CN108163478B - AGV with automatic alignment device and alignment method thereof - Google Patents
AGV with automatic alignment device and alignment method thereof Download PDFInfo
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- CN108163478B CN108163478B CN201711409169.2A CN201711409169A CN108163478B CN 108163478 B CN108163478 B CN 108163478B CN 201711409169 A CN201711409169 A CN 201711409169A CN 108163478 B CN108163478 B CN 108163478B
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- agv
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- code scanner
- aligned
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000013459 approach Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims 1
- 238000010408 sweeping Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 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
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 invention relates to an AGV with an automatic alignment device and an alignment method thereof. The utility model provides an AGV with automatic aligning device, includes the AGV body, sets up in the automatic aligning device of AGV body upper end, and automatic aligning device is including setting up in the yard ware of sweeping of AGV body, and is fixed in the counterpoint board of waiting to counterpoint thing; the alignment plate is provided with a label for identifying the code scanner; the code scanner is electrically connected with a control unit, and the AGV identifies the label of the alignment plate through the code scanner so as to control the relative position of the AGV body and the equipment to be aligned. According to the automatic alignment device, the automatic alignment device is arranged on the AGV body, the AGV body and the equipment to be aligned are aligned more accurately, the stop position of the equipment to be aligned can be more than +/-100 mm, the AGV can also be aligned with the positioning holes on the alignment plate automatically, and then the jacking mechanism is lifted to insert the positioning pins into the positioning holes, so that the AGV body moves together with the skip car, the precision requirement when the skip car is placed manually is reduced, and the working efficiency is improved.
Description
Technical Field
The invention relates to AGV equipment, in particular to an AGV with an automatic alignment device and an alignment method thereof.
Background
In mobile robot AGV field, when current AGV takes the material car to walk together, the position accuracy that needs the skip to place reaches more than 20mm just can guarantee that the AGV can take the skip to move together like this and requires the manual work to place the precision of skip higher, work efficiency greatly reduced. Therefore, to solve this problem, it is necessary to design a device that enables the AGV to smoothly move the carriage within a deviation of ±100mm, which takes into account a new automatic alignment device for the AGV.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an AGV with an automatic alignment device and an alignment method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
An AGV with an automatic alignment device comprises an AGV body and the automatic alignment device arranged at the upper end of the AGV body; the automatic alignment device comprises a code scanner arranged on the AGV body and an alignment plate fixed on an object to be aligned; the alignment plate is provided with a label for identifying the code scanner; the code scanner is electrically connected with a control unit, and the AGV identifies the label of the alignment plate through the code scanner so as to control the relative position of the AGV body and the equipment to be aligned.
The further technical scheme is as follows: the code scanner is arranged at the center of the top of the AGV body.
The further technical scheme is as follows: the alignment plate is provided with a plurality of labels, and the label arranged at the center of the alignment plate is a center label; the center label is surrounded by a plurality of labels, and forms a cross arrangement.
The further technical scheme is as follows: the automatic alignment device further comprises a jacking mechanism arranged at the top of the AGV; the jacking mechanism comprises a jacking power piece and a connecting rod assembly arranged at the power output end of the jacking power piece; the top end of the connecting rod assembly is provided with a positioning pin; the alignment plate is provided with a positioning hole matched with the positioning pin.
The further technical scheme is as follows: the connecting rod assembly comprises a fixed rod fixed on the AGV body, a movable rod, a first supporting rod, a second supporting rod and a connecting rod, wherein one end of the first supporting rod is hinged with the fixed rod, the other end of the first supporting rod is in sliding connection with the movable rod, and the other end of the second supporting rod is in sliding connection with the fixed rod; the first support rods and the second support rods are arranged in a crossing manner and are hinged with each other at the crossing position; the first support rod or the second support rod is in transmission connection with the power end of the jacking power piece.
The further technical scheme is as follows: the top end of the connecting rod assembly is provided with a connecting plate; the positioning pins are uniformly distributed on the upper surface of the connecting plate; the connecting plate is provided with a through hole penetrating through the code scanner.
The further technical scheme is as follows: the jacking mechanism further comprises an in-place switch electrically connected with the control center or the jacking power piece; the upper limit and the lower limit of the jacking mechanism travel are both provided with in-place switches.
The further technical scheme is as follows: the label is a two-dimensional code or a bar code.
An automatic alignment method is that an AGV approaches equipment to be aligned, and a code scanner reads a label of an alignment plate;
The code scanner reads the label information and transmits the information to the control center; the control center judges the information transmitted by the code scanner and the information of the center label, and further calculates the distance and the angle deviation between the AGV and the center of the alignment plate; the control unit transmits a deviation instruction to a driving power part of the AGV so as to adjust the moving path of the AGV and approach the center label; the AGV moves towards the center label according to the deviation instruction, the code scanner identifies the label on the alignment plate again, the identification information is transmitted to the control center to calculate the distance deviation and the angle deviation, and then the control center transmits the deviation instruction to the power part of the AGV so that the AGV moves towards the center label; the steps are repeated one or more times until the code scanner is overlapped with the center label of the alignment plate, and the AGV and the equipment to be aligned are aligned at the moment.
The further technical scheme is as follows: after the AGV and the alignment plate are aligned, a jacking mechanism arranged at the upper end of the AGV acts; the connecting rod assembly moves the locating pin towards the alignment plate under the action of the jacking power piece so that the locating pin is inserted into the locating hole, and the AGV and the equipment to be positioned are connected together.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic alignment device, the automatic alignment device is arranged on the AGV body, the AGV body and the equipment to be aligned are more accurate in alignment, the stop position of the equipment to be aligned can be more than +/-100 mm, the AGV can also be automatically aligned with the positioning holes on the alignment plate, and then the jacking mechanism is lifted to insert the positioning pins into the positioning holes, so that the AGV body moves together with the skip car (the equipment to be aligned), the precision requirement when the skip car is manually placed is reduced, and the working efficiency is improved.
The invention is further described below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a perspective view of an AGV with an automatic alignment device according to the present invention;
FIG. 2 is an internal block diagram of an AGV with an automatic alignment device according to the present invention;
FIG. 3 is a block diagram of an alignment plate of an AGV with an automatic alignment device according to the present invention;
FIG. 4 is an internal block diagram of an AGV with an automatic alignment device according to the present invention.
Detailed Description
In order to more fully understand the technical content of the present invention, the following technical solutions of the present invention will be further described and illustrated with reference to specific embodiments, but are not limited thereto.
Fig. 1 to 4 are drawings of an embodiment of the present invention.
An AGV with an automatic alignment device comprises an AGV body 10 arranged at the upper end of the AGV body 10
Is provided with an automatic alignment device 20. The automatic alignment device 20 includes a code scanner 21 disposed on the AGV body 10, and
An alignment plate 22 fixed to the object to be aligned. The alignment plate 22 is provided with a tag 221 for identification by the scanner 21. The code scanner 21 is electrically connected with a control unit, and the AGV recognizes the label 221 of the alignment plate 22 through the code scanner 21 so as to control the relative position of the AGV body 10 and the equipment to be aligned.
Wherein, in order to make alignment more convenient and accurate, the code scanner 21 is arranged at the top of the AGV body 10
A central position.
The alignment plate 22 is provided with a plurality of labels 221, and the labels 221 arranged in the center of the alignment plate 22 are the same
Heart label 2210. The central tag 2210 is peripherally surrounded by a number of tags 221, and forms a cross-shaped arrangement,
I.e. the central label 2210 is arranged in the middle of the alignment plate 22, the remaining labels 221 are arranged in the labels 221
And are arranged in a cross-like configuration along the length and width of the alignment plate 22 to facilitate adjustment of the relative positions of the alignment plate 22 and the AGV in both directions. The scanner 21 may scan the tag 221,
The control center then calculates the distance between the AGV current position and the center tag 2210 based on the scanned tag 221
Leaving, then adjusting the AGV motion path, and moving towards the center tag 2210; according to the control center
The scanner 21 performs scanning calculation again, and corrects the position of the AGV until it moves
Move to center tag 2210.
The automatic alignment device 20 also includes a lift mechanism 23 disposed at the top of the AGV. The jacking mechanism 23 includes
The lifting power part 231 and the connecting rod assembly 232 arranged at the power output end of the lifting power part 231. The top end of the linkage assembly 232 is provided with a locating pin 2321. The alignment plate 22 is provided with alignment holes 222 that mate with the alignment pins 2321. The positioning pin 2321 is movable toward the alignment plate 22 under the action of the lift mechanism 23 and cooperates with the positioning hole 222 to couple the AGV with the equipment to be aligned.
Preferably, the positioning hole 222 is provided with a copper sleeve.
The link assembly 232 includes a fixed bar 2322 secured to the AGV body 10, a movable bar 2323, one end
A first support bar 2324 hinged with the fixed bar 2322 and the other end of which is slidably connected with the movable bar 2323, an
And a second support bar 2325 having one end slidably coupled to the fixed bar 2322 and the other end hinged to the movable bar 2323. The first support bar 2324 is disposed across from the second support bar 2325 and hinged to each other at the intersection. The first support bar 2324 or the second support bar 2325 is in transmission connection with the power end of the lifting power member 231.
Specifically, a connection plate 2326 is provided at the top of the linkage assembly 232. Positioning pins 2321 are uniformly distributed on the connecting plate
2326 Upper surface. The connection plate 2326 is provided with a through hole passing through the code scanner 21. The connection plate 2326 may be provided with
A plurality of positioning pins 2321, and the connecting plate 2326 drives the positioning pins 2321 to integrally rise, so that the AGV and the workpiece to be aligned
The position device is stably connected. The positioning pin 2321 can realize lifting movement through the driving mechanism, and the in-place switch can detect whether the positioning pin is lifted in place.
Preferably, the jacking mechanism 23 also includes an in-place switch electrically connected to the control center or jacking power piece 231. The upper limit and the lower limit of the stroke of the jacking mechanism 23 are both provided with in-place switches, so that when the jacking mechanism 23 ascends to the upper limit or the lower limit, the in-place switches are touched to power off the jacking power piece 231.
The tag 221 is a two-dimensional code or a bar code, and the non-center tag 2210 records the distance and the angular deviation from the center tag 2210.
The above mentioned device to be aligned is a skip moving with the AGV.
An automatic alignment method, wherein an AGV approaches equipment to be aligned, and a code scanner 21 reads a label 221 of an alignment plate 22; the tag 221 information read by the code scanner 21 is transmitted to a control center; the control center judges the information transmitted by the code scanner 21 and the information of the center label 2210, and further calculates the distance and the angle deviation between the AGV and the center of the alignment plate 22; the control unit transmits a deviation instruction to a driving power part of the AGV so as to adjust the moving path of the AGV and approach the center tag 2210; the AGV moves towards the center tag 2210 according to the deviation instruction, the code scanner 21 identifies the tag 221 on the alignment plate 22 again, the identification information is transmitted to the control center to measure and calculate the distance deviation and the angle deviation, and then the control center transmits the deviation instruction to a power part of the AGV so as to enable the AGV to move towards the center tag 2210; the above steps are repeated one or more times until the code scanner 21 coincides with the center label 2210 of the alignment plate 22, and the alignment of the AGV with the device to be aligned is completed.
After the AGV and the alignment plate 22 are aligned, a jacking mechanism 23 arranged at the upper end of the AGV acts; connecting rod group
The member 232 moves the positioning pin 2321 toward the alignment plate 22 by the lifting power member 231 to make
The locating pin 2321 is inserted into the locating hole 222 to enable the AGV to couple with the equipment to be located.
In summary, according to the automatic alignment device provided by the invention, the AGV body and the equipment to be aligned are more accurately aligned, the stop position of the equipment to be aligned can be more than +/-100 mm, the AGV can also be automatically aligned with the positioning holes on the alignment plate, and then the jacking mechanism is lifted to insert the positioning pins into the positioning holes, so that the AGV body moves together with the skip (the equipment to be aligned), the precision requirement of manual material placing is reduced, and the working efficiency is improved.
The foregoing examples are provided to further illustrate the technical contents of the present invention for the convenience of the reader, but are not intended to limit the embodiments of the present invention thereto, and any technical extension or re-creation according to the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. An AGV with an automatic alignment device comprises an AGV body and the automatic alignment device arranged at the upper end of the AGV body; the automatic alignment device is characterized by comprising a code scanner arranged on an AGV body and an alignment plate fixed on an object to be aligned; the alignment plate is provided with a label for identifying the code scanner; the code scanner is electrically connected with a control unit, the AGV identifies the label of the alignment plate through the code scanner so as to control the relative position of the AGV body and equipment to be aligned, the code scanner is arranged at the center of the top of the AGV body, the alignment plate is provided with a plurality of labels, and the label arranged at the center of the alignment plate is a center label; the periphery of the central label is surrounded by a plurality of labels, and the labels are arranged in a cross shape; the labels and the center labels are composed of a plurality of icons distributed in a square matrix.
2. The AGV with automatic alignment device according to claim 1 further comprising a lift mechanism disposed on top of the AGV; the jacking mechanism comprises a jacking power piece and a connecting rod assembly arranged at the power output end of the jacking power piece; the top end of the connecting rod assembly is provided with a positioning pin; the alignment plate is provided with a positioning hole matched with the positioning pin.
3. The AGV with automatic alignment device according to claim 2, wherein the link assembly comprises a fixed lever fixed to the AGV body, a movable lever, a first support lever having one end hinged to the fixed lever and the other end slidingly coupled to the movable lever, and a second support lever having one end slidingly coupled to the fixed lever and the other end hinged to the movable lever; the first support rods and the second support rods are arranged in a crossing manner and are hinged with each other at the crossing position; the first support rod or the second support rod is in transmission connection with the power end of the jacking power piece.
4. The AGV with automatic alignment device according to claim 2 wherein the top end of the linkage assembly has a web; the positioning pins are uniformly distributed on the upper surface of the connecting plate; the connecting plate is provided with a through hole penetrating through the code scanner.
5. The AGV with automatic alignment device according to claim 2 wherein the lift mechanism further comprises an in-place switch electrically connected to the control center or the lift power member; the upper limit and the lower limit of the jacking mechanism travel are both provided with in-place switches.
6. The AGV with automatic alignment device according to claim 1 wherein the label is a two-dimensional code, bar code.
7. An automatic alignment method based on the AGV with an automatic alignment device according to any one of claims 1 to 6, wherein the AGV approaches the equipment to be aligned, and the code scanner reads the label of the alignment plate; the code scanner reads the label information and transmits the information to the control center; the control center judges the information transmitted by the code scanner and the information of the center label, and further calculates the distance and the angle deviation between the AGV and the center of the alignment plate; the control unit transmits a deviation instruction to a driving power part of the AGV so as to adjust the moving path of the AGV and approach the center label; the AGV moves towards the center label according to the deviation instruction, the code scanner identifies the label on the alignment plate again, the identification information is transmitted to the control center to calculate the distance deviation and the angle deviation, and then the control center transmits the deviation instruction to the power part of the AGV so that the AGV moves towards the center label; the steps are repeated one or more times until the code scanner is overlapped with the center label of the alignment plate, and the AGV and the equipment to be aligned are aligned at the moment.
8. The automatic alignment method according to claim 7, wherein after the AGV is aligned with the alignment plate, a jacking mechanism provided at an upper end of the AGV acts; the connecting rod assembly moves the locating pin towards the alignment plate under the action of the jacking power piece so that the locating pin is inserted into the locating hole, and the AGV and the equipment to be positioned are connected together.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN108163478A CN108163478A (en) | 2018-06-15 |
| CN108163478B true CN108163478B (en) | 2024-05-31 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108790639B (en) * | 2018-06-07 | 2020-07-28 | 斯坦德机器人（深圳）有限公司 | Jacking traction mechanism of AGV dolly |
| CN109941650B (en) * | 2019-03-07 | 2021-02-09 | 上海木木聚枞机器人科技有限公司 | Method and system for aligning goods shelf by robot |
| 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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