CN108163478A - A kind of AGV and its alignment method with automatic contraposition device - Google Patents
A kind of AGV and its alignment method with automatic contraposition device Download PDFInfo
- Publication number
- CN108163478A CN108163478A CN201711409169.2A CN201711409169A CN108163478A CN 108163478 A CN108163478 A CN 108163478A CN 201711409169 A CN201711409169 A CN 201711409169A CN 108163478 A CN108163478 A CN 108163478A
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- agv
- label
- code reader
- aligning plate
- ontologies
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000009471 action Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Control Of Conveyors (AREA)
Abstract
The present invention relates to a kind of AGV and its alignment method with automatic contraposition device.A kind of AGV with automatic contraposition device including AGV ontologies, is set to the automatic contraposition device of AGV ontologies upper end, and automatic contraposition device includes being set to the code reader of AGV ontologies and is fixed on the aligning plate of object to be aligned；Aligning plate is equipped with the label being used for for code reader identification；Code reader is electrically connected with the control unit being equipped with, and AGV identifies the label of aligning plate by code reader, to control the relative position of AGV ontologies and equipment to be aligned.The present invention on AGV ontologies by setting automatic contraposition device, it is more accurate that AGV ontologies are aligned with equipment to be aligned, it can be by the stop position of equipment to be aligned in ± more than 100mm, AGV also can be aligned mutually with the location hole in aligning plate automatically, then lifting body, which rises, is inserted into positioning pin in location hole, so that AGV ontologies move together with truck, required precision during artificial placement truck is reduced, improves working efficiency.
Description
Technical field
The present invention relates to AGV equipment, more specifically refer to a kind of AGV with automatic contraposition device and its contraposition side
Method.
Background technology
In mobile robot AGV fields, when existing AGV bands truck is walked together, the positional precision that truck is placed is needed to reach
Just can guarantee that AGV can together be moved with skip car to more than 20mm requires the artificial precision for placing truck higher in this way, work
Efficiency substantially reduces.So for solving the problems, such as this, need to design it is a can AGV can be suitable in the deviation of ± 100mm
The device that profit is moved with skip car, this will consider a new AGV automatic contraposition devices.
Invention content
The defects of it is an object of the invention to overcome the prior art, provide a kind of AGV with automatic contraposition device and its
Alignment method.
To achieve the above object, the present invention uses following technical scheme：
A kind of AGV with automatic contraposition device including AGV ontologies, is set to the automatic aligning dress of AGV ontologies upper end
It puts；The automatic contraposition device includes being set to the code reader of AGV ontologies and is fixed on the aligning plate of object to be aligned；It is described right
Position plate is equipped with the label being used for for code reader identification；The code reader is electrically connected with the control unit being equipped with, and the AGV passes through
Code reader identifies the label of aligning plate, to control the relative position of AGV ontologies and equipment to be aligned.
Its further technical solution is：The code reader is set to the top center of AGV ontologies.
Its further technical solution is：The aligning plate is equipped with several labels, and is set to the label at aligning plate center
Centered on label；The center label periphery is surrounded with several labels, and forms cross arrangement.
Its further technical solution is：The automatic contraposition device further includes the lifting body being set at the top of AGV；It is described
Lifting body includes jacking force piece, is set to the link assembly of jacking force piece power output end；The link assembly top
Equipped with positioning pin；The aligning plate is equipped with the location hole to match with positioning pin.
Its further technical solution is：The link assembly includes being fixed on the fixed link of AGV ontologies, motion bar, one end
The first support bar and one end that the hinged and other end and motion bar are slidably connected with fixed link are slidably connected and another with fixed link
End and the hinged second support bar of motion bar；The first support bar and second support bar arranged crosswise, and it is mutual in infall
It is hinged；The first support bar or second support bar and jacking force piece power end driving coupling.
Its further technical solution is：The link assembly top is equipped with connecting plate；The positioning pin is distributed in connecting plate
Upper surface；The connecting plate is provided through the through-hole of code reader.
Its further technical solution is：The lifting body is further included to be arrived with what control centre or jacking force piece were electrically connected
Bit switch；The upper limit and lower limit of the lifting body stroke are equipped with location switch.
Its further technical solution is：The label is Quick Response Code, bar code.
A kind of automatic aligning method, AGV read the label of aligning plate close to equipment to be aligned, code reader；Code reader is read
Label information, and its information is sent to control centre；Control centre is to the information that code reader transmits and the letter of center label
Breath is judged, and then calculates distance and the angular deviation of AGV and aligning plate center；The instruction of deviation is sent to by control unit
The driving force piece of AGV, with adjust AGV motion paths and to center label it is close；AGV is instructed according to deviation towards center label
Movement, code reader are again identified the label in aligning plate, and identification information is sent to control centre's measuring and calculating distance
Deviation and angular deviation, then deviation instruction is sent to the force piece of AGV by control centre, so that AGV is transported towards center label
It is dynamic；Above-mentioned steps are repeated one or many, until code reader overlaps with the center label of aligning plate, AGV is with treating pair at this time
Position equipment contraposition is completed.
Its further technical solution is：After AGV completes contraposition with aligning plate, it is located at the lifting body action of AGV upper ends；Even
Under the action of bar assembly is by jacking force piece, positioning pin towards aligning plate is moved, so that positioning pin injects location hole, is realized
AGV is connected in together with equipment to be positioned.
Compared with the prior art, the invention has the advantages that：The present invention on AGV ontologies by setting automatic aligning to fill
It puts, it is more accurate that AGV ontologies are aligned with equipment to be aligned, can be by the stop position of equipment to be aligned in ± more than 100mm, AGV
Also it can mutually be aligned with the location hole in aligning plate automatically, then lifting body, which rises, is inserted into positioning pin in location hole, so that
AGV ontologies move together with truck (equipment to be aligned), reduce required precision during artificial placement truck, improve work effect
Rate.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Description of the drawings
Fig. 1 is a kind of three-dimensional structure diagram of the AGV with automatic contraposition device of the present invention；
Fig. 2 is a kind of internal structure chart of the AGV with automatic contraposition device of the present invention；
Fig. 3 is a kind of aligning plate structure chart of the AGV with automatic contraposition device of the present invention；
Fig. 4 is a kind of internal structure chart of the AGV with automatic contraposition device of the present invention.
Specific embodiment
In order to more fully understand the present invention technology contents, with reference to specific embodiment to technical scheme of the present invention into
One step introduction and explanation, but not limited to this.
It is the drawing of the embodiment of the present invention as shown in Figure 1 to Figure 4.
A kind of AGV with automatic contraposition device including AGV ontologies 10, is set to the automatic aligning of 10 upper end of AGV ontologies
Device 20.Automatic contraposition device 20 includes being set to the code reader 21 of AGV ontologies 10 and is fixed on the aligning plate of object to be aligned
22.Aligning plate 22 is equipped with the label 221 for being used for identifying for code reader 21.Code reader 21 is electrically connected with the control unit being equipped with, and
The AGV identifies the label 221 of aligning plate 22 by code reader 21, to control the opposite position of AGV ontologies 10 and equipment to be aligned
It puts.
Wherein, in order to make contraposition more convenient and accurate, code reader 21 is set to the top center of AGV ontologies 10.
Aligning plate 22 is equipped with several labels 221, and is set to label centered on the label 221 at 22 center of aligning plate
2210.Label 2210 periphery in center is surrounded with several labels 221, and forms cross arrangement, i.e. center label 2210 is set
In 22 centre position of aligning plate, remaining label 221 is arranged in the periphery of label 221, and along 22 length and width of aligning plate
Direction be arranged to cross-shaped configuration, to facilitate the relative position that aligning plate 22 and AGV are adjusted from both direction.Code reader 21
Label 221 can be scanned, then control centre calculates AGV current locations and center label according to the label 221 scanned
Then 2210 distance adjusts AGV motion paths, is re-directed towards center label 2210 and moves；The path adjusted according to control centre
Mobile, code reader 21 is scanned calculating again, then the position of AGV is modified, until being moved to center label 2210.
Automatic contraposition device 20 further includes the lifting body 23 being set at the top of AGV.Lifting body 23 includes jacking power
Part 231 is set to the link assembly 232 of jacking 231 power output end of force piece.232 top of link assembly is equipped with positioning pin
2321.Aligning plate 22 is equipped with the location hole 222 to match with positioning pin 2321.Positioning pin 2321 can be in the effect of lifting body 23
It is lower to be moved towards aligning plate 22, and matched with location hole 222, so that AGV is linked together with equipment to be aligned.
Preferably, location hole 222 is provided with copper sheathing.
Link assembly 232 includes being fixed on the fixed link 2322 of AGV ontologies 10, motion bar 2323, one end and fixed link
The first support bar 2324 and one end that the 2322 hinged and other ends are slidably connected with motion bar 2323 are slided with fixed link 2322 to be joined
It connects and the other end and the hinged second support bar 2325 of motion bar 2323.First support bar 2324 is intersected with second support bar 2325
Arrangement, and be hinged in infall.First support bar 2324 or second support bar 2325 are passed with 231 power end of jacking force piece
Dynamic connection.
Specifically, 232 top of link assembly is equipped with connecting plate 2326.Positioning pin 2321 is distributed in 2326 upper table of connecting plate
Face.Connecting plate 2326 is provided through the through-hole of code reader 21.Connecting plate 2326 can set multiple positioning pins 2321, and connecting plate
2326 drive positioning pins 2321 rise overally, so that AGV steadily couples with equipment to be aligned.Positioning pin 2321 passes through driving mechanism
It can realize elevating movement, whether in place location switch can detect positioning pin lifting.
Preferably, lifting body 23 further includes the location switch being electrically connected with control centre or jacking force piece 231
233.The upper limit and lower limit of 23 stroke of lifting body are equipped with location switch 233, so as to be risen in lifting body 23
When limiting or lower limit, location switch 233 is touched, so that jacking force piece 231 powers off.
Wherein, label 221 for Quick Response Code, bar code, and non-central label 2210 record with center label 2210 away from
Walk-off angle degree deviation.
Equipment to be aligned mentioned above is the truck moved together with AGV.
A kind of automatic aligning method, AGV read the label 221 of aligning plate 22 close to equipment to be aligned, code reader 21；Barcode scanning
221 information of label that device 21 is read, and its information is sent to control centre；The information that control centre transmits code reader 21 with
The information of center label 2210 is judged, and then calculates distance and the angular deviation of AGV and 22 center of aligning plate；Control unit
The instruction of deviation is sent to the driving force piece of AGV, with adjust AGV motion paths and to center label 2210 it is close；AGV is pressed
It instructing towards center label 2210 and moves according to deviation, code reader 21 is again identified the label 221 in aligning plate 22, and
Identification information is sent to control centre's measuring and calculating range deviation and angular deviation, then deviation instruction is sent to by control centre
The force piece of AGV, so that AGV is moved towards center label 2210；Above-mentioned steps be repeated it is one or many, until code reader
21 overlap with the center label 2210 of aligning plate 22, and AGV is completed with equipment to be aligned contraposition at this time.
After AGV completes contraposition with aligning plate 22, the lifting body 23 for being located at AGV upper ends acts；Link assembly 232 passes through top
Under the action of rising force piece 231, positioning pin 2321 is moved towards aligning plate 22, so that positioning pin 2321 injects location hole 222, it is real
Existing AGV is connected in together with equipment to be positioned.
In conclusion the present invention on AGV ontologies by setting automatic contraposition device, AGV ontologies and equipment pair to be aligned
Position is more accurate, can by the stop position of equipment to be aligned in ± more than 100mm, AGV also can automatically with the positioning in aligning plate
Hole mutually aligns, and then lifting body, which rises, is inserted into positioning pin in location hole, so that AGV ontologies (treat that contraposition is set with truck
It is standby) it moves together, required precision during artificial placement truck is reduced, improves working efficiency.
It is above-mentioned only with embodiment come the technology contents that further illustrate the present invention, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by the present invention's
Protection.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of AGV with automatic contraposition device including AGV ontologies, is set to the automatic contraposition device of AGV ontologies upper end；
It is characterized in that, the automatic contraposition device includes being set to the code reader of AGV ontologies and is fixed on the contraposition of object to be aligned
Plate；The aligning plate is equipped with the label being used for for code reader identification；The code reader is electrically connected with the control unit being equipped with, and institute
The label that AGV identifies aligning plate by code reader is stated, to control the relative position of AGV ontologies and equipment to be aligned.
A kind of 2. AGV with automatic contraposition device according to claim 1, which is characterized in that the code reader setting
In the top center of AGV ontologies.
3. a kind of AGV with automatic contraposition device according to claim 1, which is characterized in that the aligning plate is equipped with
Several labels, and it is set to label centered on the label at aligning plate center；The center label periphery is surrounded with several marks
Label, and form cross arrangement.
A kind of 4. AGV with automatic contraposition device according to claim 1, which is characterized in that the automatic aligning dress
Put the lifting body for further including and being set at the top of AGV；The lifting body includes jacking force piece, is set to jacking force piece and moves
The link assembly of power output terminal；The link assembly top is equipped with positioning pin；The aligning plate is equipped with what is matched with positioning pin
Location hole.
A kind of 5. AGV with automatic contraposition device according to claim 4, which is characterized in that the link assembly packet
Include the fixed link for being fixed on AGV ontologies, motion bar, one end is hinged with fixed link and the other end is slidably connected with motion bar first
Supporting rod and one end are slidably connected with fixed link and the other end and the hinged second support bar of motion bar；The first support bar
With second support bar arranged crosswise, and it is hinged in infall；The first support bar or second support bar and jacking power
Part power end driving coupling.
A kind of 6. AGV with automatic contraposition device according to claim 4, which is characterized in that the link assembly top
End is equipped with connecting plate；The positioning pin is distributed in connecting plate upper surface；The connecting plate is provided through the through-hole of code reader.
7. a kind of AGV with automatic contraposition device according to claim 4, which is characterized in that the lifting body is also
Including the location switch being electrically connected with control centre or jacking force piece；The upper limit and lower limit of the lifting body stroke are equal
Equipped with location switch.
8. a kind of AGV with automatic contraposition device according to claim 1, which is characterized in that the label is two dimension
Code, bar code.
9. a kind of automatic aligning method, which is characterized in that AGV reads the label of aligning plate close to equipment to be aligned, code reader；It sweeps
The label information that code device is read, and its information is sent to control centre；The information and center that control centre transmits code reader
The information of label is judged, and then calculates distance and the angular deviation of AGV and aligning plate center；Control unit is by the finger of deviation
Enable and be sent to the driving force piece of AGV, with adjust AGV motion paths and to center label it is close；AGV instructs direction according to deviation
Center tag motion, code reader is again identified the label in aligning plate, and identification information is sent to control centre
Calculate range deviation and angular deviation, then deviation instruction is sent to the force piece of AGV by control centre, so that AGV is in
Heart tag motion；Above-mentioned steps be repeated it is one or many, until code reader overlaps with the center label of aligning plate, at this time
AGV is completed with equipment to be aligned contraposition.
10. a kind of AGV with automatic contraposition device according to claim 1, which is characterized in that AGV is complete with aligning plate
Into after contraposition, it is located at the lifting body action of AGV upper ends；Under the action of link assembly is by jacking force piece, by positioning pin court
Aligning plate moves, so that positioning pin injects location hole, realizes that AGV is connected in together with equipment to be positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711409169.2A CN108163478B (en) | 2017-12-22 | 2017-12-22 | AGV with automatic alignment device and alignment method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711409169.2A CN108163478B (en) | 2017-12-22 | 2017-12-22 | AGV with automatic alignment device and alignment method thereof |
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| Publication Number | Publication Date |
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| CN108163478A true CN108163478A (en) | 2018-06-15 |
| CN108163478B CN108163478B (en) | 2024-05-31 |
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| CN201711409169.2A Active CN108163478B (en) | 2017-12-22 | 2017-12-22 | AGV with automatic alignment device and alignment method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790639A (en) * | 2018-06-07 | 2018-11-13 | 斯坦德机器人（深圳）有限公司 | A kind of jacking haulage gear of AGV trolleies |
| CN109941650A (en) * | 2019-03-07 | 2019-06-28 | 上海木木聚枞机器人科技有限公司 | A kind of method and system of robot contraposition shelf |
| CN113460194A (en) * | 2021-06-30 | 2021-10-01 | 成都飞机工业（集团）有限责任公司 | Automatic butt joint and jacking AGV device and butt joint method thereof |
| TWI786918B (en) * | 2021-11-02 | 2022-12-11 | 仁寶電腦工業股份有限公司 | Transportation system |
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| CN113460194A (en) * | 2021-06-30 | 2021-10-01 | 成都飞机工业（集团）有限责任公司 | Automatic butt joint and jacking AGV device and butt joint method thereof |
| TWI786918B (en) * | 2021-11-02 | 2022-12-11 | 仁寶電腦工業股份有限公司 | Transportation system |
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| CN108163478B (en) | 2024-05-31 |
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