An automated guided vehicle

Abstract

This utility model provides an automated guided vehicle (AGV), including a gantry, a lifting mechanism, a bin loading / unloading device, and a controller. The lifting mechanism's drive mechanism drives the bin loading / unloading device to move up and down via a transmission mechanism. A zero-position calibration photoelectric component is installed at the bottom of the gantry, and a stroke calibration photoelectric component is installed at the top of the gantry. There is a preset height difference between the zero-position calibration photoelectric component and the stroke calibration photoelectric component. A lifting baffle connected to the bin loading / unloading device triggers either the zero-position calibration photoelectric component or the stroke calibration photoelectric component during the bin loading / unloading device's up and down sliding motion on the gantry. The controller can obtain updated lead parameters and control the bin loading / unloading device's vertical movement distance according to the updated lead parameters, thereby reducing the accumulation of errors and improving the AGV's loading / unloading accuracy.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to an automated guided vehicle. Background Technology

[0002] In industrial production, Automated Guided Vehicles (AGVs) are commonly used to transport containers. AGVs are driven by a lifting mechanism that moves the container loading and unloading device up and down to pick up and place containers at different heights.

[0003] In related technologies, the lifting mechanism includes a drive mechanism and a transmission mechanism; the drive mechanism drives the material box loading and unloading device to move up and down through the transmission mechanism. The transmission mechanism can employ methods such as chain drive, synchronous pulley belt drive, or wire rope drive.

[0004] The lifting or lowering distance of the hopper loading / unloading device during the loading / unloading process is calculated using preset lead parameters and the number of rotations of the sprocket or synchronous pulley driven by the drive mechanism. Transmission mechanisms generally have manufacturing precision errors, and after a period of use, the chain, synchronous belt, or wire rope may loosen. Therefore, errors accumulate, potentially causing deviations in the actual transmission distance. The longer the transmission distance, the more amplified the accumulated error deviation becomes, leading to inaccurate transmission positioning and affecting the AGV's loading / unloading accuracy. In severe cases, this may result in loading / unloading failure and accidents. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide an automated guided vehicle (AGV) to improve the accuracy of AGV cargo handling. The specific technical solution is as follows:

[0006] An automated guided vehicle includes: a gantry, a lifting mechanism, a hopper loading and unloading device, and a controller;

[0007] The lifting mechanism can drive the material box picking and placing device to slide up and down in the gantry to pick up and place material boxes at different heights; the lifting mechanism includes: a drive mechanism and a transmission mechanism disposed on the gantry; the drive mechanism drives the material box picking and placing device to move up and down through the transmission mechanism;

[0008] A zero-position calibration photoelectric component is provided at the bottom of the gantry; a travel calibration photoelectric component is provided at the top of the gantry; there is a preset height difference between the zero-position calibration photoelectric component and the travel calibration photoelectric component;

[0009] The material bin loading and unloading device has a lifting baffle connected to the side facing the gantry, which is used to trigger the zero-position calibration photoelectric component or the stroke calibration photoelectric component during the sliding of the material bin loading and unloading device on the gantry.

[0010] The controller is electrically connected to the drive mechanism, the bin loading and unloading device, the zero-position calibration photoelectric component, and the stroke calibration photoelectric component; the controller can obtain the updated lead parameters and control the moving distance of the bin loading and unloading device in the height direction according to the updated lead parameters.

[0011] In some embodiments, the zero-position calibration photoelectric component includes: a zero-position calibration sensor and a zero-position calibration sensor mounting component;

[0012] The zero-position calibration sensor is mounted on the first outer surface of the bottom of the gantry via the zero-position calibration sensor mounting component;

[0013] The travel calibration optoelectronic component includes: a travel calibration sensor and a travel calibration sensor mounting component;

[0014] The travel calibration sensor is mounted on the first outer surface of the upper part of the gantry via the travel calibration sensor mounting component;

[0015] The lifting baffle connected to the bin loading and unloading device is located on the side of the bin loading and unloading device facing the zero-position calibration sensor and the stroke calibration sensor. It can trigger the zero-position calibration sensor or the stroke calibration sensor during the sliding of the bin loading and unloading device on the gantry.

[0016] In some embodiments, both the zero-position calibration sensor and the stroke calibration sensor are groove photoelectric sensors;

[0017] The zero-position calibration sensor mounting component and the stroke calibration sensor mounting component have the same structure, both including: a sensor mounting base plate; the sensor mounting base plate is fitted and installed against the first outer side of the gantry;

[0018] A groove photoelectric sensor is installed on the sensor mounting base plate, with the groove facing the lifting baffle connected to the material box loading and unloading device, so that the lifting baffle is triggered when it reaches the groove.

[0019] In some embodiments, the zero-position calibration sensor mounting component and the stroke calibration sensor mounting component further include: two guide plates located above and below the groove photoelectric sensor;

[0020] Each guide plate has a calibration plate guide groove at the position corresponding to the groove of the photoelectric sensor.

[0021] In some embodiments, the zero-position calibration sensor mounting component and the stroke calibration sensor mounting component further include: a connecting reinforcing plate;

[0022] The reinforced connection extends from the side of the sensor mounting base away from the lifting baffle to the second outer side of the adjacent gantry, and is fixedly connected to the second outer side.

[0023] In some embodiments, the material bin loading and unloading device is fixedly connected to the transmission mechanism via two connecting forks located on both sides of it;

[0024] The lifting baffle is mounted on the connecting fork on the same side as the zero-position calibration sensor and the stroke calibration sensor.

[0025] In some embodiments, the lifting baffle is mounted on the side of the connecting fork body on the same side as the first outer side of the gantry via an L-shaped baffle mounting member; the lifting baffle is an L-shaped baffle, wherein the first side plate of the L-shaped baffle is used to cooperate with the zero-position calibration sensor and the stroke calibration sensor to trigger the zero-position calibration sensor and the stroke calibration sensor.

[0026] In some embodiments, the first side connecting plate of the L-shaped baffle mounting member is fixedly connected to the side of the fork on the connecting fork body, and the second side connecting plate is fixedly connected to the second side plate of the L-shaped baffle; both the first side connecting plate of the L-shaped baffle mounting member and the second side plate of the L-shaped baffle are provided with horizontal elongated mounting holes to adjust the position of the lifting baffle in the horizontal direction and the position in the width direction on the connecting fork body.

[0027] The second side connecting plate is also provided with a plurality of vertically arranged circular mounting holes to adjust the position of the lifting baffle in the height direction on the connecting fork body.

[0028] In some embodiments, the gantry includes a first post and a second post;

[0029] The zero-position calibration sensor and the stroke calibration sensor are disposed on the first outer surface of the first gatepost;

[0030] The first and second gateposts are each equipped with a sliding rail;

[0031] The two connecting forks are slidably connected to the two gateposts via slide rails, so as to rise and fall along the gateposts under the drive mechanism and transmission mechanism.

[0032] In some embodiments, the transmission mechanism includes: a drive wheel assembly, a driven wheel assembly, and a chain assembly;

[0033] The drive wheel assembly includes two drive sprockets, which are rotatably mounted on the top of the first and second gateposts respectively. The two drive sprockets are connected by a synchronizing rod. The output shaft of the drive motor of the drive mechanism is connected to one of the drive sprockets to drive the drive sprocket to rotate.

[0034] The driven wheel assembly includes two driven sprockets, which are rotatably disposed at the bottom of the first and second gateposts respectively; the chain assembly includes two chains, one chain being sleeved between one of the driving sprockets and one of the driven sprockets, and the chain being fixedly connected to the connecting fork body to drive the connecting fork body to move up and down along the first and second gateposts.

[0035] This utility model provides an automated guided vehicle (AGV) with a zero-position calibration photoelectric component at the bottom of the gantry and a stroke calibration photoelectric component at the top. A preset height difference exists between the zero-position calibration photoelectric component and the stroke calibration photoelectric component. A lifting baffle is connected to the side of the hopper loading / unloading device facing the gantry. A drive mechanism drives the hopper loading / unloading device up and down via a transmission mechanism. During the hopper loading / unloading device's sliding motion up and down on the gantry, the lifting baffle triggers either the zero-position calibration photoelectric component or the stroke calibration photoelectric component. The controller can obtain updated lead parameters and control the vertical movement distance of the hopper loading / unloading device according to these updated parameters. This embodiment of the AGV adds the function of obtaining updated lead parameters and can control the vertical movement distance of the hopper loading / unloading device according to these updated parameters, thus reducing the accumulation of errors and improving the AGV's loading / unloading accuracy.

[0036] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0038] Figure 1a This is a schematic diagram of the overall structure of the automated guided vehicle provided in the embodiments of this application;

[0039] Figure 1b for Figure 1a An exploded view of the automated guided vehicle shown.

[0040] Figure 1c for Figure 1a Enlarged view of point A on the automated guided vehicle shown;

[0041] Figure 1d for Figure 1a Enlarged view of point B on the automated guided vehicle shown;

[0042] Figure 2 for Figure 1a The diagram shows the connection of the connecting fork plate and the lifting baffle of the automated guided vehicle.

[0043] Figure 3a for Figure 1a A schematic diagram of the zero-position calibration photoelectric component of the automated guided vehicle shown.

[0044] Figure 3b for Figure 3a Another angle schematic diagram of the zero-position calibration optoelectronic component shown;

[0045] Figure 3c for Figure 3a An exploded view of the zero-position calibration optoelectronic component shown.

[0046] Figure 4a for Figure 1a A schematic diagram of the connection structure of the lifting baffle of the automated guided vehicle shown.

[0047] Figure 4b for Figure 4a Another angle schematic diagram of the connection structure of the lifting baffle shown;

[0048] Figure 4c for Figure 4a Exploded view of the connection structure of the lifting baffle shown;

[0049] Figure 4d for Figure 4c Another exploded view of the connection structure of the lifting baffle shown.

[0050] Explanation of reference numerals in the attached figures:

[0051] Automated Guided Transport Vehicle 1; Gantry 100; First Outer Side 110; Second Outer Side 120; First Gate Post 130; Second Gate Post 140; Slide Rail 150;

[0052] Lifting mechanism 200; drive mechanism 210; drive motor 211; transmission mechanism 220; drive wheel assembly 221; drive sprocket 2211; driven wheel assembly 222; driven sprocket 2221; chain assembly 223; chain 2231; synchronizing rod 224;

[0053] Material bin loading and unloading device 300; zero-position calibration photoelectric component 400; zero-position calibration sensor 410; first groove 411; first groove photoelectric sensor 412; zero-position calibration sensor mounting component 420; first sensor mounting base plate 421; first guide plate 422; first calibration plate guide groove 423; first connecting reinforcing plate 424; zero-position photoelectric mounting screw 430; zero-position sensor mounting plate 440; zero-position mounting plate screw 450;

[0054] Stroke calibration photoelectric component 500; stroke calibration sensor 510; second groove 511; second groove photoelectric sensor 512; stroke calibration sensor mounting part 520; second sensor mounting base plate 521; second guide plate 522; second calibration plate guide groove 523; second connecting reinforcing plate 524; stroke photoelectric mounting screw 530; stroke sensor mounting plate 540; stroke mounting plate screw 550;

[0055] Lifting baffle 600; First side plate 610; Second side plate 620; Baffle mounting screw 630; Connecting fork 700; Fork side 710;

[0056] L-shaped baffle mounting part 800; first side connecting plate 810; second side connecting plate 820; circular mounting hole 830; baffle mounting part screw 840; horizontal elongated mounting hole 900; movable chassis 10. Detailed Implementation

[0057] 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 based on this application are within the protection scope of the present utility model.

[0058] To address the issue in related technologies where, after a period of use, the transmission mechanism of an AGV (Automated Guided Vehicle) becomes loose, leading to accumulated errors and low accuracy in picking up and placing goods, this application provides an automated guided vehicle, which will be described in detail below.

[0059] See Figures 1a to 1d , Figure 1a This is a schematic diagram of the overall structure of the automated guided vehicle provided in the embodiments of this application; Figure 1b for Figure 1a An exploded view of the automated guided vehicle shown. Figure 1c for Figure 1a Enlarged view of point A on the automated guided vehicle shown; Figure 1d for Figure 1a An enlarged view of point B on the automated guided vehicle shown.

[0060] like Figures 1a to 1d As shown in the figure, the automated guided vehicle 1 provided in this application embodiment includes: a gantry 100, a lifting mechanism 200, a hopper loading and unloading device 300, and a controller (not shown in the figure).

[0061] The lifting mechanism 200 can drive the material box picking and placing device 300 to slide up and down in the gantry 100 to pick up and place material boxes at different height positions; the lifting mechanism 200 includes: a drive mechanism 210 and a transmission mechanism 220 disposed on the gantry 100; the drive mechanism 210 drives the material box picking and placing device 300 to move up and down through the transmission mechanism 220.

[0062] A zero-position calibration photoelectric component 400 is provided at the bottom of the gantry 100; a travel calibration photoelectric component 500 is provided at the top of the gantry 100; there is a preset height difference between the zero-position calibration photoelectric component 400 and the travel calibration photoelectric component 500;

[0063] The material bin loading and unloading device 300, facing the side of the gantry, is connected to a lifting baffle 600, which is used to trigger the zero-position calibration photoelectric component 400 or the stroke calibration photoelectric component 500 during the process of the material bin loading and unloading device 300 sliding up and down on the gantry 100.

[0064] The controller is electrically connected to the drive mechanism 210, the bin loading and unloading device 300, the zero-position calibration photoelectric component 400, and the stroke calibration photoelectric component 500; the controller can obtain the updated lead parameters and control the moving distance of the bin loading and unloading device 300 in the height direction according to the updated lead parameters.

[0065] The automated guided vehicle 1 provided in this application embodiment has a zero-position calibration photoelectric component 400 at the bottom of the gantry 100 and a stroke calibration photoelectric component 500 at the top of the gantry 100; there is a preset height difference between the zero-position calibration photoelectric component 400 and the stroke calibration photoelectric component 500; a lifting baffle 600 is connected to the side of the hopper loading and unloading device 300 facing the gantry 100; the drive mechanism 210 drives the hopper loading and unloading device 300 to move up and down through the transmission mechanism 220; the lifting baffle 600 will trigger the zero-position calibration photoelectric component 400 or the stroke calibration photoelectric component 500 during the hopper loading and unloading device 300 sliding up and down on the gantry 100; the controller can obtain the updated lead parameters and control the moving distance of the hopper loading and unloading device 300 in the height direction according to the updated lead parameters. The automated guided vehicle provided in this application embodiment has the function of obtaining updated guide parameters, and can control the moving distance of the hopper picking and placing device in the height direction according to the updated guide parameters. Therefore, it can reduce the accumulation of errors and thus improve the picking and placing accuracy of the AGV.

[0066] Lead parameter refers to the distance a transmission mechanism travels in one revolution of its drive wheel. It is typically the product of the number of teeth on the drive wheel and its pitch. The total transmission distance of a transmission mechanism is generally the number of revolutions of the drive wheel multiplied by the lead parameter.

[0067] In this embodiment, the method by which the controller of the automated guided vehicle obtains the updated guide parameters is not limited.

[0068] For example, the controller of an automated guided vehicle (AGV) can upload the actual number of rotations of the transmission wheel of the transmission mechanism 220 to the host computer when the material handling device 300 reaches the position of the travel calibration photoelectric component 500. The host computer then updates the guide parameters based on the actual number of rotations of the transmission wheel of the transmission mechanism 220, the pre-calibrated guide parameters, and the preset height difference, and sends the updated guide parameters back to the controller. Alternatively, the guide parameters can be manually updated based on the actual number of rotations of the transmission wheel of the transmission mechanism 220, the pre-calibrated guide parameters, and the preset height difference, and the updated guide parameters can be configured in the controller. Alternatively, the controller itself can update the guide parameters based on the actual number of rotations of the transmission wheel of the transmission mechanism 220, the pre-calibrated guide parameters, and the preset height difference.

[0069] like Figure 1a and Figure 1b As shown, the gantry 100 is mounted on the mobile chassis 10 of the automated guided vehicle 1. The hopper loading and unloading device 300 is fixedly connected to the transmission mechanism 220 via two connecting forks 700 located on both sides of it. The controller can be mounted inside the mobile chassis 10 and electrically connected to the drive mechanism 210, the hopper loading and unloading device 300, the zero-position calibration photoelectric component 400, and the stroke calibration photoelectric component 500.

[0070] Specifically, the controller can be electrically connected to the zero-position calibration photoelectric component 400 and the stroke calibration photoelectric component 500 via a wiring harness.

[0071] In practical applications, the preset height difference between the zero-position calibration photoelectric component 400 and the stroke calibration photoelectric component 500 on the gantry 100 is generally between 800mm and 2500mm. Since the controller is usually located inside the mobile chassis 10, a preset height difference higher than 2500mm may result in wasted wiring harness; a preset height difference lower than 800mm means that the actual number of rotations of the transmission wheel is not significantly different from the theoretical number of rotations obtained using the original lead parameters, which may lead to insufficient accuracy of the updated lead parameters.

[0072] See Figure 1c , Figure 1d and Figure 2 , Figure 2 for Figure 1a The diagram shown illustrates the connection between the connecting fork plate and the lifting baffle of the automated guided vehicle; as shown below. Figure 1c , Figure 1d and Figure 2 As shown, the zero-position calibration photoelectric component 400 includes: a zero-position calibration sensor 410 and a zero-position calibration sensor mounting component 420;

[0073] The zero-position calibration sensor 410 is mounted on the first outer side 110 at the bottom of the gantry 100 via the zero-position calibration sensor mounting bracket 420;

[0074] The travel calibration optoelectronic component 500 includes: a travel calibration sensor 510 and a travel calibration sensor mounting component 520;

[0075] The travel calibration sensor 510 is mounted on the first outer side 110 of the upper part of the gantry 100 via the travel calibration sensor mounting part 520;

[0076] The lifting baffle 600 connected to the bin loading and unloading device 300 is located on the side of the bin loading and unloading device 300 facing the zero position calibration sensor 410 and the stroke calibration sensor 510. It can trigger the zero position calibration sensor 410 or the stroke calibration sensor 510 during the process of the bin loading and unloading device 300 sliding up and down on the gantry 100.

[0077] In this embodiment, the material bin loading and unloading device 300 moves up and down under the action of the lifting mechanism 200, which drives the lifting baffle 600 connected to it to move up and down, triggering the zero-position calibration sensor 410 and the stroke calibration sensor 510.

[0078] Specifically, the zero-position calibration sensor 410 can be fixedly connected to the zero-position calibration sensor mounting part 420 by the zero-position photoelectric mounting screw 430, and the stroke calibration sensor 510 can be fixedly connected to the stroke calibration sensor mounting part 520 by the stroke photoelectric mounting screw 530.

[0079] like Figure 1a As shown, the lifting baffle 600 is mounted on the connecting fork 700 on the same side as the zero-position calibration sensor 410 and the stroke calibration sensor 510.

[0080] In this embodiment, the lifting baffle 600 is installed on the connecting fork 700. The lifting mechanism 200 drives the connecting fork 700 to lift, thereby driving the lifting baffle 600 on the connecting fork 700 to lift, so that the lifting baffle 600 triggers the zero-position calibration sensor 410 and the stroke calibration sensor 510.

[0081] like Figure 1a and Figure 1b As shown, the gantry 100 includes a first post 130 and a second post 140;

[0082] The zero-position calibration sensor 410 and the stroke calibration sensor 510 are disposed on the first outer side 110 of the first door post 130;

[0083] Slide rails 150 are respectively provided on the first gatepost 130 and the second gatepost 140;

[0084] Two connecting forks 700 are slidably connected to two gateposts via slide rails 150, so as to rise and fall along the gateposts under the drive of the drive mechanism 210 and the transmission mechanism 220.

[0085] In this embodiment, driven by the drive mechanism 210 and the transmission mechanism 220, the two connecting forks 700 rise and fall along the slide rail 150 of the door post, which can cause the lifting baffle 600 fixed on the connecting fork 700 to rise and fall along the slide rail 150 of the door post, thereby causing the lifting baffle 600 to trigger the zero position calibration sensor 410 and the stroke calibration sensor 510.

[0086] Specifically, the first gatepost 130 and the second gatepost 140 are spaced apart, and the tops of the first gatepost 130 and the second gatepost 140 are fixedly connected by a crossbeam.

[0087] like Figure 1b As shown, the transmission mechanism 220 includes: a drive wheel assembly 221, a driven wheel assembly 222, and a chain assembly 223;

[0088] The drive wheel assembly 221 includes two drive sprockets 2211, which are rotatably mounted on the top of the first gatepost 130 and the second gatepost 140 respectively. The two drive sprockets 2211 are connected by a synchronizing rod 224. The output shaft of the drive motor 211 of the drive mechanism 210 is connected to one of the drive sprockets 2211 to drive the drive sprocket 2211 to rotate.

[0089] The driven wheel assembly 222 includes two driven sprockets 2221, which are rotatably disposed at the bottom of the first gatepost 130 and the second gatepost 140, respectively; the chain assembly 223 includes two chains 2231, one chain 2231 is sleeved between a driving sprocket 2211 and a driven sprocket 2221, and the chain 2231 is fixedly connected to the connecting fork 700 to drive the connecting fork 700 to move up and down along the first gatepost 130 and the second gatepost 140.

[0090] In this embodiment, the chain 2231 can rotate around the drive sprocket 2211 and the driven sprocket 2221 under the action of the drive motor 211, the drive sprocket 2211 and the driven sprocket 2221. Since the chain 2231 is fixedly connected to the connecting fork 700, the rotation of the chain 2231 can drive the connecting fork 700 to be lifted, thereby driving the lifting baffle 600 on the connecting fork 700 to be lifted, triggering the zero-position calibration photoelectric component 400 or the stroke calibration photoelectric component 500.

[0091] The two drive sprockets 2211 are connected by a synchronizing rod 224, which enables the two drive sprockets 2211 to rotate simultaneously by a single drive motor, ensuring the consistency of the rotation of the two drive sprockets.

[0092] Specifically, the drive motor 211 of the drive mechanism 210 can be fixedly connected to the top of the second door post 140 by screws.

[0093] like Figure 1c and Figure 2 As shown, the lifting baffle 600 is mounted on the side 710 of the connecting fork 700, which is on the same side as the first outer side 110 of the mast 100, via an L-shaped baffle mount 800. The lifting baffle 600 is an L-shaped baffle, wherein the first side plate 610 of the L-shaped baffle is used to cooperate with the zero-position calibration sensor 410 and the stroke calibration sensor 510 to trigger the zero-position calibration sensor 410 and the stroke calibration sensor 510.

[0094] In this embodiment, the lifting baffle 600 is mounted on the side 710 of the fork body via the L-shaped baffle mount 800, which can make the first side plate 610 of the lifting baffle 600 face the zero position calibration sensor 410 and the stroke calibration sensor 510, thereby triggering the zero position calibration sensor 410 and the stroke calibration sensor 510.

[0095] Specifically, the lifting baffle 600 can be fixed to the L-shaped baffle mounting piece 800 by the baffle mounting screw 630.

[0096] See Figures 3a to 3c , Figure 3a for Figure 1a A schematic diagram of the zero-position calibration photoelectric component of the automated guided vehicle shown. Figure 3b for Figure 3a Another angle schematic diagram of the zero-position calibration optoelectronic component shown; Figure 3c for Figure 3a The exploded view of the zero-position calibration optoelectronic component is shown.

[0097] The number of grooves, groove photoelectric sensors, and sensor mounting base plates are all two; among them, such as Figures 3a to 3c As shown, the zero-position calibration sensor 410 is a first groove photoelectric sensor 412, and the zero-position calibration sensor mounting component 420 includes: a first sensor mounting base plate 421, which is fitted and mounted to the first outer side 110 of the gantry 100.

[0098] The first groove photoelectric sensor 412 is mounted on the first sensor mounting base plate 421. The first groove 411 faces the lifting baffle 600 connected to the material box picking and placing device 300, so that the lifting baffle 600 is triggered when it reaches the first groove 411.

[0099] The structure of the travel calibration photoelectric component 500 can be exactly the same as the structure of the zero-position calibration photoelectric component 400, such as... Figures 3a to 3c As shown, the travel calibration sensor 510 is the second groove photoelectric sensor 512;

[0100] The travel calibration sensor mounting component 520 includes: a second sensor mounting base plate 521; the second sensor mounting base plate 521 is fitted and mounted to the first outer side 110 of the gantry 100.

[0101] The second groove photoelectric sensor 512 is installed on the second sensor mounting base plate 521. The second groove 511 faces the lifting baffle 600 connected to the material box picking and placing device 300, so that the lifting baffle 600 is triggered when it reaches the second groove 511.

[0102] In this embodiment, both the zero-position calibration sensor 410 and the stroke calibration sensor 510 are recessed photoelectric sensors. The zero-position calibration sensor mounting bracket 420 and the stroke calibration sensor mounting bracket 520 have the same structure, both including: a sensor mounting base plate; the sensor mounting base plate is fitted to the first outer side 110 of the gantry 100; and a recessed photoelectric sensor is mounted on the sensor mounting base plate, with the recess facing the lifting baffle 600 connected to the hopper loading / unloading device 300, so that the lifting baffle 600 is triggered when it reaches the recess. Both the zero-position calibration sensor 410 and the stroke calibration sensor 510 are recessed photoelectric sensors, allowing the lifting baffle 600 to pass through the recess and trigger both the zero-position calibration sensor 410 and the stroke calibration sensor 510 at the recess.

[0103] Specifically, the zero-position calibration sensor 410 can be fixedly connected to the first sensor mounting base plate 421 by the zero-position photoelectric mounting screw 430, and the stroke calibration sensor 510 can be fixedly connected to the second sensor mounting base plate 521 by the stroke photoelectric mounting screw 530.

[0104] Both the guide plate and the calibration plate have two guide grooves, such as... Figures 3a to 3c As shown, the zero-position calibration sensor mounting component 420 also includes two first guide plates 422 located above and below the first groove photoelectric sensor 412; each first guide plate 422 is provided with a first calibration plate guide groove 423 at a position corresponding to the first groove 411 of the first groove photoelectric sensor 412.

[0105] Similarly, the travel calibration sensor mounting component 520 also includes two second guide plates 522 located above and below the second groove photoelectric sensor 512; each second guide plate 522 is provided with a second calibration plate guide groove 523 at a position corresponding to the second groove 511 of the second groove photoelectric sensor 512.

[0106] In this embodiment, both the zero-position calibration sensor mounting component 420 and the stroke calibration sensor mounting component 520 further include: two guide plates located above and below the recessed photoelectric sensor; each guide plate has a calibration plate guide groove at a position corresponding to the recess of the recessed photoelectric sensor. With two guide plates positioned above and below the recessed photoelectric sensor, and each guide plate having a calibration plate guide groove at a position corresponding to the recess of the recessed photoelectric sensor, the lifting baffle 600 can pass through the calibration plate guide groove to guide the lifting baffle 600.

[0107] Two guide plates are positioned above and below the groove photoelectric sensor, partially enclosing it and protecting it from damage if the zero-position calibration photoelectric component 400 and the stroke calibration photoelectric component 500 fall from a height.

[0108] like Figure 1c , Figure 1d and Figure 3c As shown, there are two connecting reinforcing plates. The zero-position calibration sensor mounting component 420 also includes a first connecting reinforcing plate 424. The first connecting reinforcing plate 424 extends from the side of the first sensor mounting base plate 421 away from the lifting baffle 600 to the second outer side 120 of the adjacent gantry 100 and is fixedly connected to the second outer side 120.

[0109] The travel calibration sensor mounting component 520 also includes: a second connecting reinforcement plate 524; the second connecting reinforcement plate 524 extends from the side of the second sensor mounting base plate 521 away from the lifting baffle 600 to the second outer side 120 of the adjacent gantry 100, and is fixedly connected to the second outer side 120.

[0110] In this embodiment, both the zero-position calibration sensor mounting component 420 and the stroke calibration sensor mounting component 520 further include a connecting reinforcing plate. The connecting reinforcing plate extends from the side of the sensor mounting base plate away from the lifting baffle 600 to the second outer side 120 of the adjacent gantry 100 and is fixedly connected to the second outer side 120 so that the zero-position calibration sensor 410 and the stroke calibration sensor 510 are fixedly connected to the gantry 100.

[0111] Specifically, the first connecting reinforcement plate 424 can be fixedly connected to the second outer side 120 of the gantry 100 by the zero-position mounting plate screw 450, and the second connecting reinforcement plate 524 can be fixedly connected to the second outer side 120 of the gantry 100 by the stroke mounting plate screw 550. The two guide plates, the sensor mounting base plate and the connecting reinforcement plate can be an integrated structure.

[0112] See Figure 2 and Figures 4a to 4d , Figure 4a for Figure 1aA schematic diagram of the connection structure of the lifting baffle of the automated guided vehicle shown. Figure 4b for Figure 4a Another angle schematic diagram of the connection structure of the lifting baffle shown; Figure 4c for Figure 4a Exploded view of the connection structure of the lifting baffle shown; Figure 4d for Figure 4c Another exploded view of the connection structure of the lifting baffle shown.

[0113] like Figure 2 and Figures 4a to 4d As shown, the first side connecting plate 810 of the L-shaped baffle mounting 800 is fixedly connected to the fork side 710 on the connecting fork 700, and the second side connecting plate 820 is fixedly connected to the second side plate 620 of the L-shaped baffle.

[0114] Both the first side connecting plate 810 of the L-shaped baffle mount 800 and the second side plate 620 of the L-shaped baffle are provided with horizontal elongated mounting holes 900 to adjust the position of the lifting baffle 600 in the horizontal direction and the position in the width direction on the connecting fork body 700.

[0115] The second side connecting plate 820 is also provided with a plurality of vertically arranged circular mounting holes 830 to adjust the position of the lifting baffle 600 in the height direction on the connecting fork body 700.

[0116] In this embodiment, the first side connecting plate 810 of the L-shaped baffle mount 800 is provided with a horizontal elongated mounting hole 900. The L-shaped baffle mount 800 can be moved horizontally along the length direction of the horizontal elongated mounting hole 900 to drive the lifting baffle 600 to move horizontally, thereby adjusting the position of the lifting baffle 600 in the horizontal direction on the connecting fork 700.

[0117] The second side plate 620 of the L-shaped baffle is provided with a horizontal elongated mounting hole 900, which allows the lifting baffle 600 to be moved horizontally along the length of the horizontal elongated mounting hole 900 to adjust the position of the lifting baffle 600 in the width direction on the connecting fork body 700.

[0118] The second side connecting plate 820 is provided with a plurality of vertically arranged circular mounting holes 830, through which the L-shaped baffle mounting piece 800 and the lifting baffle 600 can be connected to adjust the position of the lifting baffle 600 in the height direction on the connecting fork body 700.

[0119] Therefore, in this embodiment, by adjusting the position of the lifting baffle 600 in the horizontal direction, the position of the lifting baffle 600 in the width direction, and the position of the lifting baffle 600 in the height direction on the connecting fork 700, the distance between the lifting baffle 600 and the zero-position calibration sensor 410 and the stroke calibration sensor 510 in the horizontal, width, and height directions can be adjusted.

[0120] Since the connecting fork 700 and the gantry 100 move relative to each other, their relative positional accuracy is often not high. Therefore, horizontal elongated mounting holes 900 are provided on the first side connecting plate 810 of the L-shaped baffle mount 800 and the second side plate 620 of the L-shaped baffle to realize the adjustment of the lifting baffle 600 relative to the gantry 100 in the front-back and left-right directions, and to prevent the lifting baffle 600 from failing to cooperate properly with the zero-position calibration sensor 410 and the zero-position calibration sensor mount 420.

[0121] Specifically, the first side connecting plate 810 of the L-shaped baffle mount 800 and the fork side 710 on the connecting fork 700 can be fixedly connected by baffle mount screws 840, and the second side connecting plate 820 and the second side plate 620 of the L-shaped baffle can be fixedly connected by baffle mount screws 630.

[0122] This application provides an automated guided vehicle, the assembly relationship of which is as follows: Figure 1a , Figure 3a and Figure 4a As shown, firstly, the zero-position photoelectric mounting screw 430 is used to mount the zero-position calibration sensor 410 onto the zero-position calibration sensor mounting part 420 to obtain the zero-position calibration photoelectric assembly 400; then, the stroke photoelectric mounting screw 530 is used to mount the stroke calibration sensor 510 onto the stroke calibration sensor mounting part 520 to obtain the stroke calibration photoelectric assembly 500; then, the baffle mounting screw 630 is used to install the lifting baffle 600 and the L-shaped baffle mounting part 800 together; after the zero-position calibration photoelectric assembly 400, the stroke calibration photoelectric assembly 500, the lifting baffle 600 and the L-shaped baffle mounting part 800 are assembled, they are respectively installed on the mast 100 and the connecting fork 700 to complete the assembly.

[0123] Specifically, a zero-position calibration sensor 410 is fixedly provided with a zero-position sensor mounting plate 440, and the zero-position calibration sensor 410 is connected to the zero-position calibration sensor mounting component 420 through the zero-position sensor mounting plate 440; a stroke calibration sensor 510 is fixedly provided with a stroke sensor mounting plate 540, and the stroke calibration sensor 510 is connected to the stroke calibration sensor mounting component 520 through the stroke sensor mounting plate 540.

[0124] like Figure 3aAs shown, the zero-position calibration photoelectric component 400 is mounted on the gantry 100 by the zero-position mounting plate screw 450, and the stroke calibration photoelectric component 500 is mounted on the gantry 100 by the stroke mounting plate screw 550.

[0125] like Figure 4a As shown, the L-shaped baffle mount 800 is mounted on the connecting fork body 700 by baffle mount screws 840 to mount the lifting baffle 600 on the connecting fork body 700.

[0126] In this embodiment of the application, as mentioned above, the method by which the controller of the automated guided vehicle obtains the updated guide parameters is not limited.

[0127] The principle of updating the lead parameter is as follows: When the connecting fork 700 drives the lifting baffle 600 from the zero-position calibration photoelectric component 400 to the stroke calibration photoelectric component 500, the actual movement distance S1 can be compared with the distance S2 between the zero-position calibration photoelectric component 400 and the stroke calibration photoelectric component 500 to calibrate the gantry lead and obtain the new lead parameter L. New .

[0128] The specific formula for updating the lead parameters is as follows:

[0129]

[0130] Among them, L New For the updated guide parameters, S1 is the actual lifting distance of the lifting mechanism 200, S2 is the preset height difference between the zero-position calibration photoelectric component 400 and the stroke calibration photoelectric component 500, and L Old These are the pre-calibrated lead parameters.

[0131] The actual travel distance S1 can be calculated by multiplying the actual number of rotations of the transmission wheel of the transmission mechanism 220 by the pre-calibrated lead parameter L. Old The conclusion is as follows.

[0132] In practical applications, the lead parameters can be updated according to the above formula based on the actual number of rotations of the transmission wheel of the transmission mechanism 220, the pre-calibrated lead parameters, and the preset height difference.

[0133] The automatic guided transport vehicle described in this utility model patent has the function of obtaining updated guide parameters and can control the movement distance of the material box picking and placing device in the height direction according to the updated guide parameters. This solves the problem of inaccurate transmission position caused by the transmission method and the accumulation of manufacturing errors, and can also avoid the problem of the positioning error gradually increasing after long-term use of the transmission.

[0134] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. An automated guided vehicle, characterized in that, include: Gantry (100), lifting mechanism (200), hopper loading and unloading device (300) and controller; The lifting mechanism (200) can drive the bin picking and placing device (300) to slide up and down in the gantry (100) to pick up and place bins at different heights; the lifting mechanism (200) includes: a drive mechanism (210) and a transmission mechanism (220) disposed on the gantry (100); the drive mechanism (210) drives the bin picking and placing device (300) to move up and down through the transmission mechanism (220); A zero-position calibration photoelectric component (400) is provided at the bottom of the gantry (100); a travel calibration photoelectric component (500) is provided at the top of the gantry (100); there is a preset height difference between the zero-position calibration photoelectric component (400) and the travel calibration photoelectric component (500); The material bin loading and unloading device (300) is connected to a lifting baffle (600) on the side facing the gantry (100), which is used to trigger the zero-position calibration photoelectric component (400) or the stroke calibration photoelectric component (500) during the process of the material bin loading and unloading device (300) sliding up and down on the gantry (100). The controller is electrically connected to the drive mechanism (210), the bin loading and unloading device (300), the zero-position calibration photoelectric component (400), and the stroke calibration photoelectric component (500); the controller can obtain the updated lead parameters and control the moving distance of the bin loading and unloading device (300) in the height direction according to the updated lead parameters.

2. The automated guided vehicle according to claim 1, characterized in that, The zero-position calibration photoelectric component (400) includes: a zero-position calibration sensor (410) and a zero-position calibration sensor mounting component (420). The zero-position calibration sensor (410) is mounted on the first outer side (110) at the bottom of the gantry (100) via the zero-position calibration sensor mounting component (420); The travel calibration photoelectric component (500) includes: a travel calibration sensor (510) and a travel calibration sensor mounting component (520); The travel calibration sensor (510) is mounted on the first outer side (110) of the upper part of the gantry (100) via the travel calibration sensor mounting part (520); The lifting baffle (600) connected to the bin loading and unloading device (300) is located on the side of the bin loading and unloading device (300) facing the zero-position calibration sensor (410) and the stroke calibration sensor (510). It can trigger the zero-position calibration sensor (410) or the stroke calibration sensor (510) during the process of the bin loading and unloading device (300) sliding up and down the gantry (100).

3. The automated guided vehicle according to claim 2, characterized in that, Both the zero-position calibration sensor (410) and the stroke calibration sensor (510) are groove photoelectric sensors; The zero-position calibration sensor mounting component (420) and the stroke calibration sensor mounting component (520) have the same structure, both including: a sensor mounting base plate; the sensor mounting base plate is fitted and installed against the first outer side (110) of the gantry (100); A groove photoelectric sensor is installed on the sensor mounting base plate, with the groove facing the lifting baffle (600) connected to the material box picking and placing device (300), so that the lifting baffle (600) is triggered when it reaches the groove.

4. The automated guided vehicle according to claim 3, characterized in that, The zero-position calibration sensor mounting component (420) and the stroke calibration sensor mounting component (520) further include: two guide plates located above and below the groove photoelectric sensor; Each guide plate has a calibration plate guide groove at the position corresponding to the groove of the photoelectric sensor.

5. The automated guided vehicle according to claim 3, characterized in that, The zero-position calibration sensor mounting component (420) and the stroke calibration sensor mounting component (520) further include: a connecting reinforcing plate; The connecting reinforcement plate extends from the side of the sensor mounting base away from the lifting baffle (600) to the second outer side (120) of the adjacent gantry (100) and is fixedly connected to the second outer side (120).

6. The automated guided vehicle according to claim 2, characterized in that, The material bin loading and unloading device (300) is fixedly connected to the transmission mechanism (220) via two connecting forks (700) located on both sides of it; The lifting baffle (600) is mounted on the connecting fork (700) on the same side as the zero-position calibration sensor (410) and the stroke calibration sensor (510).

7. The automated guided vehicle according to claim 6, characterized in that, The lifting baffle (600) is mounted on the side (710) of the connecting fork (700) on the same side as the first outer side (110) of the mast (100) via an L-shaped baffle mount (800); the lifting baffle (600) is an L-shaped baffle, wherein the first side plate (610) of the L-shaped baffle is used to cooperate with the zero-position calibration sensor (410) and the stroke calibration sensor (510) to trigger the zero-position calibration sensor (410) and the stroke calibration sensor (510).

8. The automated guided vehicle according to claim 7, characterized in that, The first side connecting plate (810) of the L-shaped baffle mount (800) is fixedly connected to the side of the fork (710) on the connecting fork (700), and the second side connecting plate (820) is fixedly connected to the second side plate (620) of the L-shaped baffle. Both the first side connecting plate (810) of the L-shaped baffle mount (800) and the second side plate (620) of the L-shaped baffle are provided with horizontal elongated mounting holes (900) to adjust the position of the lifting baffle (600) in the horizontal direction and the position in the width direction on the connecting fork (700). The second side connecting plate (820) is also provided with a plurality of vertically arranged circular mounting holes (830) to adjust the position of the lifting baffle (600) in the height direction on the connecting fork (700).

9. The automated guided vehicle according to claim 6, characterized in that, The gantry (100) includes a first gantry (130) and a second gantry (140). The zero-position calibration sensor (410) and the stroke calibration sensor (510) are disposed on the first outer side (110) of the first door post (130); The first gatepost (130) and the second gatepost (140) are respectively provided with slide rails (150); Two connecting forks (700) are slidably connected to two gateposts via slide rails (150) to move up and down along the gateposts under the drive of the drive mechanism (210) and transmission mechanism (220).

10. The automated guided vehicle according to claim 9, characterized in that, The transmission mechanism (220) includes: a drive wheel assembly (221), a driven wheel assembly (222), and a chain assembly (223). The drive wheel assembly (221) includes two drive sprockets (2211), which are rotatably mounted on the top of the first gatepost (130) and the second gatepost (140), respectively. The two drive sprockets (2211) are connected by a synchronizing rod (224). The output shaft of the drive motor (211) of the drive mechanism (210) is connected to one of the drive sprockets (2211) to drive the drive sprocket (2211) to rotate. The driven wheel assembly (222) includes two driven sprockets (2221), which are rotatably disposed at the bottom of the first gatepost (130) and the second gatepost (140); the chain assembly (223) includes two chains (2231), one chain (2231) is sleeved between one of the driving sprockets (2211) and one of the driven sprockets (2221), and the chain (2231) is fixedly connected to the connecting fork (700) to drive the connecting fork (700) to rise and fall along the first gatepost (130) and the second gatepost (140).

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