AGV (Automatic Guided Vehicle) matched trolley wheel positioner
By designing a wheel positioner for AGV trolleys and adopting a fixed frame and side limit bearing structure, the problem of inaccurate trolley parking was solved, achieving rapid and accurate positioning and efficient docking.
Patent Information
- Application Number
- CN202520134021.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-21
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-01-21
AI Technical Summary
The existing AGV-equipped trolleys are difficult to park accurately in the designated positions, resulting in inaccurate scanning of QR codes by the handling robots and affecting work efficiency.
Design an AGV matching trolley wheel positioner, including a fixed frame and a side limit bearing. It achieves precise positioning through an open wheel inlet and a wheel constraint position, and uses the side limit bearing to guide the wheel and reduce sliding friction.
It achieves precise positioning of the AGV-equipped trolley, reduces the need for multiple position corrections, and improves the docking efficiency with the handling robot.
Smart Images
Figure CN223878830U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to a trolley wheel positioner, in particular to an AGV supporting trolley wheel positioner, and belongs to the technical field of industrial production lines. BACKGROUND
[0002] Modern production lines have realized automatic assembly line operation, and the parts provided for the production line are transported by AGV supporting trolleys in cooperation with carrying robots. When the AGV supporting trolley is connected with the carrying robot, the production line trolley needs to be in a relatively accurate position. It is very difficult to accurately park the trolley in a position with an error of only a few centimeters on the smooth and flat workshop floor. Even if the trolley has at least one pair of universal wheels, it is very difficult to accurately park the production line trolley in the predetermined position. In addition, the production line trolley is loaded with automobile glass, parts and the like, and the total weight often reaches 300-500 kg. Traditionally, wheel marks are marked on the workshop floor for accurate parking of the trolley. Even if the trolley is accurately parked in the mark frame, the trolley will "slip" and deviate from the predetermined position due to the fact that the floor is not completely flat or too smooth, and it takes a lot of time and effort to correct the trolley wheel position. When the carrying robot lifts and carries the production line trolley, the two-dimensional code at the bottom of the carrying robot needs to be scanned and recognized first. If the production line trolley is not accurately parked, the carrying robot cannot accurately and timely scan the two-dimensional code, and the carrying robot needs to move back and forth multiple times to align the two-dimensional code at the bottom of the vehicle, which affects the work efficiency. For a long time, there has been a lack of a reasonable positioning structure to solve this technical problem. SUMMARY
[0003] The purpose of the present application is to solve the defects and deficiencies that the existing AGV supporting trolley is difficult to accurately park in the predetermined position, it is difficult to realize accurate parking of the trolley, it takes a lot of time and effort to correct the trolley wheel position, and it is not conducive to docking with the carrying robot. The application provides an AGV supporting trolley wheel positioner which is reasonable in structure, workers can easily push the AGV supporting trolley to the predetermined position, can quickly realize accurate positioning, do not need to move the trolley multiple times to correct the position, can well dock with the carrying robot, and the positioning efficiency is improved.
[0004] In order to achieve the above-mentioned purpose of the application, the technical scheme of the present application is as follows: an AGV supporting trolley wheel positioner, comprising a fixed frame, the bottom of the fixed frame is fixed on the ground of the production line, the fixed frame located on one side of the trolley entering is set as an open type wheel entrance, the middle part of the fixed frame is set as a trolley wheel entering channel, the inside of the fixed frame and located at the end of the entering channel is set as a wheel constraint position for positioning the trolley wheel, and a plurality of side limiting bearings are installed on the fixed frame on both sides of the entering channel through bearing mounting pieces.
[0005] Further, the fixed frame comprises an outer fixed plate, an inner fixed plate, and a connecting fixed plate, the area between the outer fixed plate and the inner fixed plate is a trolley wheel access channel, the outer fixed plate and the inner fixed plate at one end of the trolley access are provided as an open wheel access, and the other end of the outer fixed plate and the inner fixed plate are connected by the connecting fixed plate.
[0006] Further, the inner side of the outer fixed plate is provided as a limiting bevel, and the length of the outer fixed plate is greater than the length of the inner fixed plate.
[0007] Further, the middle part of the outer fixed plate and the inner fixed plate is provided with an intermediate reinforcing plate, and the area surrounded by the outer fixed plate, the inner fixed plate, the connecting fixed plate, and the intermediate reinforcing plate is a wheel constraint position.
[0008] Further, the side of the intermediate reinforcing plate close to the wheel access is provided as a ground-close inclined plane or a circular arc surface to facilitate the trolley wheel access.
[0009] Further, a plurality of outer bearing mounting holes are sequentially formed on the outer fixed plate along the inner side contour line.
[0010] Further, a side limiting bearing is mounted on the outer bearing mounting hole through a bearing mounting piece, and the rim of the side limiting bearing extends to the outside of the edge of the outer fixed plate close to the access channel.
[0011] Further, a plurality of inner bearing mounting holes are sequentially formed on the side of the inner fixed plate close to the access channel.
[0012] Further, a side limiting bearing is mounted on the inner bearing mounting hole through a bearing mounting piece, and the rim of the side limiting bearing extends to the outside of the edge of the inner fixed plate close to the access channel.
[0013] Further, the bearing mounting piece is a screw rod, a pin shaft, or a bolt.
[0014] The beneficial effects of the present application are:
[0015] 1. The fixed frame provided with an open wheel access at one end is adopted in the present application, the wheels of the AGV supporting trolley enter the constraint position in the wheel positioner through the gap, precise positioning is achieved, the wheels will not move randomly after entering the wheel positioner without external force, and the precise positioning, smooth lifting, and carrying of the carrying robot are ensured.
[0016] 2. A plurality of side limiting bearings are respectively mounted on the fixed frames on both sides of the access channel in the present application, the side limiting bearings can well limit and guide the wheels laterally, reduce the sliding friction between the wheel rim and the fixed frame, and save effort and be smooth when the wheels enter the positioner.
[0017] 3. The structure is reasonable, workers can easily push the AGV supporting trolley to the predetermined position, and can quickly realize accurate positioning without moving the trolley multiple times to correct the position, can well dock with the carrying robot, and the positioning efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 is a structural schematic diagram of the first embodiment of the application.
[0019] Figure 2 is a top view of Figure 1
[0020] Figure 3 is a structural schematic diagram when the side limiting bearing is not installed. Figure 1
[0021] Figure 4 is a schematic diagram when the trolley wheel is positioned in the first embodiment of the application.
[0022] Figure 5 is a use state diagram of the first embodiment of the application.
[0023] Figure 6 is a structural schematic diagram of the second embodiment of the application.
[0024] Figure 7 is a schematic diagram when the trolley wheel is positioned in the second embodiment of the application.
[0025] Figure 8 is a structural schematic diagram of the third embodiment of the application.
[0026] Figure 9 is a structural schematic diagram when the side limiting bearing is not installed. Figure 8
[0027] In the figure: fixed frame 1, outer fixed plate 2, inner fixed plate 3, connecting fixed plate 4, middle reinforcing plate 5, wheel constraint position 6, limiting bevel 7, side limiting bearing 8, bearing mounting piece 9, outer bearing mounting hole 10, inner bearing mounting hole 11, trolley frame 12, trolley wheel 13. DETAILED DESCRIPTION
[0028] The application is further described in detail below in combination with the description of the drawings and specific embodiments.
[0029] Referring to Figures 1 to 9 The application discloses an AGV matching trolley wheel positioner, which comprises a fixed frame 1, characterized in that: the bottom of the fixed frame 1 is fixed on the ground of a production line, the fixed frame 1 located on one side where the trolley enters is arranged as an open type wheel entrance, the middle part of the fixed frame 1 is arranged as a trolley wheel entering channel, the inside of the fixed frame 1 and the end of the entering channel are arranged as a wheel constraint position 6 for positioning the trolley wheel, and a plurality of side limiting bearings 8 are respectively installed on the fixed frame 1 on both sides of the entering channel through bearing mounting pieces 9.
[0030] The fixed frame 1 comprises an outer fixed plate 2, an inner fixed plate 3 and a connecting fixed plate 4, the area between the outer fixed plate 2 and the inner fixed plate 3 is the trolley wheel entering channel, the outer fixed plate 2 and the inner fixed plate 3 located on one end where the trolley enters are arranged as the open type wheel entrance, and the other end of the outer fixed plate 2 and the inner fixed plate 3 is connected through the connecting fixed plate 4.
[0031] The inner side of the outer fixed plate 2 is arranged as a limiting bevel 7, and the length of the outer fixed plate 2 is greater than the length of the inner fixed plate 3.
[0032] The middle part of the outer fixed plate 2 and the inner fixed plate 3 is provided with an intermediate reinforcing plate 5, and the area surrounded by the outer fixed plate 2, the inner fixed plate 3, the connecting fixed plate 4 and the intermediate reinforcing plate 5 is the wheel constraint position 6.
[0033] The side of the intermediate reinforcing plate 5 close to the wheel entrance is arranged as a ground-close inclined plane or a ground-close arc surface for facilitating the trolley wheel to enter.
[0034] A plurality of outer side bearing mounting holes 10 are sequentially formed in the outer fixed plate 2 along the inner side contour line.
[0035] The side limiting bearings 8 are installed on the outer side bearing mounting holes 10 through the bearing mounting pieces 9, and the flanges of the side limiting bearings 8 extend to the outside of the side edge of the outer fixed plate 2 close to the entering channel.
[0036] A plurality of inner side bearing mounting holes 11 are sequentially formed in the inner fixed plate 3 close to the entering channel.
[0037] The side limiting bearings 8 are installed on the inner side bearing mounting holes 11 through the bearing mounting pieces 9, and the flanges of the side limiting bearings 8 extend to the outside of the side edge of the inner fixed plate 3 close to the entering channel.
[0038] The bearing mounting piece 9 is a screw rod, a pin shaft or a bolt.
[0039] As shown in the accompanying drawings, Figures 1 to 4As shown, the application is fixedly arranged with a wheel positioner on the ground of the production line workshop to accurately position the AGV matching trolley wheel, the AGV matching trolley wheel enters the constraint position in the wheel positioner through the gap, accurate positioning is realized, and the wheel positioner also adopts multiple rolling bearings to laterally limit and guide the wheel, so that the production line trolley wheel can smoothly enter, and the production line trolley wheel will not move randomly after entering the wheel positioner without external force, which also creates favorable conditions for accurate positioning and handling operation of the handling robot. The specific structure is as follows:
[0040] The fixed frame 1 of the application is a metal structure for being fixed on the ground of the production line workshop, the thickness of the fixed frame 1 is 0.5-2 cm, the fixed frame 1 can not only ensure a certain strength and facilitate the installation of bearings and other components, but also will not hinder the passage of vehicles and pedestrians in the workshop, and can also withstand the rolling of other vehicles. The fixed frame 1 is fixed on the ground of the workshop by screws, and can also be fixed on the ground of the workshop by bonding.
[0041] The fixed frame 1 has various structural forms, which can adopt an integrated structure, or an assembled and welded structure, etc. Taking the following specific embodiment as an example: the fixed frame 1 mainly includes an outer fixed plate 2, an inner fixed plate 3 and a connecting fixed plate 4, the area between the outer fixed plate 2 and the inner fixed plate 3 is a trolley wheel entering channel, and the width of the trolley wheel entering channel is greater than the width of the outer flange of the production line trolley wheel. The outer fixed plate 2 and the inner fixed plate 3 located at one end of the trolley entering are arranged as an open type wheel inlet, which can be a structure form of trumpet shape, trapezoidal shape, etc. with wide outer side and narrow inner side, and the width of the open type wheel inlet is greater than the width of the middle part of the wheel entering channel. For example, the inner side of the outer fixed plate 2 is arranged as a limiting bevel 7, and the length of the outer fixed plate 2 is greater than the length of the inner fixed plate 3, so as to increase the width of the open type wheel inlet.
[0042] The middle part of the outer fixed plate 2 and the inner fixed plate 3 is connected with an intermediate reinforcing plate 5, and the side close to the wheel inlet of the intermediate reinforcing plate 5 is arranged as a ground-close inclined plane or a ground-close arc surface to facilitate the trolley wheel entering. The other end of the outer fixed plate 2 and the inner fixed plate 3 is connected and fixed by the connecting fixed plate 4, and the area surrounded by the outer fixed plate 2, the inner fixed plate 3, the connecting fixed plate 4 and the intermediate reinforcing plate 5 is a wheel constraint position 6, and the production line trolley wheel stops at the wheel constraint position 6 to be in a relatively accurate position.
[0043] In order to make the trolley wheel enter the positioner more smoothly, reduce the sliding friction between the wheel rim and the fixed frame 1, the application adopts a plurality of rolling bearings, specifically a plurality of outer bearing mounting holes 10 are sequentially arranged on the outer fixed plate 2 along the inner contour line, the outer bearing mounting hole 10 is provided with a side limiting bearing 8 through a bearing mounting piece 9, the bearing mounting piece 9 is a screw rod, a pin shaft or a bolt, the rim of the side limiting bearing 8 extends to the outside of the edge of the outer fixed plate 2 close to the entrance channel side. A plurality of inner bearing mounting holes 11 are sequentially arranged on the inner side of the fixed plate 3 close to the entrance channel side, the inner bearing mounting hole 11 is provided with a side limiting bearing 8 through a bearing mounting piece 9, the bearing mounting piece 9 is a screw rod, a pin shaft or a bolt, the rim of the side limiting bearing 8 extends to the outside of the edge of the inner fixed plate 3 close to the entrance channel side.
[0044] The use principle and process of the application are as follows: in use, the worker pushes the AGV matching trolley from one end of the open wheel entrance, the trolley wheel 13 first encounters the side limiting bearing 8 on the inner side or the outer side, the side limiting bearing 8 rotates after being extruded by the rim, which will guide the trolley universal wheel to correct the angle, and gradually guide the trolley wheel into the channel, in the process of entering, the side limiting bearings 8 on both sides will continue to guide the trolley wheel 13 to enter the wheel constraint position 6 accurately in a rolling manner, until the trolley is stable, so as to realize the accurate positioning of the AGV matching trolley wheel, facilitate the carrying robot to enter the bottom of the AGV matching trolley, and scan and identify to lift and carry.
[0045] The above is a further detailed description of the application in combination with the specific embodiments, which cannot be considered as limiting the specific embodiments of the application. For ordinary skilled in the art to which the application belongs, various simple replacements, improvements and changes can be made without departing from the concept of the application, and the various simple replacements, improvements and changes made should be considered as belonging to the protection scope of the application.
Claims
1. An AGV matching trolley wheel positioner comprising a fixed frame (1), characterized in that: The bottom of the fixed frame (1) is fixed on the ground of the production line, the side of the fixed frame (1) where the trolley enters is provided as an open wheel entrance, the middle of the fixed frame (1) is provided as a trolley wheel entering channel, the inside of the fixed frame (1) and the end of the entering channel are provided as a wheel constraint position (6) for positioning the trolley wheel, and a plurality of side limiting bearings (8) are installed on the fixed frame (1) on both sides of the entering channel through bearing mounting pieces (9).
2. The AGV matching trolley wheel positioner according to claim 1, characterized in that: The fixed frame (1) comprises an outer fixed plate (2), an inner fixed plate (3) and a connecting fixed plate (4), the area between the outer fixed plate (2) and the inner fixed plate (3) is a trolley wheel entering channel, the outer fixed plate (2) and the inner fixed plate (3) are provided as an open wheel entrance at one end where the trolley enters, and the other end of the outer fixed plate (2) and the inner fixed plate (3) is connected by the connecting fixed plate (4).
3. The AGV matching trolley wheel positioner according to claim 2, characterized in that: The inner side of the outer fixed plate (2) is provided as a limiting bevel (7), and the length of the outer fixed plate (2) is greater than the length of the inner fixed plate (3).
4. The AGV matching trolley wheel positioner according to claim 2, characterized in that: The middle part of the outer fixed plate (2) and the inner fixed plate (3) is provided with an intermediate reinforcing plate (5), and the area surrounded by the outer fixed plate (2), the inner fixed plate (3), the connecting fixed plate (4) and the intermediate reinforcing plate (5) is a wheel constraint position (6).
5. The AGV matching trolley wheel positioner according to claim 4, characterized in that: The side of the intermediate reinforcing plate (5) close to the wheel entrance is provided as a ground-close inclined plane or a ground-close arc surface for facilitating the trolley wheel to enter.
6. The AGV matching trolley wheel positioner according to claim 2, characterized in that: A plurality of outer bearing mounting holes (10) are sequentially formed on the outer fixed plate (2) along the inner contour line.
7. The AGV matching trolley wheel positioner according to claim 6, characterized in that: The outer bearing mounting holes (10) are provided with side limiting bearings (8) through bearing mounting pieces (9), and the flanges of the side limiting bearings (8) extend to the outside of the edge of the outer fixed plate (2) close to the entering channel.
8. The AGV matching trolley wheel positioner according to claim 2 or 4, characterized in that: A plurality of inner bearing mounting holes (11) are sequentially formed on the side of the inner fixed plate (3) close to the entering channel.
9. The AGV matching trolley wheel positioner according to claim 8, characterized in that: The inner bearing mounting holes (11) are provided with side limiting bearings (8) through bearing mounting pieces (9), and the flanges of the side limiting bearings (8) extend to the outside of the edge of the inner fixed plate (3) close to the entering channel.
10. The AGV matching trolley wheel positioner according to claim 1, characterized in that: The bearing mounting piece (9) is a screw rod, a pin shaft or a bolt.