Accurate positioning device for carrying crystal bar based on AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of crystal bar carrying vehicles, in particular to an accurate positioning device for carrying crystal bars based on an AGV (Automatic Guided Vehicle). The utility model discloses a trolley, an AGV trolley and an inserting mechanism. The inserting mechanism comprises a positioning plate, a second-stage coarse positioning block and a third-stage fine positioning hole. The positioning plate is fixedly mounted at the bottom of the goods shelf, secondary coarse positioning holes are formed in the positioning plate, secondary coarse positioning blocks are mounted at the tops of the secondary coarse positioning holes, tertiary fine positioning holes and two-dimensional code marking paper are embedded in the bottom of the positioning plate, and the two-dimensional code marking paper is arranged in the middles of the secondary coarse positioning blocks; the technical problems that when an existing AGV carries silicon rods, positioning precision is insufficient, manual intervention is relied on, and efficiency is low are solved, through first-stage scanning position confirmation, second-stage coarse positioning horizontal error compensation and third-stage fine positioning trolley insertion, compared with a traditional AGV, the precision is improved, and the manual adjustment requirement is thoroughly eliminated.

Description

TECHNICAL FIELD

[0001] The utility model relates to a crystal bar carrier technical field, concretely is a kind of precision positioning device based on AGV carries crystal bar. BACKGROUND

[0002] Current photovoltaic silicon wafer industry silicon wafer slicing main process is: silicon rod incoming material--adhesion crystal--slicing—debinding—cleaning—sorting---packing shipment, in slicing link, traditional mode is artificial, using manual forklift to send crystal bar (the silicon rod after adhesion crystal) into special equipment, then carry out production, present because AGV is increased to automatically go up and down stick, special AGV carries stick, completely replaces manual work, so that the advantage after going up and down stick is that the harm of dust in environment to person is minimum, production efficiency is also improved, quality is also stabilized.

[0003] In photovoltaic silicon wafer production, the precise positioning of crystal bar is the key link to realize automatic production. At present, although AGV (automatic guided vehicle) has been widely used in the carrying of crystal bar, but in actual operation, it still needs special person to manually intervene the positioning of crystal bar placement and solidification trolley, manual intervention not only increases the labor cost, but also may lead to inaccurate positioning, and further cause AGV abnormality in going up and down stick, equipment downtime waiting, which seriously affects the production efficiency. In addition, under the traditional manual mode, the crystal bar carrying efficiency is low, and the crystal bar is easily damaged due to improper operation, which affects the product quality.

[0004] To solve the above problems, the utility model provides a kind of precision positioning device based on AGV carries crystal bar, to realize the precise positioning of crystal bar, reduce manual intervention, improve production efficiency and product quality. UTILITY MODEL CONTENTS

[0005] For the above problems, the utility model provides a kind of precision positioning device based on AGV carries crystal bar to solve the technical problems of insufficient positioning accuracy, dependence on manual intervention and low efficiency when AGV carries crystal bar.

[0006] To achieve the above purpose, the utility model provides a kind of precision positioning device based on AGV carries crystal bar, it includes:

[0007] Trolley, the trolley includes: goods shelf, goods plate and universal wheel, the goods shelf bottom four corners install universal wheel, the goods shelf top is paved with a goods plate, the goods plate top is provided with guide strip, the guide strip end connects rubber pad;

[0008] AGV trolley, the AGV trolley is installed at the bottom of the trolley, the AGV trolley includes: a vehicle body, a first scanning lens, a second rough positioning column and a third fine guiding column;The top of the vehicle body is provided with a first scanning lens, a vertically telescopic second rough positioning column and a third fine guiding column, and the second rough positioning column and the third fine guiding column are arranged around the first scanning lens;

[0009] Plug-in mechanism, the plug-in mechanism includes: a positioning plate, a second rough positioning block and a third fine positioning hole;The positioning plate is fixedly installed at the bottom of the shelf, the second rough positioning hole is provided on the positioning plate, the second rough positioning block is installed at the top of the second rough positioning hole, and the positioning plate is embedded with the third fine positioning hole and the two-dimensional code marking paper at the bottom, and the two-dimensional code marking paper is arranged at the middle of the plurality of second rough positioning blocks.

[0010] Preferably, the second rough positioning block includes: a positioning shell, a positioning column, a positioning ball and a positioning sleeve;The top of the positioning shell is fixedly installed with the second rough positioning hole, the positioning column is movably arranged in the positioning shell, the positioning sleeve is installed at the top of the positioning column, and the positioning ball is rotatably arranged between the positioning column and the positioning sleeve.

[0011] Preferably, the bottom of the positioning column is provided with a positioning cavity matched with the second rough positioning column, the top center of the positioning column is provided with a ball cavity matched with the positioning ball, and the top periphery of the positioning column is provided with a threaded hole connected with the positioning sleeve.

[0012] Preferably, the positioning column moves to the inner wall of the positioning shell, and the second rough positioning column does not contact the second rough positioning hole.

[0013] Preferably, the top periphery of the positioning sleeve is connected with the threaded hole of the positioning column through a screw.

[0014] Preferably, the vertical height of the rubber pad is greater than the vertical height of the guide strip.

[0015] Preferably, the handle is installed on one side of the top of the trolley.

[0016] Preferably, the top of the second rough positioning column and the third fine guiding column is in the shape of a circular truncated cone.

[0017] Compared with the prior art, the device has the advantages that:

[0018] The device confirms the position by first scanning, compensates for the horizontal error by second rough positioning, and inserts the trolley by third fine positioning, so that the precision is improved compared with the traditional AGV, and the need for manual adjustment is completely eliminated. At the same time, the carrying cycle is shortened, and the utilization rate of the equipment is improved. The rubber pad and the guide strip absorb the vibration, the breakage rate of the crystal bar is reduced, the universal wheel is provided with a self-locking function, and the trolley is stably parked on the ground with a slope of ≤5°. In addition, the positioning column, the guide strip and other components can be quickly replaced, and the maintenance cost is reduced. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the cart's structure.

[0020] Figure 2 This is a schematic diagram of the AGV (Automated Guided Vehicle) structure.

[0021] Figure 3 This is a schematic diagram of the structure at the bottom of the cart.

[0022] Figure 4 This is a schematic diagram of the internal structure of the secondary positioning block.

[0023] Figure 5 This is a schematic diagram of the cross-sectional structure of the positioning column.

[0024] In the diagram: 1. Shelf; 2. Pallet; 3. Casters; 4. Guide strip; 5. Rubber pad; 6. Vehicle body; 7. Primary scanning lens; 8. Secondary coarse positioning post; 9. Tertiary fine guide post; 10. Positioning plate; 11. Secondary coarse positioning hole; 12. Secondary coarse positioning block; 13. Tertiary fine positioning hole; 14. QR code marking paper; 15. Positioning shell; 16. Positioning post; 17. Positioning ball; 18. Positioning sleeve; 19. Positioning cavity; 20. Ball cavity; 21. Handle; 22. Crystal rod. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] In the description of the utility model, it is necessary to explain that the orientation or positional relation indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or positional relation based on the drawing shown, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the utility model, it is necessary to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "setting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. The embodiments will be described below according to the overall structure of the utility model.

[0027] Please refer to Figures 1-5 The utility model provides a technical scheme: a kind of precision positioning device based on AGV carries crystal bar, comprising:

[0028] Trolley, trolley includes: goods shelf 1, goods board 2 and universal wheel 3, goods shelf 1 bottom four corners install universal wheel 3, goods shelf 1 top lays a goods board 2, and goods board 2 top is provided with guide strip 4, and guide strip 4 end connects rubber pad 5;

[0029] AGV dolly, AGV dolly is installed at the bottom of trolley, and AGV dolly includes: car body 6, first scanning lens 7, two-stage coarse positioning column 8 and three-stage precision guide column 9;The top of car body 6 is provided with first scanning lens 7, vertically telescopic two-stage coarse positioning column 8 and three-stage precision guide column 9, and two-stage coarse positioning column 8 and three-stage precision guide column 9 are arranged around first scanning lens 7;

[0030] Plug-in mechanism, plug-in mechanism includes: locating plate 10, two-stage coarse positioning block 12 and three-stage precision positioning hole 13;Locating plate 10 is fixedly installed at the bottom of goods shelf 1, and two-stage coarse positioning hole 11 is provided on locating plate 10, two-stage coarse positioning block 12 is installed at the top of two-stage coarse positioning hole 11, three-stage precision positioning hole 13 and two-dimensional code mark paper 14 are embedded in the bottom of locating plate 10, and two-dimensional code mark paper 14 is arranged in the middle of a plurality of two-stage coarse positioning blocks 12.

[0031] The device confirms the position through a first-level scanning, compensates for the horizontal error through a second-level coarse positioning, and inserts the trolley through a third-level fine positioning. Compared with the traditional AGV, the precision is improved, the need for manual adjustment is completely eliminated, the transportation cycle is shortened, and the equipment utilization is improved. The rubber pad 5 and the guide strip 4 absorb the vibration, the breakage rate of the crystal bar 22 is reduced, the universal wheel 3 is equipped with a self-locking function, and the trolley is stably parked on the ground with a slope of ≤5°.

[0032] The first-level scanning lens 7 is integrated on the top of the AGV trolley, used to identify the two-dimensional code mark paper 14 at the bottom of the positioning plate 10, obtain the real-time position information of the trolley, and the positioning accuracy is ±2 mm.

[0033] The second-level coarse positioning column 8 is a vertically movable column structure, the stroke is set to 50 mm, the top is designed as a circular truncated cone, cooperates with the positioning cavity 19 in the positioning shell 15, realizes the preliminary alignment, the positioning column 16 is horizontally movable in the positioning shell 15, and the top of the inner wall of the positioning shell 15 is slidably connected with the positioning ball 17. In addition, the positioning column 16 is a replaceable and detachable part, which reduces the maintenance cost.

[0034] The third-level fine positioning column 9 is also designed as a circular truncated cone, the surface is plated with hard alloy, and cooperates with the third-level fine positioning hole 13. The coarse positioning of the coarse positioning column 8 and the second-level coarse positioning block 12 is needed to reduce the movement mileage of the third-level positioning, avoid the scene that the cooperation is failed for many times due to the precise cooperation of the third-level positioning, and finally the positioning error is ≤±0.5 mm.

[0035] The two-dimensional code mark paper 14 is made of wear-resistant and anti-glare material, is embedded in the middle of the positioning plate 10, stores the trolley ID, the crystal bar 22 specification and other information, and supports the AGV to quickly identify.

[0036] The second-level coarse positioning block 12 includes a positioning shell 15, a positioning column 16, a positioning ball 17 and a positioning sleeve 18. The positioning shell 15 is fixedly installed at the top of the second-level coarse positioning hole 11, the positioning column 16 is movably arranged in the positioning shell 15, the positioning sleeve 18 is installed at the top of the positioning column 16, and the positioning ball 17 is rollably arranged between the positioning column 16 and the positioning sleeve 18. The positioning column 16 limits the rolling of the ball in the positioning cavity 19 through the positioning sleeve 18 at the top, allows a deflection tolerance of ±3°, avoids mechanical jamming, and supports 360° flexible turning through the universal wheel 3 installed at the bottom of the four corners of the shelf 1, which is suitable for narrow workshop environment. In addition, the top of the second-level coarse positioning column 8 and the third-level fine positioning column 9 is designed as a circular truncated cone, which avoids the wear or low structural strength of the top of the second-level coarse positioning column 8 and the third-level fine positioning column 9.

[0037] Wherein, the bottom of the positioning column 16 is provided with a positioning cavity 19 matched with the secondary coarse positioning column 8, the top center of the positioning column 16 is provided with a ball cavity 20 matched with the positioning ball 17, and the top periphery of the positioning column 16 is provided with a threaded hole connected with the positioning sleeve 18. The top periphery of the positioning sleeve 18 is connected with the threaded hole of the positioning column 16 through a screw, so as to avoid the positioning ball 17 from being separated from the positioning column 16 and causing mechanical jam. Secondly, the positioning column 16 is attached to the inner wall of the positioning shell 15, the secondary coarse positioning column 8 is not in contact with the secondary coarse positioning hole 11, and the secondary coarse positioning column 8 is also avoided from rubbing or impacting with the secondary coarse positioning hole 11, so as to avoid structural damage, and in addition, the horizontal positioning failure can also be avoided.

[0038] Wherein, the vertical height of the rubber pad 5 is greater than that of the guide strip 4, the guide strip 4 is used for guiding the crystal bar 22 to move along a preset path, and the vertical height of the end rubber pad 5 is higher than that of the guide strip 4, such as 5mm-8mm, so as to form a buffer zone and avoid rigid collision of the crystal bar 22 with the shelf 1. In addition, the components such as the positioning column 16 and the guide strip 4 can be quickly replaced, and the maintenance cost is reduced.

[0039] In addition, the handle 21 is installed on one side of the top of the trolley, so as to facilitate manual auxiliary adjustment or manual operation in an emergency.

[0040] The crystal bar 22 carrying process is as follows: the crystal bar 22 is placed on the trolley pallet 2, and it is ensured that it is correspondingly arranged with the guide strip 4, the AGV trolley travels along the magnetic strip navigation path to below the trolley, the first scanning lens 7 identifies the two-dimensional code data in the two-dimensional code mark paper 14, the trolley body 6 is adjusted to be aligned with the center line of the trolley, the secondary coarse positioning column 8 is raised and inserted into the positioning cavity 19, the positioning ball 17 structure compensates the horizontal initial position deviation of the AGV trolley and the trolley, then the tertiary fine positioning column 9 is in contact with the tertiary fine positioning hole 13, the tertiary fine positioning column 9 with a circular truncated cone top is slid into the hole, and the final positioning is completed.

[0041] Working principle:

[0042] First-level scanning positioning: the AGV trolley travels to below the trolley, the first scanning lens 7 reads the two-dimensional code mark paper 14, obtains the trolley coordinates and adjusts the position of the trolley body 6.

[0043] Second-level coarse positioning: the secondary coarse positioning column 8 is extended upwards until it is inserted into the positioning cavity 19 of the positioning shell 15, the horizontal deviation is compensated through the rolling of the positioning ball 17, the coarse positioning is realized, and the precision is controlled within ±3mm.

[0044] Third-level fine positioning: the tertiary fine positioning column 9 is matched with the tertiary fine positioning hole 13, the tertiary fine positioning column 9 with a circular truncated cone design is centered, the trolley position is finally locked, and the matching precision is controlled within ±0.5mm.

[0045] Crystal bar 22 loading: AGV trolley drives the trolley to move to the target work station, the guide strip 4 and the rubber pad 5 ensure that the crystal bar 22 is smoothly slid into the clamping groove, and no manual intervention is required throughout the process.

[0046] It is obvious for those skilled in the art that the utility model is not limited to the details of the above-mentioned exemplary embodiments, and the utility model can be realized in other specific forms without departing from the spirit or basic characteristics of the utility model, therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the utility model is defined by the appended claims instead of the above description, therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the utility model, and any figure reference in the claims should not be regarded as limiting the involved claims.

Claims

1. A precision positioning device for transporting a crystal bar based on an AGV, characterized in that, The utility model relates to a trolley, AGV car and inserting mechanism, and the trolley comprises a rack (1), a goods board (2) and universal wheels (3), the rack (1) is provided with universal wheels (3) at the bottom of four corners, the rack (1) is paved with a goods board (2) at the top, the goods board (2) is provided with a guide strip (4) at the top, and the guide strip (4) is connected with a rubber pad (5) at the end. The AGV car is installed at the bottom of the trolley, and the AGV car comprises a vehicle body (6), a first scanning lens (7), a second coarse positioning column (8) and a third fine guide column (9); the top of the vehicle body (6) is provided with the first scanning lens (7), the second coarse positioning column (8) and the third fine guide column (9) which can be vertically telescopic, and the second coarse positioning column (8) and the third fine guide column (9) are arranged around the first scanning lens (7). The inserting mechanism comprises a positioning plate (10), a second coarse positioning hole (11) corresponding to the second coarse positioning column (8), a second coarse positioning block (12) and a third fine positioning hole (13) corresponding to the third fine guide column (9); the positioning plate (10) is fixedly installed at the bottom of the rack (1), the second coarse positioning hole (11) is arranged on the positioning plate (10), the second coarse positioning block (12) is installed at the top of the second coarse positioning hole (11), the positioning plate (10) is embedded with the third fine positioning hole (13) and a two-dimensional code mark paper (14) at the bottom, and the two-dimensional code mark paper (14) is arranged at the middle of the second coarse positioning block (12). The second coarse positioning block (12) comprises a positioning shell (15), a positioning column (16), a positioning ball (17) and a positioning sleeve (18); the positioning shell (15) is fixedly installed at the top of the second coarse positioning hole (11), the positioning shell (15) is provided with the movable positioning column (16) inside, the positioning sleeve (18) is installed at the top of the positioning column (16), and the rollable positioning ball (17) is installed between the positioning column (16) and the positioning sleeve (18).

2. The precision positioning device for AGV-based crystal bar handling according to claim 1, wherein, The bottom of the positioning column (16) is provided with a positioning cavity (19) matched with the second coarse positioning column (8), the top center of the positioning column (16) is provided with a ball cavity (20) matched with the positioning ball (17), and the top periphery of the positioning column (16) is provided with a threaded hole connected with the positioning sleeve (18).

3. The precision positioning device for AGV based crystal bar handling according to claim 2, wherein, The positioning column (16) moves to the inner wall of the positioning shell (15), and the second coarse positioning column (8) does not contact the second coarse positioning hole (11).

4. The precision positioning device for AGV-based crystal bar handling according to claim 3, characterized in that, The top periphery of the positioning sleeve (18) is connected with the threaded hole of the positioning column (16) through a screw.

5. The precision positioning device for AGV based crystal bar handling according to claim 2, wherein, The vertical height of the rubber pad (5) is greater than the vertical height of the guide strip (4).

6. The precision positioning device for AGV-based crystal bar handling according to claim 1, wherein, A handle (21) is installed at one side of the top of the trolley.

7. The precision positioning device for AGV-based crystal bar handling according to claim 1, wherein, The top of the second coarse positioning column (8) and the third fine guide column (9) is in the shape of a circular truncated cone.

8. The precision positioning device for AGV-based crystal bar handling according to claim 1, wherein, ​

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