A forward-moving AGV picking and placing secondary positioning mechanism
By installing a secondary positioning mechanism with telescopic components and positioning sensors on the AGV, the problem of AGV positioning deviation is solved, enabling precise picking and placing of goods and improving warehousing efficiency, while reducing damage to the positioner and the space occupied.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HONGYUN HONGHE TOBACCO (GRP) CO LTD
- Filing Date
- 2025-06-12
- Publication Date
- 2026-06-02
AI Technical Summary
In existing technologies, the initial positioning of forward-moving AGVs is often inaccurate, requiring the locator to maintain a certain distance from the AGV, occupying more road space, and making them prone to damage or inaccurate positioning.
Design a secondary positioning mechanism for forward-moving AGVs to pick up and place goods. By installing telescopic components and positioning sensors on the AGV, the telescopic adjustment of the positioning sensors can be realized, and the insertion angle of the insertion arm can be adjusted in real time to ensure accurate picking up and placing of goods.
This reduces the road width requirement for AGV operation, increases warehouse storage capacity, reduces the risk of damage to positioning sensors, and ensures positioning accuracy and safety.
Smart Images
Figure CN224312478U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tobacco production and transportation equipment technology, and specifically to a secondary positioning mechanism for a forward-moving AGV for picking up and placing goods. Background Technology
[0002] In automated warehouses and logistics systems, reach trucks (AGVs) are widely used for handling and distributing goods because they can flexibly navigate between narrow aisles and shelves.
[0003] However, during the loading and unloading process, due to factors such as environmental noise and mechanical errors, the initial positioning of the AGV often has a certain deviation, which affects the accurate placement and retrieval of goods. Existing technology involves adding a high-precision locator. This locator needs to maintain a certain distance from the AGV to better position the uprights of the shelving unit, facilitating the insertion and retrieval of goods by the AGV's arms. Because the locator is at a certain distance from the AGV and cannot be retracted while the AGV is moving, this results in a greater need for a wider path during AGV movement. Furthermore, the locator is more susceptible to damage or inaccurate positioning due to collisions during travel. Utility Model Content
[0004] This application provides a secondary positioning mechanism for forward-moving AGVs to pick up and place goods, thereby enabling the extension and retraction of positioning sensors, reducing the road width required for AGV movement, and reducing the likelihood of damage to positioning sensors due to impacts.
[0005] In one embodiment, a secondary positioning mechanism for picking up and placing goods in a forward-moving AGV is provided, which is installed on the AGV trolley and includes:
[0006] A connecting plate, which is used to fix the connecting plate to the arm of the AGV, and the connecting plate is also used to fix the connecting plate to the lifting arm of the AGV.
[0007] The telescopic component is slidably connected to the top end face of the connecting plate. The telescopic component can extend and retract relative to the connecting plate, and the telescopic component extends in a predetermined direction to move away from or towards the side of the AGV vehicle.
[0008] A positioning sensor is fixedly connected to the telescopic end of the telescopic component, and the positioning sensor is used to electrically connect to the processor of the AGV.
[0009] The telescopic component extends along the extension direction of the connecting plate, that is, it extends to both sides perpendicular to the AGV trolley.
[0010] In one embodiment, the telescopic component includes: a push rod, an extension rod, and a drive motor; the push rod and the extension rod are connected together by a connecting rod; the positioning sensor is fixedly connected to the extension rod; the push rod is provided with a rack, which is drivenly connected to the output end of the drive motor; the drive motor is fixedly connected to the AGV trolley.
[0011] In one embodiment, the AGV is equipped with a support plate, which is fixedly connected to the insert arm; the drive motor is fixedly connected to the support plate.
[0012] In one embodiment, a protective housing for protecting the positioning sensor is fixedly connected to the extension rod, the protective housing being located at the end of the extension rod away from the connecting rod; the positioning sensor is located inside the protective housing.
[0013] In one embodiment, the push rod has a first slot, and the connecting plate is fixedly connected to a first limiting block that can be slidably inserted into the first slot.
[0014] In one embodiment, a second slot is provided on the extension rod, and a second limiting block that can be slidably inserted into the second slot is fixedly connected to the connecting plate.
[0015] In one embodiment, the number of the second slot and the number of the second limiting block are both two in a one-to-one correspondence; the two second slots are distributed on both sides of the extension rod.
[0016] In one embodiment, the number of push rods, extension rods, and positioning sensors are all in one-to-one correspondence, and the two push rods, two extension rods, and two positioning sensors are distributed on both sides of the drive motor in one-to-one correspondence.
[0017] Specifically, the two push rods are engaged and distributed on both sides of the drive motor, and the extension rod, connecting rod, and positioning sensor are all symmetrically distributed on both sides of the drive motor.
[0018] In one embodiment, the positioning sensor is a photoelectric sensor.
[0019] In one embodiment, the bottom surface of the connecting plate near both ends of the connecting plate is sloped.
[0020] Specifically, for inclined telescopic components, the closer to the end of the connecting plate, the smaller the cross-sectional dimension.
[0021] The beneficial effects of this application are:
[0022] By installing positioning sensors on the telescopic components, when the AGV needs to be positioned, the telescopic components extend the positioning sensors to the predetermined positions. The positioning sensors then begin to transmit the position of the shelf columns to the processor in real time. The processor outputs corresponding adjustment signals to the AGV's power mechanism, and the AGV moves to adjust the insertion angle of the insert arm, ultimately achieving precise picking or placing of goods by the insert arm.
[0023] Because the telescopic component can adjust the position of the positioning sensor, it retracts as the AGV moves, causing the positioning sensor to move closer to the AGV. This reduces the required road width for the AGV, allowing it to navigate even in tight shelving spaces. In other words, it reduces the distance between shelving units, enabling warehouses to accommodate more shelves and increase storage capacity. Furthermore, by moving the positioning sensor closer to the AGV, the telescopic component minimizes the AGV's footprint, reducing collisions and ensuring the safe operation of the positioning sensor. Attached Figure Description
[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0025] Figure 1 This is a front view schematic diagram of a secondary positioning mechanism according to an embodiment of this application;
[0026] Figure 2 This is a right-side view of a secondary positioning mechanism according to an embodiment of this application;
[0027] Figure 3 This is a top view schematic diagram of a secondary positioning mechanism according to an embodiment of this application;
[0028] Labels for each item in the figure:
[0029] 1. AGV trolley; 11. Insertion arm; 12. Lifting arm; 13. Processor; 14. Support plate; 2. Connecting plate; 21. First limit block; 22. Second limit block; 3. Telescopic component; 31. Push rod; 311. First limit groove; 32. Extension rod; 321. Second limit groove; 33. Drive motor; 34. Connecting rod; 35. Protective shell; 4. Positioning sensor. Detailed Implementation
[0030] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following examples are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0031] 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", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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.
[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0034] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0035] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0036] This application proposes improvements and innovations, and presents the following embodiments.
[0037] In some implementations, please refer to Figures 1 to 3 A secondary positioning mechanism for picking up and placing goods in a forward-moving AGV is provided, which is installed on the AGV trolley 1 and includes:
[0038] Connecting plate 2 is used to fix the connecting arm 11 of AGV trolley 1, and also to fix the connecting plate 2 to the lifting arm 12 of AGV trolley 1.
[0039] Telescopic component 3 is slidably connected to the top end face of the connecting plate 2. The telescopic component 3 can telescopically move relative to the connecting plate 2, and the telescopic component 3 extends in a predetermined direction to move away from or closer to the side of the AGV trolley 1.
[0040] Positioning sensor 4 is fixedly connected to the telescopic end of telescopic component 3. Positioning sensor 4 is used to electrically connect to processor 13 of AGV trolley 1.
[0041] The telescopic component 3 extends along the extension direction of the connecting plate 2, that is, it extends to both sides perpendicular to the AGV trolley 1.
[0042] By setting the positioning sensor 4 on the telescopic component 3, when the AGV trolley 1 needs to be positioned, the telescopic component 3 extends the positioning sensor 4 to the predetermined position, and the positioning sensor 4 starts to transmit the position of the shelf column to the processor 13 in real time. The processor 13 outputs the corresponding adjustment signal to the power mechanism of the AGV trolley 1, and the AGV trolley 1 adjusts the insertion angle of the insertion arm 11 by moving, so as to achieve the precise picking up or putting down of goods by the insertion arm 11.
[0043] Because the telescopic component 3 can adjust the position of the positioning sensor 4, it retracts when the AGV trolley 1 moves, causing the positioning sensor 4 to move closer to the AGV trolley 1. This reduces the required road width for the AGV trolley 1, allowing it to travel even in narrow shelving spaces. In other words, it reduces the distance between shelving units, enabling the warehouse to accommodate more shelving and increase storage capacity. Furthermore, by moving the positioning sensor 4 closer to the AGV trolley 1, the telescopic component 3 reduces the area occupied by the AGV trolley 1, thus minimizing collisions and ensuring the safe use of the positioning sensor 4.
[0044] In some embodiments, the telescopic component 3 includes: a push rod 31, an extension rod 32, and a drive motor 33; the push rod 31 and the extension rod 32 are connected together by a connecting rod 34; a positioning sensor 4 is fixedly connected to the extension rod 32; a rack is provided on the push rod 31, and the rack is driven by the output end of the drive motor 33; the drive motor 33 is fixedly connected to the AGV trolley 1. The telescopic component 3 has a simple, practical, and reliable structure, is easy to produce and maintain, and is directly driven by the drive motor 33, resulting in a sensitive telescopic response.
[0045] Specifically, the drive motor 33 is electrically connected to the processor 13 of the AGV 1. When the AGV 1 moves to the designated position, the processor 13 sends a corresponding signal to the drive motor 33, which then drives the push rod 31 to extend and retract, thereby realizing the extension and retraction of the positioning sensor 4. This achieves automatic extension and retraction of the positioning sensor 4, avoiding the need for manual switching of the drive motor 33's circuit. This improves the automation level of the AGV 1.
[0046] In some embodiments, the AGV trolley 1 is provided with a support plate 14, which is fixedly connected to the insert arm 11; the drive motor 33 is fixedly connected to the support plate 14. The support plate 14 provides a raised mounting platform for the drive motor 33, and since there are two insert arms 11, the connection between the two insert arms 11 and the support plate 14 can also improve the connection strength between the support plate 14 and the two insert arms 11.
[0047] In some embodiments, a protective housing 35 for protecting the positioning sensor 4 is fixedly connected to the extension rod 32. The protective housing 35 is located at the end of the extension rod 32 away from the connecting rod 34; the positioning sensor 4 is located inside the protective housing 35. The protective housing 35 effectively protects the positioning sensor 4 and reduces the possibility of damage to the positioning sensor 4 due to friction or impact.
[0048] In some embodiments, the push rod 31 has a first slot, and the connecting plate 2 has a first limiting block 21 that can be slidably inserted into the first slot. The first slot and the cooperating first limiting block 21 can limit the extension and retraction direction of the telescopic member 3.
[0049] In some embodiments, the extension rod 32 has a second slot, and a second limiting block 22 that can be slidably inserted into the second slot is fixedly connected to the connecting plate 2. The second slot and the cooperating second limiting block 22 restrict the extension direction of the telescopic member 3. Furthermore, the first limiting groove 311 and the second limiting groove 321 restrict the extension rod 32 from rotating around the first limiting block 21 or the second limiting block 22, ensuring that the extension rod 32 can only move along the extension direction of the second slot.
[0050] Specifically, the extension directions of the first and second slots coincide with the extension direction of the extension rod 32, that is, the extension rod 32 extends and retracts along its own extension direction.
[0051] In some embodiments, the number of second slots and second limiting blocks 22 are both two in a one-to-one correspondence; the two second slots are distributed on both sides of the extension rod 32. Providing two second slots and two limiting blocks 22 can improve the limiting capability of the extension rod 32.
[0052] In some embodiments, the number of push rods 31, extension rods 32, and positioning sensors 4 are all in pairs, and the two push rods 31, two extension rods 32, and two positioning sensors 4 are distributed on both sides of the drive motor 33. Using two push rods 31, two extension rods 32, and two positioning sensors 4 allows for better positioning of the columns on both sides of the AGV trolley 1. When the distance between the columns of two adjacent shelves changes, it can be adjusted by the drive motor 33, and the two positioning sensors 4 move synchronously, ensuring that the AGV trolley 1 is centered on the two positioning sensors 4. This improves the ability of the two positioning sensors 4 to adapt to column positioning with different spacing.
[0053] Specifically, two push rods 31 are engaged and distributed on both sides of the drive motor 33, and the extension rod 32, connecting rod 34, and positioning sensor 4 are symmetrically distributed on both sides of the drive motor 33.
[0054] In some embodiments, the positioning sensor 4 is a photoelectric sensor. Using a photoelectric sensor allows for efficient positioning of the column, and photoelectric sensors are inexpensive and widely available in the market.
[0055] In some embodiments, the bottom surface of the connecting plate 2 near both ends is inclined. Setting it as an inclined surface can reduce the weight of the connecting plate 2 while ensuring the structural quality of the connecting plate 2.
[0056] Specifically, the inclined telescopic component 3, that is, the closer it is to the end of the connecting plate 2, the smaller its cross-sectional size.
[0057] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.
Claims
1. A secondary positioning mechanism for picking up and placing goods in a forward-moving AGV, used for installation on an AGV trolley, characterized in that, include: A connecting plate, which is used to fix the connecting plate to the arm of the AGV, and the connecting plate is also used to fix the connecting plate to the lifting arm of the AGV. The telescopic component is slidably connected to the top end face of the connecting plate. The telescopic component can extend and retract relative to the connecting plate, and the telescopic component extends in a predetermined direction to move away from or towards the side of the AGV vehicle. A positioning sensor is fixedly connected to the telescopic end of the telescopic component, and the positioning sensor is used to electrically connect to the processor of the AGV.
2. The secondary positioning mechanism according to claim 1, characterized in that, The telescopic component includes: a push rod, an extension rod, and a drive motor; the push rod and the extension rod are connected together by a connecting rod; the positioning sensor is fixedly connected to the extension rod; the push rod is provided with a rack, and the rack is drivenly connected to the output end of the drive motor; the drive motor is fixedly connected to the AGV trolley.
3. The secondary positioning mechanism according to claim 2, characterized in that, The AGV is equipped with a support plate, which is fixedly connected to the insert arm; the drive motor is fixedly connected to the support plate.
4. The secondary positioning mechanism according to claim 2, characterized in that, A protective shell for protecting the positioning sensor is fixedly connected to the extension rod, and the protective shell is located at the end of the extension rod away from the connecting rod; the positioning sensor is located inside the protective shell.
5. The secondary positioning mechanism according to claim 4, characterized in that, The push rod has a first slot, and the connecting plate is fixedly connected to a first limiting block that can be slidably inserted into the first slot.
6. The secondary positioning mechanism according to claim 5, characterized in that, The extension rod has a second slot, and the connecting plate is fixedly connected to a second limiting block that can be slidably inserted into the second slot.
7. The secondary positioning mechanism according to claim 6, characterized in that, The number of the second slot and the number of the second limiting block are both two in a one-to-one correspondence; the two second slots are distributed on both sides of the extension rod.
8. The secondary positioning mechanism according to any one of claims 2-7, characterized in that, The number of each push rod, extension rod, and positioning sensor is one-to-one, and the two push rods, two extension rods, and two positioning sensors are distributed on both sides of the drive motor in a one-to-one correspondence.
9. The secondary positioning mechanism according to claim 8, characterized in that, The positioning sensor is a photoelectric sensor.
10. The secondary positioning mechanism according to claim 8, characterized in that, The bottom surface of the connecting plate near both ends is inclined.