Accurate positioning structure for AMR trolley and energy vehicle

Abstract

The utility model relates to the technical field of autonomous mobile robots, in particular to a precise positioning structure for an AMR trolley and an energy vehicle, which comprises a positioning pin arranged on the energy vehicle; the positioning sleeve is arranged on a lifting plate of the AMR trolley; the positioning hole is formed in the positioning sleeve, and a positioning pin is inserted into the positioning hole; the guide face is arranged at the end, facing the locating pin, of the locating hole, and the end, facing the locating pin, of the guide face is obliquely arranged away from the axis of the locating hole. According to the utility model, the inclined guide surface is arranged at the end part of the positioning hole, so that the positioning pin can be automatically inserted into the positioning hole along the inclined guide surface in the insertion process of the positioning pin and the positioning hole, the deviation range of the insertion between the positioning pin and the positioning hole is expanded, and the alignment and positioning efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of autonomous mobile robot technology, and in particular to a precise positioning structure for AMR vehicles and energy vehicles. Background Technology

[0002] In the application of AMR autonomous mobile robots, after the AMR moves under the energy vehicle, it is positioned and docked. The AMR lifts the lifting plate to lift the energy vehicle. The AMR and the energy vehicle are precisely positioned by the positioning pin on the energy vehicle and the positioning sleeve on the AMR.

[0003] Existing locating pins are typically cylindrical with a chamfered end. The locating sleeve is usually a copper flange tapered sleeve, which is bolted to the lifting plate of the AMR trolley. The through hole on the flange tapered sleeve for insertion and positioning with the locating pin is a straight hole. During alignment, the locating pin and the through hole need to be repeatedly and precisely aligned before positioning can be achieved. The allowable deviation range is small, leading to positioning difficulties. Utility Model Content

[0004] This utility model aims to solve one of the problems existing in the background art.

[0005] Therefore, this utility model provides a precise positioning structure for AMR vehicles and energy vehicles.

[0006] The technical solution adopted by this utility model to solve its technical problem is:

[0007] A precise positioning structure for AMR vehicles and energy vehicles, including,

[0008] A positioning pin, wherein the positioning pin is installed on the energy vehicle;

[0009] A positioning sleeve is provided on the lifting plate of the AMR trolley.

[0010] A positioning hole is provided on the positioning sleeve for inserting a positioning pin;

[0011] The guide surface is disposed at the end of the positioning hole facing the positioning pin, and the end of the guide surface facing the positioning pin is inclined away from the axis of the positioning hole.

[0012] Furthermore, the end of the positioning pin facing the positioning sleeve is spherical.

[0013] Furthermore, the positioning sleeve is inserted into the lifting plate of the AMR trolley.

[0014] Furthermore, the positioning sleeve and the lifting plate of the AMR trolley are provided with retaining springs.

[0015] Furthermore, the outer wall of the positioning sleeve is provided with a groove for accommodating the retaining spring.

[0016] Furthermore, the lifting plate is provided with a socket and a limiting groove. The limiting groove is located at the top of the socket and communicates with the socket. The positioning sleeve is inserted into the socket, and the limiting groove is used to position the positioning sleeve.

[0017] The beneficial effect of this utility model is that by setting an inclined guide surface at the end of the positioning hole, the positioning pin can be automatically inserted into the positioning hole along the inclined guide surface during the insertion process of the positioning pin and the positioning hole, thereby expanding the allowable deviation range of the insertion between the positioning pin and the positioning hole and improving the alignment and positioning efficiency.

[0018] The positioning sleeve is fixed to the AMR carriage using an axial snap ring, which simplifies the installation method. At the same time, this installation method does not require drilling holes on the end face of the positioning sleeve, thus allowing more space for the guide surface and further expanding the deviation range. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the docking relationship between the AMR vehicle and the energy vehicle in this utility model.

[0021] Figure 2 This is a schematic diagram of the installation structure between the positioning sleeve and the AMR trolley in this utility model.

[0022] Figure 3 This is a schematic diagram of the connection between the positioning pin and the positioning sleeve in this utility model.

[0023] In the diagram: 1. Energy vehicle; 2. AMR trolley; 3. Positioning pin; 4. Positioning sleeve; 5. Positioning hole; 6. Guide surface; 7. Snap ring; 8. Limiting groove. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0025] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] A precise positioning structure for AMR vehicle 2 and energy vehicle 1 is provided. The positioning structure is used for positioning connection between energy vehicle 1 and AMR vehicle 2. Specifically, it includes positioning pin 3 and positioning sleeve 4. Positioning pin 3 is connected to energy vehicle 1, and positioning sleeve 4 is connected to lifting plate on AMR vehicle 2 that moves toward energy vehicle 1. Positioning sleeve 4 is provided with positioning hole 5, and positioning pin 3 is inserted into positioning hole 5.

[0028] It should be noted that the positioning sleeve 4 is also provided with a guide surface 6. The guide surface 6 is located at the end of the positioning hole 5 facing the positioning pin 3. The guide surface 6 connects between the top surface of the lifting plate and the inner wall of the positioning hole 5. The guide surface 6 is set as an inclined surface, and the end that connects with the top surface of the lifting plate is inclined away from the axis of the positioning hole 5, so that the guide surface 6 forms a conical surface. It should also be noted that the end of the positioning pin 3 facing the positioning hole 5 is set as a spherical surface.

[0029] During the insertion process of the positioning pin 3 and the positioning hole 5, after the AMR trolley 2 moves under the energy vehicle 1, it is positioned. The positioning pin 3 does not need to be precisely aligned with the positioning hole 5. As the lifting plate rises, the spherical end of the positioning pin 3 abuts against the guide surface 6, and the positioning pin 3 automatically inserts into the positioning hole 5 along the inclined surface of the guide surface 6. Specifically, the contact point between the positioning pin 3 and the guide sleeve is always tangential. The gravity G applied by the positioning pin 3 to the guide surface 6 is decomposed into a pressure N perpendicular to the inclined surface and a sliding force F along the inclined surface, where f is the frictional resistance. The tangential component F is used entirely for automatic centering, so that during the lifting process, the force F completes the sliding towards the center of the positioning sleeve 4 of the AMR trolley 2, achieving precise installation of the positioning pin 3 and the positioning hole 5.

[0030] The positioning sleeve 4 is inserted into the lifting plate. The lifting plate has an insertion hole and a limiting groove 8 communicating with the insertion hole. A limiting ring is provided on the outer edge of the top surface of the positioning sleeve 4. The limiting ring is integrally set with the positioning sleeve 4. The positioning sleeve 4 is inserted into the insertion hole, and the limiting ring is located in the limiting groove 8. A groove is provided on the outer wall of the positioning sleeve 4, and a retaining spring 7 is provided in the groove. When installing the positioning sleeve 4, the positioning sleeve 4 is directly inserted into the insertion hole, and the retaining spring 7 is placed between the positioning sleeve 4 and the lifting plate. This simplifies the installation process of the positioning sleeve 4. Furthermore, this installation method of the positioning sleeve 4 does not require drilling screw holes on the top surface of the positioning sleeve 4 for screw connection between the positioning sleeve 4 and the lifting plate, which can leave more space for the setting of the guide surface 6, thereby further expanding the deviation range of the docking between the positioning pin 3 and the positioning sleeve 4.

[0031] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. An AMR trolley and energy vehicle precise positioning structure, characterized in that, include, Positioning pin (3), the positioning pin (3) is set on the energy vehicle (1); Positioning sleeve (4), the positioning sleeve (4) is set on the lifting plate of the AMR trolley (2); Positioning hole (5), the positioning hole (5) is provided on the positioning sleeve (4) for the positioning pin (3) to be inserted; The guide surface (6) is provided at one end of the positioning hole (5) facing the positioning pin (3), and the end of the guide surface (6) facing the positioning pin (3) is inclined away from the axis of the positioning hole (5).

2. The precise positioning structure for the AMR vehicle and the energy vehicle according to claim 1, characterized in that, The end of the positioning pin (3) facing the positioning sleeve (4) is spherical.

3. The precise positioning structure for the AMR vehicle and the energy vehicle according to claim 1, characterized in that, The positioning sleeve (4) is inserted into the lifting plate of the AMR trolley (2).

4. The precise positioning structure for the AMR vehicle and the energy vehicle according to claim 3, characterized in that, The positioning sleeve (4) and the lifting plate of the AMR trolley (2) are provided with retaining rings (7).

5. The precise positioning structure for the AMR vehicle and the energy vehicle according to claim 4, characterized in that, The outer wall of the positioning sleeve (4) is provided with a groove for accommodating the retaining ring (7).

6. The precise positioning structure for the AMR vehicle and the energy vehicle according to claim 3, characterized in that, The lifting plate is provided with a socket and a limiting groove (8). The limiting groove (8) is located at the top of the socket and communicates with the socket. The positioning sleeve (4) is inserted into the socket. The limiting groove (8) is used to position the positioning sleeve (4).

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