CN109947137A - A kind of PGV visual scanning head automatic tracking apparatus - Google Patents
A kind of PGV visual scanning head automatic tracking apparatus Download PDFInfo
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- CN109947137A CN109947137A CN201910210209.3A CN201910210209A CN109947137A CN 109947137 A CN109947137 A CN 109947137A CN 201910210209 A CN201910210209 A CN 201910210209A CN 109947137 A CN109947137 A CN 109947137A
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- pgv
- rotary stopper
- stopper bracket
- scanning head
- visual scanning
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Abstract
The present invention relates to a kind of PGV visual scanning head automatic tracking apparatus, belong to automated assembly technology field.PGV visual scanning head automatic tracking apparatus of the invention is by being arranged passive following device, mounting seat, rotary stopper bracket, model- following control motor, travel switch etc., PGV visual scanning head is set to follow rotation under the driving of model- following control motor, the transverse and longitudinal direction of travel that PGV visual scanning head follows AGV vehicle automatically may be implemented, while the structure of rotary stopper bracket designs and its can ensure that rotation angle is up to 90 ° with the matching design of stroke limit Impactor.Rotary stopper bracket two sides are respectively provided with 2 and 90 ° 2, travel switch, 0 ° of travel switch, it is ensured that follow be rotated in place rear motor can receive control signal automatically power off.There are waist-shaped hole, the mounting height of adjustable rotary stopper bracket in mounting seat side, it is ensured that the ground clearance of PGV visual scanning head is effectively to read distance.
Description
Technical field
The invention belongs to automated assembly technology fields, and in particular to a kind of PGV visual scanning head automatic tracking apparatus.
Background technique
PGV visual scanning head is the widely used navigation mode of AGV vehicle, when PGV visual scanning head scans color code band, when
Probe angular deflection value exists: when 0 °~45 ° and 315 °~360 ° of range, can normally identify color code band；When more than upper
When stating range, PGV probe cannot normally identify color code band.PGV visual scanning head is on AGV vehicle in application, working as AGV garage
When walk track needs is directly become laterally walking from longitudinal walking, the angular deflection value of PGV visual scanning head and code band is beyond PGV
Visual scanning head working range cannot normally identify color code band, cause AGV vehicle can not normal walking.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is how to design a kind of PGV visual scanning head automatic tracking apparatus, solve
When the walking conversion of AGV vehicle transverse and longitudinal, the angular deflection value of PGV visual scanning head and code band is beyond PGV visual scanning head work model
Color code band cannot normally be identified by enclosing, cause AGV vehicle can not normal walking the problem of.Expand PGV visual scanning applies model
It encloses.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of PGV visual scanning head automatic tracking apparatus, including quilt
Dynamic following device 4, mounting seat 1, rotary stopper bracket 2, model- following control motor 3 and travel switch 7；Travel switch 7 includes 0 °
Travel switch and 90 ° of travel switches；
The passive following device 4 includes that PGV visual scanning head 6 and PGV follow frame 5, and PGV visual scanning head 6 is mounted on
PGV follows 5 bottom of frame, and it includes rectangular flat plate that the PGV, which follows frame 5, and rectangular flat plate center has and model- following control motor 3
The D type hole of motor shaft cooperation, rectangular flat plate two sides length direction have the vertical plate upwardly extended, i.e. stroke limit Impactor, long
The vertical plate that square plate bottom also extends downwardly, the vertical plate extended downwardly are equipped with the PGV cooperated with PGV visual scanning head 6
Visual scanning head mounting hole；Rotary stopper bracket 2 includes plate, model- following control motor 3 above 2 plate of rotary stopper bracket
In the position of two sides, wherein a side position installs 0 ° of travel switch, another side position installs 90 ° of travel switches, and flat plate top is several
What center has motor installing hole, and vertical plane is orthogonal two faces on the outside of plate, and inside vertical plane includes four faces, and four
Two adjacent faces are mutually vertical in a face, and stroke limit Impactor is touched with 2 inside vertical plane of rotary stopper bracket
Hit, while being contacted with the travel switch for the corresponding position installed at the top of rotary stopper bracket 2, rotary stopper bracket 2 further include with
The vertical vertical plate of plate, the mounting hole of mounting seat 1 of having a surplus on vertical plate cooperation, the model- following control motor 3 are mounted on rotation limit
On the bracket 2 of position, motor shaft is pierced by downwards from motor installing hole, and motor shaft is D type；Mounting seat 1 is L-type, side and ground
Vertically, there are kidney slot and limiting slot in side, and kidney slot is used cooperatively with limiting slot, and kidney slot is for adjusting rotary stopper bracket 2
Mounting height, mounting screw passes through kidney slot and is capable of fixing rotary stopper bracket 2, and limiting slot is for guaranteeing rotary stopper bracket
2 are only capable of adjusting height in above-below direction in slot, and the motor shaft of the model- following control motor 3 passes through rotary stopper bracket 2 and quilt
The PGV of dynamic following device 4 follows frame 5 to connect, so that passive following device 4 is rotated under the drive of model- following control motor 3.
Preferably, there is mounting hole in 1 bottom surface of mounting seat, for pedestal 1 to be fixedly mounted.
Preferably, 3 motor shaft end of model- following control motor has threaded hole, so that model- following control motor 3 is pacified across PGV
After shelving 5, frame 5 can be followed to link together motor shaft and PGV with screw.
Preferably, there are two 0 ° of travel switches.
Preferably, there are two 90 ° of travel switches.
Preferably, 0 ° of travel switch is arranged side by side in 2 slab length direction of rotary stopper bracket.
Preferably, 90 ° of travel switches are arranged side by side in 2 slab length direction of rotary stopper bracket.
(3) beneficial effect
PGV visual scanning head automatic tracking apparatus of the invention is by being arranged passive following device, mounting seat, rotation limit
Position bracket, model- following control motor, travel switch etc., enable PGV visual scanning head follow rotation under the driving of model- following control motor
Turn, the transverse and longitudinal direction of travel that PGV visual scanning head follows AGV vehicle automatically, while the structure of rotary stopper bracket may be implemented
It designs and its can ensure that rotation angle is up to 90 ° with the matching design of stroke limit Impactor.Rotary stopper bracket two sides point
Zhuan You not be 0 ° 2 and 90 ° 2, travel switch, travel switch, it is ensured that follow be rotated in place rear motor can receive control signal it is automatic
Power-off.There are waist-shaped hole, the mounting height of adjustable rotary stopper bracket in mounting seat side, it is ensured that PGV visual scanning head
Ground clearance is effectively to read distance.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of PGV visual scanning head automatic tracking apparatus of the invention；
Fig. 2 is passive following device structural schematic diagram in the present invention.
Wherein: 1, mounting seat；2, rotary stopper bracket；3, model- following control motor；4, passive following device；5, PGV with
With frame；6, PGV visual scanning head 7, travel switch.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
As shown in Figure 1 and Figure 2, a kind of PGV visual scanning head automatic tracking apparatus provided by the invention, including passively follow
Device 4, mounting seat 1, rotary stopper bracket 2, model- following control motor 3, travel switch 7；Travel switch 7 includes 0 ° of travel switch
With 90 ° of travel switches；
The passive following device 4 includes that PGV visual scanning head 6 and PGV follow frame 5, and PGV visual scanning head 6 is mounted on
PGV follows 5 bottom of frame, and it includes rectangular flat plate that the PGV, which follows frame 5, and rectangular flat plate center has and model- following control motor 3
The D type hole of motor shaft cooperation, rectangular flat plate two sides length direction have the vertical plate upwardly extended, i.e. stroke limit Impactor, long
The vertical plate that square plate bottom also extends downwardly, the vertical plate extended downwardly are equipped with the PGV cooperated with PGV visual scanning head 6
Visual scanning head mounting hole；Rotary stopper bracket 2 includes plate, model- following control motor 3 above 2 plate of rotary stopper bracket
In the position of two sides, wherein a side position installs two 0 ° of travel switches, another side position installs two 90 ° of travel switches, puts down
Geometric center position has motor installing hole at the top of plate, and vertical plane (outside wall surface) is orthogonal two faces, inside on the outside of plate
Vertical plane (inner wall) includes four faces, and two adjacent faces are mutually vertical in four faces, enables stroke limit Impactor
It collides with 2 inside vertical plane of rotary stopper bracket, while being connect with the travel switch for the corresponding position installed at the top of rotary stopper bracket 2
Touching, rotary stopper bracket 2 further include the vertical plate vertical with plate, the mounting hole that mounting seat of having a surplus on vertical plate 1 cooperates, it is described with
It is mounted on rotary stopper bracket 2 with control motor 3, motor shaft is pierced by downwards from motor installing hole, and motor shaft is D type, axis
There is threaded hole at end, so that frame 5 can be followed to connect motor shaft and PGV with screw after model- following control motor 3 passes through PGV mounting rack 5
It is connected together.Mounting seat 1 is L-type, and side is perpendicular to the ground, and there are kidney slot and limiting slot in side, and there are mounting hole, kidney-shaped in bottom surface
Hole is used cooperatively with limiting slot, and kidney slot is used to adjust the mounting height of rotary stopper bracket 2, and mounting screw passes through kidney slot energy
Enough fixed rotary stopper bracket 2, limiting slot are used to guarantee that rotary stopper bracket 2 to be only capable of adjusting height in above-below direction in slot,
For mounting hole for pedestal 1 to be fixedly mounted, the rotary stopper bracket 2 is mounted on 1 side of mounting seat.The model- following control motor
3 motor shaft passes through rotary stopper bracket 2 and follows frame 5 to connect with the PGV of passive following device 4, so that passive following device 4 exists
It is rotated under the drive of model- following control motor 3.
PGV visual scanning head automatic tracking apparatus of the invention is by being arranged passive following device, mounting seat, rotation limit
Position bracket, model- following control motor, travel switch etc., enable PGV visual scanning head follow rotation under the driving of model- following control motor
Turn, the transverse and longitudinal direction of travel that PGV visual scanning head follows AGV vehicle automatically, while the structure of rotary stopper bracket may be implemented
It designs and its can ensure that rotation angle is up to 90 ° with the matching design of stroke limit Impactor, wherein when AGV vehicle is longitudinally walked
When, PGV follows the stroke limit Impactor in 5 left side of frame and 2 two inner walls of left side of rotary stopper bracket to collide, while installing with left side
Two 0 ° of travel switches contact；When AGV vehicle is laterally walked, PGV follows the stroke limit Impactor on 5 right side of frame and rotation to limit
The 2 right side two inner walls collision of position bracket, while being contacted with two 90 ° of travel switches of right side installation.Rotary stopper bracket two sides point
Zhuan You not be 0 ° 2 and 90 ° 2, travel switch, travel switch, it is ensured that follow be rotated in place rear motor can receive control signal it is automatic
Power-off.There are waist-shaped hole, the mounting height of adjustable rotary stopper bracket in mounting seat side, it is ensured that PGV visual scanning head
Ground clearance is effectively to read distance.The present apparatus is compact-sized, when AGV vehicle may be implemented no matter laterally or longitudinally walking, PGV view
Feel that probe angular deflection value, in effective range, can normally identify color code band always.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of PGV visual scanning head automatic tracking apparatus, which is characterized in that including passive following device (4), mounting seat
(1), rotary stopper bracket (2), model- following control motor (3) and travel switch (7)；Travel switch (7) include 0 ° of travel switch and
90 ° of travel switches；
The passive following device (4) includes that PGV visual scanning head (6) and PGV are followed frame (5), PGV visual scanning head (6) peace
Frame (5) bottom is followed mounted in PGV, it includes rectangular flat plate that the PGV, which follows frame (5), and there is and follows control at rectangular flat plate center
The D type hole of the motor shaft cooperation of motor 3 processed, rectangular flat plate two sides length direction have the vertical plate upwardly extended, i.e. stroke limit
Impactor, the vertical plate that rectangular flat plate bottom also extends downwardly, the vertical plate extended downwardly are equipped with and PGV visual scanning head
(6) the PGV visual scanning head mounting hole cooperated；Rotary stopper bracket (2) includes plate, rotary stopper bracket (2) plate
In the position of top model- following control motor (3) two sides, wherein a side position installs 0 ° of travel switch, another side position installs 90 °
Travel switch, flat plate top geometric center position have motor installing hole, and vertical plane is orthogonal two faces on the outside of plate, interior
Side vertical plane includes four faces, and two adjacent faces are mutually vertical in four faces, enables stroke limit Impactor and rotation
Vertical plane collision on the inside of limiting bracket (2), while being connect with the travel switch for the corresponding position installed at the top of rotary stopper bracket (2)
Touching, rotary stopper bracket (2) further includes the vertical plate vertical with plate, the mounting hole of mounting seat of having a surplus on vertical plate (1) cooperation, institute
It states model- following control motor (3) to be mounted on rotary stopper bracket (2), motor shaft is pierced by downwards from motor installing hole, motor shaft
For D type；Mounting seat (1) is L-type, and side is perpendicular to the ground, and there are kidney slot and limiting slot in side, and kidney slot and limiting slot cooperate
It uses, kidney slot is used to adjust the mounting height of rotary stopper bracket (2), and mounting screw passes through kidney slot and is capable of fixing rotation limit
Position bracket (2), limiting slot are described for guaranteeing that rotary stopper bracket (2) is only capable of adjusting height in above-below direction in limiting slot
The PGV that the motor shaft of model- following control motor (3) passes through rotary stopper bracket (2) and passive following device (4) follows frame (5) even
It connects, so that passive following device (4) is rotated under the drive of model- following control motor (3).
2. device as described in claim 1, which is characterized in that there is mounting hole in mounting seat (1) bottom surface, for fixed peace
It fills pedestal (1).
3. device as described in claim 1, which is characterized in that model- following control motor (3) motor shaft end has threaded hole,
So that frame (5) can be followed to be connected to motor shaft and PGV with screw after model- following control motor (3) passes through PGV mounting rack (5)
Together.
4. device as described in claim 1, which is characterized in that there are two 0 ° of travel switches.
5. device as described in claim 1, which is characterized in that there are two 90 ° of travel switches.
6. device as claimed in claim 4, which is characterized in that 0 ° of travel switch is long in rotary stopper bracket (2) plate
Direction is spent to be arranged side by side.
7. device as claimed in claim 5, which is characterized in that 90 ° of travel switches are long in rotary stopper bracket (2) plate
Direction is spent to be arranged side by side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910210209.3A CN109947137B (en) | 2019-03-19 | 2019-03-19 | Automatic following device of PGV visual scanning head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910210209.3A CN109947137B (en) | 2019-03-19 | 2019-03-19 | Automatic following device of PGV visual scanning head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109947137A true CN109947137A (en) | 2019-06-28 |
| CN109947137B CN109947137B (en) | 2021-10-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910210209.3A Active CN109947137B (en) | 2019-03-19 | 2019-03-19 | Automatic following device of PGV visual scanning head |
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| CN (1) | CN109947137B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104469109A (en) * | 2014-11-18 | 2015-03-25 | 天津市亚安科技股份有限公司 | Electric optical axis adjusting mechanism |
| CN104699104A (en) * | 2015-03-17 | 2015-06-10 | 武汉纺织大学 | Self-adaptive AGV (Automatic Guided Vehicle) visual navigation sight adjusting device and trace tracking method |
| US20170355469A1 (en) * | 2016-06-12 | 2017-12-14 | 1twoZ, LLC | Falling Drone Warning Apparatuses and Methods |
| CN109343536A (en) * | 2018-11-19 | 2019-02-15 | 浙江大学滨海产业技术研究院 | A kind of interior crusing robot |
-
2019
- 2019-03-19 CN CN201910210209.3A patent/CN109947137B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104469109A (en) * | 2014-11-18 | 2015-03-25 | 天津市亚安科技股份有限公司 | Electric optical axis adjusting mechanism |
| CN104699104A (en) * | 2015-03-17 | 2015-06-10 | 武汉纺织大学 | Self-adaptive AGV (Automatic Guided Vehicle) visual navigation sight adjusting device and trace tracking method |
| US20170355469A1 (en) * | 2016-06-12 | 2017-12-14 | 1twoZ, LLC | Falling Drone Warning Apparatuses and Methods |
| CN109343536A (en) * | 2018-11-19 | 2019-02-15 | 浙江大学滨海产业技术研究院 | A kind of interior crusing robot |
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| CN109947137B (en) | 2021-10-22 |
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