An AGV carries a material frame positioning deviation mechanical limiting accurate positioning device

Abstract

This utility model relates to the field of AGV (Automated Guided Vehicle) carrying rack positioning technology, and more particularly to a mechanical limiting and precise positioning device for AGV carrying rack positioning deviation. It includes a horizontal positioning mechanism on a base plate for adjusting the horizontal position of the carrying rack, and a feeding positioning mechanism on two rear left and right base plates for limiting the feeding position of the carrying rack, as well as a vertical positioning mechanism for limiting the vertical direction of the rack's support legs. This utility model uses the feeding positioning mechanism to limit the feeding position of the carrying rack, and in conjunction with the vertical positioning mechanism, places the rack vertically on the base plate, thereby limiting the position of the carrying rack from a vertical angle. The horizontal position is pre-adjusted by the horizontal positioning mechanism to keep the lowered carrying rack horizontal, thus positioning the carrying rack along the X, Y, and Z axes, correcting the positioning deviation of the AGV carrying rack, and meeting the high-precision positioning requirements for loading and unloading by the gantry robot.

Description

Technical Field

[0001] This utility model relates to the field of AGV carrying rack positioning technology, and in particular to a mechanical limit precision positioning device for AGV carrying rack positioning deviation. Background Technology

[0002] With the continuous development of industrial automation technology, the application of AGVs in the traditional construction machinery industry is showing a growing trend. Unlike other industries, AGV racks in the construction machinery industry usually need to carry large structural components. These racks are not only huge in size but also heavy in weight. In some cases, AGVs need to carry the racks and interact with gantry robots, which requires high positional accuracy of the workpieces, which means that the racks have high positioning accuracy requirements.

[0003] However, during operation, the AGV carrying the material rack may be affected by various factors, such as ground flatness, QR code affixing accuracy, load changes on the rack, and travel speed, causing deviations in its positioning from the gantry robot and potentially leading to collisions between the gantry robot and the workpiece or rack. While adding vision devices and multi-axis linkage to the gantry robot to improve gripping accuracy, or using laser rangefinders for secondary calibration of the rack's position, can solve the problem to some extent, it significantly increases costs and raises the risk of inter-system interactions. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a mechanical limiting and precise positioning device for AGV carrying rack positioning deviation. It solves the technical problems of high positioning cost, cumbersome operation steps, and increased risk of interaction between systems in existing technologies for AGV carrying racks. It achieves the goal of low-cost and convenient precise positioning of AGV carrying racks, saving enterprise costs.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a mechanical limiting and precise positioning device for the positioning deviation of an AGV carrying rack, comprising rack legs installed at the four corners of the bottom of the carrying rack, a ground plate corresponding to the rack legs installed on the ground, a horizontal positioning mechanism for adjusting the horizontal position of the carrying rack provided on the ground plate, and a feeding positioning mechanism for limiting and positioning the feeding position of the carrying rack and a vertical positioning mechanism for limiting the vertical direction of the rack legs provided on the two rear left and right ground plates.

[0006] A further improvement is that the horizontal positioning mechanism includes a foot pad installed at the bottom of the base plate, and mechanical bolts are threaded into through holes on the left and right sides of the base plate and the foot pad, and leveling screws are threaded into threaded holes at the four corners of the upper surface of the base plate.

[0007] A further improvement is that the base plate and the foot pad are fixed to the ground by mechanical bolts, and the bottom of the mechanical bolts is a frustum structure.

[0008] A further improvement is that the feeding positioning mechanism includes a base mounted on the base plate by leveling screws, and a guide limiting plate and an abutment plate are welded to the side and back of the base respectively, and a limiting bolt is threaded into the threaded hole of the abutment plate.

[0009] A further improvement is that the front end of the guide limiting plate has an outward opening structure, and multiple reinforcing ribs for support and reinforcement are welded to the side of the guide limiting plate and the back of the abutment plate.

[0010] A further improvement is that the vertical positioning mechanism includes a tapered positioning pin threaded into a threaded hole at the center of the top of the base plate, and a positioning hole adapted to the tapered positioning pin is provided at the center of the bottom of the support leg of the material rack.

[0011] By employing the above technical solution, this utility model provides a mechanical limiting and precise positioning device for the positioning deviation of the AGV carrying rack, which has at least the following beneficial effects:

[0012] 1. This utility model uses a feeding positioning mechanism to limit the feeding position of the backpack material rack. In conjunction with a vertical positioning mechanism, the material rack is placed vertically on the ground plate, thereby limiting the position of the backpack material rack from a vertical angle. The horizontal position is pre-adjusted by a horizontal positioning mechanism to keep the backpack material rack placed on the ground plate in a horizontal state. Thus, the backpack material rack is positioned in three directions: X, Y, and Z, correcting the positioning deviation of the AGV backpack material rack and enabling it to meet the high-precision positioning requirements of the gantry robot for loading and unloading.

[0013] 2. This utility model uses bolts to connect the various structures, which makes the structure simple and stable, easy to disassemble, install and maintain manually. It can achieve a positioning accuracy of ±1mm under the premise of limited space and without relying on high-cost vision / laser equipment. It also reduces the risk of interaction between systems, improves production efficiency, extends the service life of the truss, and reduces the manufacturing cost of positioning tooling. Attached Figure Description

[0014] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0015] In the attached diagram:

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A in the middle;

[0018] Figure 3 This utility model Figure 1 Schematic diagram of the split structure at point A in the middle;

[0019] Figure 4 This is a top-view schematic diagram of the substrate and its structure according to the present invention;

[0020] Figure 5 This is a schematic diagram of the independent side view of the feeding and positioning mechanism of this utility model.

[0021] In the diagram: 1. Back support frame; 2. Frame support legs; 3. Base plate;

[0022] 4. Horizontal positioning mechanism; 41. Anchor plate; 42. Mechanical bolt; 43. Leveling screw;

[0023] 5. Feeding and positioning mechanism; 51. Base; 52. Guide and limiting plate; 53. Abutment plate; 54. Limiting bolt; 55. Reinforcing rib;

[0024] 6. Vertical positioning mechanism; 61. Conical positioning pin; 62. Positioning hole. 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] Example 1

[0027] Given the high cost and cumbersome operation of existing AGV carrying rack positioning technologies, which also increase the risk of inter-system interaction, this embodiment provides a mechanical limiting and precise positioning device for AGV carrying rack positioning deviation. Please refer to... Figures 1-5The embodiment provides a mechanical limiting and precise positioning device for the positioning deviation of the AGV carrying rack, which can accurately position the AGV carrying rack at low cost and conveniently, saving enterprise costs. This mechanical limiting and precise positioning device for AGV carrying rack positioning deviation includes rack legs 2 installed at the four corners of the bottom of the carrying rack 1, a ground plate 3 corresponding to the rack legs 2 installed on the ground, and a horizontal positioning mechanism 4 for adjusting the horizontal position of the carrying rack 1 on the ground plate 3. Additionally, two rear left and right ground plates 3 are equipped with a feeding positioning mechanism 5 for limiting the feeding position of the carrying rack 1, and a vertical positioning mechanism 6 for limiting the vertical direction of the rack legs 2. When the AGV robot carries the carrying rack 1 to a designated position, the feeding positioning mechanism 5 limits the feeding position of the carrying rack 1, and the vertical positioning mechanism 6, in conjunction with the vertical positioning mechanism 6, places the rack vertically on the ground plate 3, thereby limiting the position of the carrying rack 1 from a vertical angle. Furthermore, the horizontal position is pre-adjusted by the horizontal positioning mechanism 4, ensuring that the carrying rack 1 placed on the ground plate 3 remains horizontal, thus positioning the carrying rack 1 in the X, Y, and Z axes, thereby better cooperating with the gantry robot to grasp materials.

[0028] If the four base plates 3 are not at the same height, the placed back rack 1 will be uneven and tilted. Therefore, the device is equipped with a horizontal positioning mechanism 4. The horizontal positioning mechanism 4 includes a foot pad 41 installed at the bottom of the base plate 3. The base plate 3 and the foot pad 41 are threaded through through holes on the left and right sides and are connected with mechanical bolts 42. The threaded holes on the four corners of the surface of the base plate 3 are threaded with leveling screws 43.

[0029] The base plate 3 and the foot pad 41 are fixed to the ground by mechanical bolts 42. The bottom of the mechanical bolts 42 is a frustum structure. After the foot pad 41 and the base plate 3 are fixed in the designated position by the mechanical bolts 42, the leveling screws 43 are then turned to adjust the horizontal position of the foot pad 41 and the base plate 3. This ensures that the falling material rack 1 can maintain a horizontal state and achieves the positioning of the rack in the Z-axis direction, preventing the material rack 1 from tilting and causing the material to tip over.

[0030] Example 2

[0031] Because the AGV robot may experience positional deviation when carrying the material carrier 1 for feeding, thus affecting the positioning of the material carrier 1, therefore, based on Embodiment 1, as follows... Figures 1-5 As shown, the device is also provided with a feeding positioning mechanism 5. The feeding positioning mechanism 5 includes a base 51 that is mounted on the base plate 3 by a leveling screw 43. A guide limiting plate 52 and an abutment plate 53 are welded to the side and back of the base 51, respectively. A limiting bolt 54 is threaded into the threaded hole on the abutment plate 53.

[0032] The front end of the guide limiting plate 52 has an outward opening structure, and multiple reinforcing ribs 55 are welded to the side of the guide limiting plate 52 and the back of the abutment plate 53 to provide support and reinforcement. When the AGV robot carries the back rack 1 for feeding, the rack support leg 2 at the bottom of the back rack 1 enters the base plate 3 along the outer opening of the guide limiting plate 52, thereby guiding the back rack 1 into the designated position from the Z-axis direction until the rack support leg 2 collides with the limiting bolt 54 on the abutment plate 53, which means that the rack support leg 2 has completely entered the designated position and the back rack 1 is positioned from the Y-axis direction.

[0033] Example 3

[0034] To further ensure that the material rack support leg 2 can perfectly fall into the designated position, therefore, based on embodiment two, as follows: Figures 1-5 As shown, the device is also equipped with a vertical positioning mechanism 6. The vertical positioning mechanism 6 includes a tapered positioning pin 61 that is threaded into a threaded hole at the center of the top of the base plate 3. The bottom center of the material rack support leg 2 is provided with a positioning hole 62 that matches the tapered positioning pin 61. When the material rack support leg 2 hits the limiting bolt 54 on the abutment plate 53, the positioning hole 62 at the bottom of the falling material rack support leg 2 falls into the tapered positioning pin 61 installed on the top of the base plate 3, thereby ensuring the accurate positioning of the Y-axis vertical direction of the carrying material rack 1.

[0035] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An AGV carrying rack positioning deviation mechanical limiting precision positioning device, comprising rack legs (2) installed at the bottom of four corners of a carrying rack (1), characterized in that: A ground plate (3) corresponding to the material rack support leg (2) is installed on the ground, and a horizontal positioning mechanism (4) for adjusting the horizontal position of the back material rack (1) is provided on the ground plate (3), and a feeding positioning mechanism (5) for limiting the feeding position of the back material rack (1) and a vertical positioning mechanism (6) for limiting the vertical direction of the material rack support leg (2) are provided on the two ground plates (3) on the rear left and right sides.

2. The mechanical limit precision positioning device for positioning deviation of the AGV backpack rack according to claim 1, characterized in that: The horizontal positioning mechanism (4) includes a foot pad (41) installed at the bottom of the base plate (3), and mechanical bolts (42) are threaded through the through holes on the left and right sides of the base plate (3) and the foot pad (41), and leveling screws (43) are threaded through the threaded holes at the four corners of the surface of the base plate (3).

3. The mechanical limit precision positioning device for positioning deviation of the AGV backpack rack according to claim 2, characterized in that: The ground base plate (3) and the foot pad (41) are fixed to the ground by mechanical bolts (42), and the bottom of the mechanical bolts (42) is a frustum structure.

4. The mechanical limit precision positioning device for positioning deviation of the AGV backpack rack according to claim 1, characterized in that: The feeding positioning mechanism (5) includes a base (51) mounted on the base plate (3) by leveling screws (43), and a guide limiting plate (52) and an abutment plate (53) are welded to the side and back of the base (51) respectively, and a limiting bolt (54) is threaded into the threaded hole on the abutment plate (53).

5. The mechanical limiting and precise positioning device for the positioning deviation of the AGV carrying rack according to claim 4, characterized in that: The front end of the guide limiting plate (52) has an outward opening structure, and multiple reinforcing ribs (55) are welded to the side of the guide limiting plate (52) and the back of the abutment plate (53) to provide support and reinforcement.

6. The mechanical limit precision positioning device for positioning deviation of the AGV backpack rack according to claim 1, characterized in that: The vertical positioning mechanism (6) includes a tapered positioning pin (61) threaded into a threaded hole at the center of the top of the base plate (3), and a positioning hole (62) adapted to the tapered positioning pin (61) is provided at the center of the bottom of the support leg (2).

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