2 is a laser emitter that emits a laser beam vertically, which is used to emit a laser to confirm the position where the sensor is installed, since a positioning slide rail 3 is provided, this positioning slide rail 3 is installed on the secondary positioning frame 4, and a scale line 15 is marked on the positioning slide rail 3, which is convenient for checking the position of the slider 16 at the moment, since a secondary positioning frame 4 is provided for sliding inside the primary positioning frame 9, the secondary positioning frame 4 and the primary positioning frame 9 are in contact through balls and can slide up and down, and the secondary door frame 4 can be raised and lowered by unscrewing the corresponding fixed position screws, due to the pressure conduction belt 12 and the pressure sensor 13 at the bottom (such as Figure 6 ), this part consists of two parts, one is the pressure transmission belt 12, the other is the pressure sensor 13. When the vehicle body presses against the pressure sensor belt 12, a transmission downward force will be generated. At this time, the pressing part will be received by the pressure sensor 13 at the bottom, and the data signal will be transmitted to the steering wheel positioning calculation display 1, and the position of the steering wheel relative to the pressure sensor 13 will be calculated and displayed. Due to the steering wheel positioning jam 6 (such as Figure 4 ), this is a modular installation component made of polyethylene material, which can bear weight. A groove is reserved in the middle of the component for installing the pressure sensing belt and the pressure sensor 13 at the bottom. The component is high on both sides and low in the middle. When the steering wheel is driven into it, the steering wheel can be stuck in the middle. There are two disassembly and assembly handles 11 on both sides of the component for grabbing and placing the module during disassembly and installation.

[0038] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A sensor installation positioning and calibration device for a handling robot, comprising a supporting base plate (8) and a first-level positioning frame (9), characterized in that: The two first-level positioning frames (9) are arranged on both sides of the supporting base plate (8), and a second-level positioning frame (4) is arranged on the upper side of the two first-level positioning frames (9). The upper sides of the first-level positioning frames (9) on both sides are provided with a slide groove, and both ends of the second-level positioning frame (4) are slidably connected to the corresponding slide groove. The first-level positioning frame (9) is thread-lockedly connected to the supporting base plate (8) through a first bolt, and the second-level positioning frame (4) is thread-lockedly connected to the first-level positioning frame (9) through a second bolt. A steering wheel positioning calculation display (1) is arranged on the inner wall of one side of the second-level positioning frame (4), and a positioning slide rail (3) is fixedly arranged on the lower side of the middle part of the second-level positioning frame (4). A slider (16) is provided on the lower side of the positioning slide rail (3). A positioning laser (2) is fixedly installed on the lower side of the slider (16); A steering wheel positioning housing (6) is fixedly embedded in the middle of the upper surface of the support base plate (8), a pressure conducting belt (12) is provided in the middle of the steering wheel positioning housing (6), a pressure sensor (13) is electrically connected to the lower side of the pressure conducting belt (12), and a pressure signal output line (5) is provided on one side of the pressure sensor (13).

2. The sensor installation, positioning and calibration device for a handling robot according to claim 1, characterized in that: A scale line (15) is provided on the inner side of the positioning slide rail (3).

3. The sensor installation, positioning and calibration device for a handling robot according to claim 1, characterized in that: Limiting blocks (14) are fixedly provided on both sides of the positioning slide rail (3).

4. The sensor installation, positioning and calibration device for a handling robot according to claim 1, characterized in that: Vehicle body passing ramps (10) are fixedly provided on both sides of the steering wheel positioning housing (6).

5. The sensor installation, positioning and calibration device for a handling robot according to claim 1, characterized in that: Slope plates (7) are fixedly provided on both sides of the supporting base plate.

6. The sensor installation, positioning and calibration device for a handling robot according to claim 1, characterized in that: Both sides of the upper surface of the steering wheel positioning housing (6) are fixedly provided with disassembly and assembly handles (11).

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