A radar yaw angle adjusting mechanism for an AGV

Abstract

The utility model relates to AGV dolly technical field, concretely is a kind of radar drift angle adjusting mechanism for AGV dolly, including rotary support plate, rotary boss is provided on the rotary support plate, radar mounting plate with rotary hole is movably sleeved on the rotary boss;At least 1 waisted slot is opened in the radar mounting plate, locking screw hole that can be positionally matched with the waisted slot is opened in the rotary support plate, locking bolt is rotated and is connected with the waisted slot and the locking screw hole, realize the locking connection of the radar mounting plate relative to the rotary support plate;The radar mounting plate is provided with the radar installation site with the rotary hole as center, and the radar installation site is used for the fixation of radar.The mechanism can realize the accurate fine adjustment of radar drift angle, and adjustment is convenient and the structure is stable, radar height can also be flexibly adjusted, guarantee the accuracy of AGV radar environment perception, improve maintenance efficiency and equipment versatility.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to a radar yaw angle adjustment mechanism for AGVs. Background Technology

[0002] In AGV operations, radar yaw angle adjustment is crucial. It is necessary to ensure that the radar's main scanning direction is precisely aligned with the AGV's travel direction (with an error of less than 0.5°). Only in this way can the radar accurately perceive the environment, provide reliable data for AGV navigation, obstacle avoidance, and positioning, and avoid path planning errors or collision risks caused by angle deviations.

[0003] The current mainstream method for adjusting the yaw angle of AGV radar has significant drawbacks: first, the radar is fixed to the surface of the support base, then the bottom surface of the support base is fitted to the AGV chassis. After calibration, holes are drilled in the chassis, and the support base is fixed to the chassis with screws. Once this method is completed, it is difficult to fine-tune the radar yaw angle later. If the radar yaw angle deviates during use, the support base must be disassembled and recalibrated. This is not only cumbersome and time-consuming, but also easily damages the overall structural stability of the AGV, seriously affecting the long-term maintenance of the AGV radar accuracy, restricting the efficiency of later maintenance, and failing to meet the actual needs of efficient and stable operation of AGV vehicles.

[0004] Therefore, there is an urgent need for a radar yaw angle adjustment mechanism that can achieve convenient secondary fine-tuning. Utility Model Content

[0005] The purpose of this invention is to overcome the problems of the prior art and provide a radar yaw angle adjustment mechanism for AGV vehicles, which can realize convenient and precise fine-tuning of radar yaw angle, solve the problem that the existing radar yaw angle adjustment method is difficult to adjust again, ensure the accuracy of radar environmental perception, and improve the versatility and ease of maintenance of the mechanism.

[0006] The above objectives are achieved through the following technical solutions: A radar yaw angle adjustment mechanism for an AGV (Automated Guided Vehicle) includes a rotating support plate with a rotating boss. A radar mounting plate with a rotating hole is movably fitted onto the rotating boss. The radar mounting plate has at least one slotted groove, and the rotating support plate has a locking screw hole that mates with the slotted groove. A locking bolt is screwed into the locking screw hole via the slotted groove to achieve a locking connection between the radar mounting plate and the rotating support plate. The radar mounting plate has a radar mounting position centered on the rotating hole, which is used to fix the radar.

[0007] Preferably, there are two waist-shaped grooves, which are symmetrically arranged at both ends of the radar mounting plate with respect to the rotating hole axis.

[0008] Preferably, the radar mounting position is provided with a plurality of radar locking holes, and the radar locking screws are screwed into the radar mounting screw holes on the bottom surface of the radar through the radar locking holes to fix the radar to the radar mounting plate.

[0009] Preferably, the rotating support plate has at least one fan-shaped through slot along the circumferential direction with the rotating boss as the center. The fan-shaped through slot is used to accommodate the nut of the radar locking screw and provide it with room to move.

[0010] Preferably, there are three sector-shaped through slots.

[0011] Preferably, the height of the rotating boss is not greater than the height of the rotating hole.

[0012] Preferably, the rotating support plate is movably connected to the support base via a spring assembly; the spring assembly includes a spring and a spring bolt, the spring is vertically disposed between the rotating support plate and the support base, and the spring bolt passes through a first bolt hole in the rotating support plate, passes through the spring, and is screwed into a second bolt hole in the support base.

[0013] Preferably, the upper surface of the support base is L-shaped, and there are 3 springs.

[0014] Preferably, the bottom of the support base is fixedly connected to the chassis of the AGV trolley.

[0015] Preferably, the rotation angle of the radar mounting plate relative to the rotating support plate does not exceed 30°.

[0016] This utility model provides a radar yaw angle adjustment mechanism for AGV (Automated Guided Vehicle) trolleys, which allows for convenient fine-tuning of the radar yaw angle to ensure precise alignment between its main scanning direction and the AGV's traveling direction, guaranteeing accurate environmental perception, navigation, and obstacle avoidance. It eliminates the need to disassemble the support base, reducing maintenance time; it also allows for flexible adjustment of the radar height, offering strong adaptability, while maintaining structural stability, thus contributing to efficient and stable AGV operation. Specific beneficial effects are as follows: 1. Precisely adjustable yaw angle: Through the rotating structure of the radar mounting plate around the rotating boss, combined with the design of the waist-shaped groove and locking bolts, the yaw angle of the radar can be finely adjusted at any time by loosening the bolts, ensuring that the error between the radar main scanning direction and the AGV's traveling direction is less than 0.5°, ensuring the accuracy of environmental perception, navigation and obstacle avoidance, and avoiding path planning errors and collision risks.

[0017] 2. Convenient installation and maintenance: The modular rotation and locking design allows for yaw angle adjustment without disassembling the support base, significantly reducing the difficulty and time required for later maintenance; the avoidance design of the fan-shaped through slot and rotating boss ensures that there is no interference during radar installation and rotation, improving the ease of operation.

[0018] 3. Flexible height adjustment: The height adjustment function of the spring assembly can be adapted to the installation height requirements of different radar models, improving the versatility of the mechanism and reducing the adaptation cost of AGV equipment.

[0019] 4. Stable and reliable structure: The design of the rotating boss and rotating hole sleeve, multiple bolt locking, and spring elastic support ensures that the radar is stable in position after adjustment and does not shake during operation, thus ensuring the long-term stable operation of the AGV. Attached Figure Description

[0020] Figure 1 This is a first-view structural diagram of a radar yaw angle adjustment mechanism for an AGV vehicle according to the present invention. Figure 2 This is a schematic diagram of the second-view structure of a radar yaw angle adjustment mechanism for an AGV vehicle according to the present invention. Figure 3 This is an exploded view of a radar yaw angle adjustment mechanism for an AGV (Automated Guided Vehicle) according to the present invention. Figure 4 This is an assembly diagram of the radar, radar mounting plate, and rotating support plate in a radar yaw angle adjustment mechanism for AGV vehicles according to the present invention. Figure 5 This is a schematic diagram of the radar yaw angle adjustment mechanism for AGV vehicles described in this utility model applied to the yaw angle adjustment of AGV vehicles.

[0021] Illustration markings: 1-Rotating support plate, 101-Rotating boss, 102-Locking screw hole, 103-Fan-shaped through groove, 104-First bolt hole; 2-Radar mounting plate, 201-Rotating hole, 202-Oval groove, 203-Radar mounting position, 204-Radar locking hole; 3-Radar, 301-Radar mounting screw holes; 4- Locking bolts; 5-Radar locking screw; 6-Spring assembly, 601-Spring, 602-Spring bolt; 7-Support base, 701-Second bolt hole; 8-AGV trolley. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] like Figures 1-4 As shown, this solution provides a radar yaw angle adjustment mechanism for AGV vehicles, and its specific structure and connection relationship are as follows: like Figure 3 and Figure 4 As shown, the rotating support plate 1 serves as the intermediate support component of the mechanism. It has a rotating boss 101 for movably engaging with the rotating hole 201 of the radar mounting plate 2, providing a central axis for the rotation of the radar mounting plate 2. The rotating support plate 1 has a locking screw hole 102 for screwing with a locking bolt 4 to fix the radar mounting plate 2. It also has at least one fan-shaped through slot 103 (in this embodiment, there are three fan-shaped through slots 103), distributed circumferentially around the rotating boss 101, to accommodate the nuts of the radar locking screws 5 and provide them with rotational space. Furthermore, the rotating support plate 1 also has a first bolt hole 104 for the insertion of a spring bolt 602.

[0024] like Figure 3 and Figure 4 As shown, the radar mounting plate 2 is used to mount the radar 3. A rotating hole 201 is formed in its center, which is movably connected to the rotating boss 101 of the rotating support plate 1, allowing the radar mounting plate 2 to rotate around the rotating boss 101. The radar mounting plate 2 has at least one waist-shaped groove 202. In this embodiment, there are two waist-shaped grooves 202, symmetrically arranged at both ends about the axis of the rotating hole 201. The locking bolt 4 is screwed into the locking screw hole 102 of the rotating support plate 1 via the waist-shaped groove 202. When the locking bolt 4 is loosened, the radar mounting plate 2 can rotate along the length of the waist-shaped groove 202. The adjustment angle is limited by the length of the waist-shaped groove 202 (in practical applications, this meets the fine-tuning requirement of ≤30° for the AGV radar). The radar mounting plate 2 is provided with a radar mounting position 203 centered on the rotating hole 201. Several radar locking holes 204 are provided on the radar mounting position 203. The radar locking screw 5 is screwed into the radar mounting screw hole 301 on the bottom surface of the radar 3 through the radar locking hole 204 to achieve stable fixation of the radar 3.

[0025] like Figure 4 As shown, radar 3 is fixed to radar mounting position 203 of radar mounting plate 2 by radar locking screw 5, and its yaw angle is adjusted as radar mounting plate 2 rotates.

[0026] The locking bolt 4 is screwed into the locking screw hole 102 of the rotating support plate 1 via the waist-shaped groove 202 of the radar mounting plate 2, and is used to lock and fix the position of the radar mounting plate 2 to ensure the stability of the radar 3 after the yaw angle is adjusted.

[0027] The radar locking screw 5 passes through the radar locking hole 204 from below the radar mounting plate 2 and screws into the radar mounting screw hole 301 on the bottom of the radar 3, thus fixing the radar 3 to the radar mounting plate 2.

[0028] The spring assembly 6 includes a spring 601 and a spring bolt 602. The spring 601 is vertically disposed between the rotating support plate 1 and the support base 7. The spring bolt 602 passes through the first bolt hole 104 of the rotating support plate 1, passes through the spring 601, and is screwed into the second bolt hole 701 of the support base 7, thereby realizing an elastically adjustable connection between the rotating support plate 1 and the support base 7. In this embodiment, there are three springs 601, evenly distributed to provide stable support. Rotating the spring bolt 602 can adjust the height of the rotating support plate 1 relative to the support base 7, thereby realizing the height adjustment of the radar 3.

[0029] The bottom of the support base 7 is fixedly connected to the chassis of the AGV trolley 8, serving as the mounting base for the entire adjustment mechanism. The upper surface of the support base 7 is L-shaped and has a second bolt hole 701 for screwing with the spring bolt 602.

[0030] As one assembly method used by this organization, it is as follows: like Figure 3 and Figure 4 As shown, during assembly, the bottom of the support base 7 is first fixed to the chassis of the AGV trolley 8 as the installation base. Then, the spring 601 is fitted onto the spring bolt 602, and the spring bolt 602 is passed through the first bolt hole 104 of the rotating support plate 1, then through the spring 601, and screwed into the second bolt hole 701 of the support base 7, completing the elastic connection between the rotating support plate 1 and the support base 7. At this time, the height of the rotating support plate 1 can be adjusted by rotating the spring bolt 602 to adapt to the installation height requirements of the radar 3.

[0031] Next, fit the rotating hole 201 of the radar mounting plate 2 onto the rotating boss 101 of the rotating support plate 1, so that the radar mounting plate 2 can rotate around the rotating boss 101. Screw the locking bolt 4 through the waist-shaped groove 202 of the radar mounting plate 2 into the locking screw hole 102 of the rotating support plate 1 (do not tighten for now).

[0032] Then, place the radar 3 on the radar mounting position 203 of the radar mounting plate 2, aligning the radar mounting screw hole 301 on the bottom surface of the radar 3 with the radar locking hole 204 of the radar mounting plate 2. From below the radar mounting plate 2, pass the radar locking screw 5 through the radar locking hole 204 and screw it into the radar mounting screw hole 301. At this time, the nut of the radar locking screw 5 is located in the fan-shaped through groove 103 of the rotating support plate 1, avoiding contact with the surface of the rotating support plate 1.

[0033] It should be noted that the radar 3, radar mounting plate 2 and rotating support plate 1 can also be pre-installed to form a whole, and then the rotating support plate 1 and support base 7 can be connected.

[0034] When adjusting the yaw angle, loosen the locking bolt 4 to allow the radar mounting plate 2 to rotate clockwise or counterclockwise around the rotating boss 101 along the length of the waist-shaped groove 202, simultaneously rotating the radar 3 to adjust the yaw angle. After adjusting to the predetermined angle (error less than 0.5°), tighten the locking bolt 4 to fix the position of the radar mounting plate 2, completing the yaw angle adjustment.

[0035] like Figure 5 As shown, if the radar yaw angle needs to be finely adjusted again during AGV operation, simply repeat the steps of loosening, rotating, and tightening the locking bolts 4 above. There is no need to disassemble the support base or radar, making the operation convenient and efficient.

[0036] The above description is only for illustrating the embodiments of this utility model and is not intended to limit this utility model. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A radar yaw angle adjustment mechanism for an AGV cart, characterized by, The system includes a rotating support plate (1), on which a rotating boss (101) is provided. A radar mounting plate (2) with a rotating hole (201) is movably fitted on the rotating boss (101). The radar mounting plate (2) has at least one waist-shaped groove (202). The rotating support plate (1) has a locking screw hole (102) that can cooperate with the waist-shaped groove (202). A locking bolt (4) is screwed into the locking screw hole (102) through the waist-shaped groove (202) to achieve a locking connection between the radar mounting plate (2) and the rotating support plate (1). The radar mounting plate (2) has a radar mounting position (203) centered on the rotating hole (201). The radar mounting position (203) is used to fix the radar (3).

2. The radar yaw angle adjusting mechanism for an AGV according to claim 1, wherein There are two waist-shaped grooves (202), which are symmetrically arranged at both ends of the radar mounting plate (2) with respect to the rotating hole (201).

3. The radar yaw angle adjusting mechanism for AGV according to claim 1, characterized in that, The radar mounting position (203) is provided with a number of radar locking holes (204). The radar locking screw (5) is screwed into the radar mounting screw hole (301) on the bottom surface of the radar (3) through the radar locking hole (204) to fix the radar (3) to the radar mounting plate (2).

4. The radar yaw angle adjusting mechanism for an AGV according to claim 3, wherein The rotating support plate (1) has at least one fan-shaped through groove (103) arranged along the circumferential direction with the rotating boss (101) as the center. The fan-shaped through groove (103) is used to accommodate the nut of the radar locking screw (5) and provide it with room to move.

5. The radar yaw angle adjusting mechanism for an AGV according to claim 4, wherein There are 3 sector-shaped through slots (103).

6. The radar yaw angle adjusting mechanism for an AGV according to claim 1, wherein The height of the rotating boss (101) is not greater than the height of the rotating hole (201).

7. A radar yaw angle adjustment mechanism for an AGV (Automated Guided Vehicle) according to claim 1, characterized in that, The rotating support plate (1) is movably connected to the support base (7) via a spring assembly (6); the spring assembly (6) includes a spring (601) and a spring bolt (602). The spring (601) is vertically disposed between the rotating support plate (1) and the support base (7). The spring bolt (602) passes through a first bolt hole (104) on the rotating support plate (1), passes through the spring (601), and is screwed into a second bolt hole (701) on the support base (7).

8. The radar yaw angle adjusting mechanism for an AGV according to claim 7, wherein The upper surface of the support base (7) is L-shaped, and there are 3 springs (601).

9. The radar yaw angle adjusting mechanism for an AGV according to claim 7, wherein The bottom of the support base (7) is fixedly connected to the chassis of the AGV trolley (8).

10. The radar yaw angle adjusting mechanism for an AGV according to claim 1, wherein The rotation angle of the radar mounting plate (2) relative to the rotating support plate (1) does not exceed 30°.

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