CN113460194A - Automatic butt joint and jacking AGV device and butt joint method thereof - Google Patents

Abstract

The invention discloses an automatic butt-joint jacking AGV device and a butt-joint method thereof, which relate to the technical field of AGV (automatic guided vehicle) for logistics transportation and comprise an AGV trolley and equipment to be butt-jointed, wherein the AGV trolley comprises a trolley body, a jacking mechanism is arranged in the trolley body, a jacking plate is arranged at the top of the jacking mechanism, the jacking plate is positioned at the top of the trolley body, at least two groups of butt-joint mechanisms are arranged on the jacking plate, each butt-joint mechanism comprises a butt-joint nozzle arranged at the top of the jacking plate, the butt-joint nozzle is funnel-shaped, and the bottom of the butt-joint nozzle is connected with an in-place switch; the butt joint device has the advantages that the butt joint can be finished under the condition of large position error, the requirement on placement accuracy of the equipment to be butted is reduced, and the working efficiency is improved.

Description

Automatic butt joint and jacking AGV device and butt joint method thereof

Technical Field

The invention relates to the technical field of AGV (automatic guided vehicle) in logistics transportation, in particular to an automatic butt joint and jacking AGV device and a butt joint method thereof.

Background

An AGV cart, abbreviated as AGV, is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.

The automatic interfacing apparatus of AGV that designs at present adopts the sign of installing on the sign indicating number ware discernment equipment of waiting to dock to accomplish the butt joint, or requires the position precision that equipment of waiting to dock placed to reach more than 20mm, just can accomplish the butt joint under the higher circumstances of position precision, and this has just increaseed the manual operation degree of difficulty, has greatly reduced work efficiency.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an automatic butt joint jacking AGV device and a butt joint method thereof, so as to achieve the effects of ensuring that butt joint can be completed under the condition of large position error, reducing the requirement on the placement precision of equipment to be butted and improving the working efficiency.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic butt-joint jacking AGV device and a butt-joint method thereof comprise an AGV trolley and equipment to be butt-jointed, wherein the AGV trolley comprises a trolley body, a jacking mechanism is arranged in the trolley body, a jacking plate is arranged at the top of the jacking mechanism, the jacking plate is positioned at the top of the trolley body, at least two groups of butt-joint mechanisms are arranged on the jacking plate, each butt-joint mechanism comprises a butt-joint nozzle arranged at the top of the jacking plate, each butt-joint nozzle is funnel-shaped, and the bottom of each butt-joint nozzle is connected with an in-place switch; the equipment to be butted comprises a material frame, wherein at least two butting balls which are in one-to-one correspondence with the positions of the butting nozzles are arranged at the bottom of the material frame, and the diameter of each butting ball is smaller than the minimum inner diameter of each butting nozzle.

Preferably, the jacking mechanism comprises a servo motor, the servo motor is electrically connected with a spiral elevator, and the jacking plate is connected to the top of the spiral elevator.

Preferably, a controller is arranged in the vehicle body, and the servo motor and the in-place switch are electrically connected with the controller.

Preferably, two sets of docking mechanisms are provided and are located at diagonal positions of the jacking plate respectively.

Preferably, the docking mechanism further comprises a flange plate sleeved on the docking nozzle, and the flange plate is arranged inside the jacking plate.

Preferably, the bottom of the vehicle body is provided with a code reader which is electrically connected with the controller.

Preferably, a support guide pillar is arranged in the vehicle body, and the support guide pillar can be contacted with the bottom of the jacking plate.

Preferably, the bottom of the vehicle body is provided with a plurality of road wheels and a driving element for driving the corresponding road wheels, and the driving element is electrically connected with the controller.

A docking method for automatically docking and jacking an AGV device comprises the following steps:

step S1: placing the material rack at a corresponding station position, and laying a label compatible with the code reader below the position of the material rack to be butted;

step S2: controlling the AGV to reach a position close to the bottom of the material rack, and enabling a code reader on the AGV to read a label laid on the ground;

step S3: feeding the read tag information back to the controller, comparing the tag information with the specified tag information by the controller to calculate the distance and angle deviation of the AGV trolley at the current position, and transmitting a deviation instruction to the driving element by the controller to enable the AGV trolley to move to the position of the set tag;

step S4: the controller sends a control command to the servo motor, and the servo motor drives the spiral elevator to drive the jacking plate and the butting mechanism to jack upwards, so that the butting balls below the material rack slide into the butting nozzle of the butting device to adjust the butting pose;

step S5: the in-place switch detects the butt-joint ball and feeds back a detection signal to the controller, and the controller sends a control instruction to the servo motor to stop the servo motor to complete the butt joint.

Preferably, the label is a two-dimensional code or a bar code.

The invention has the beneficial effects that:

1. when the device is in butt joint, because the diameter of the butt joint ball is smaller than the minimum inner diameter of the butt joint nozzle, the butt joint ball can smoothly slide into the butt joint nozzle within a certain error range until the butt joint ball is detected by the in-place switch to represent that the butt joint is finished, so that the error caused by the positioning accuracy of an AGV trolley or the placement accuracy of a material rack is overcome, the butt joint can be finished under the condition of larger position error, the requirement on the placement accuracy of equipment to be butted is reduced, and the working efficiency is improved.

2. According to the invention, the code reader is arranged at the bottom of the vehicle body, so that the problem of potential safety hazard caused by the fact that a lens of the code reader is installed upwards when a special enterprise uses an AGV device is solved.

3. The friction force between the walking wheels and the ground is increased by the aid of the arranged equipment to be butted, and the jacking traction capacity of the AGV is improved, so that the power consumption of the AGV is reduced, and the cost is reduced.

4. The method can automatically calculate the position deviation of the AGV car through the controller, realizes the automatic correction of the AGV car, drives the spiral elevator to rise through the controller to automatically carry out butt joint work, enables the butt joint ball to smoothly slide into the butt joint nozzle within a certain error range by utilizing the structural design of the butt joint mechanism, reduces the butt joint difficulty, improves the efficiency, automatically operates in the whole process, and realizes intelligent logistics management.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic structural diagram of an automatic docking and jacking AGV device according to the present invention;

FIG. 2 is a schematic diagram of an AGV configuration according to the present invention;

FIG. 3 is a schematic diagram of the internal structure of an AGV of the present invention;

FIG. 4 is a schematic bottom view of an AGV according to the present invention;

fig. 5 is a schematic bottom structure diagram of the device to be docked in the present invention.

Reference numerals:

100-an AGV trolley, 110-a vehicle body, 120-a jacking mechanism, 121-a servo motor, 122-a spiral elevator, 130-a jacking plate, 140-a docking mechanism, 141-a docking nozzle, 142-an in-place switch, 143-a flange plate, 150-a controller, 160-a code reader, 170-a support guide column, 180-a travelling wheel, 190-a driving element, 200-equipment to be docked, 210-a material frame, 220-a docking ball and 300-a tag.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Example 1

As shown in fig. 1 to 5, the present embodiment provides an automatic docking and jacking AGV device, including an AGV cart 100 and an apparatus 200 to be docked, where the AGV cart 100 includes a cart body 110, a jacking mechanism 120 is disposed in the cart body 110, a jacking plate 130 is disposed on the top of the jacking mechanism 120, the jacking plate 130 is located on the top of the cart body 110, at least two sets of docking mechanisms 140 are disposed on the jacking plate 130, each docking mechanism 140 includes a docking nozzle 141 disposed on the top of the jacking plate 130, the docking nozzle 141 is funnel-shaped, and the bottom of the docking nozzle 141 is connected to a position switch 142; the device to be docked 200 comprises an article frame 210, at least two docking balls 220 corresponding to the docking nozzles 141 one by one are arranged at the bottom of the article frame 210, and the diameter of the docking balls 220 is smaller than the minimum inner diameter of the docking nozzles 141.

In this embodiment, by using the docking mechanism 140 with a special structural design, the docking nozzle 141 has a funnel shape (which may have a certain radian), and the diameter of the docking ball 220 is smaller than the minimum inner diameter of the docking nozzle 141 (which may be slightly smaller than that), when the inner wall of the docking nozzle 141 touches the docking ball 220 (under the condition that the docking ball 220 is not aligned with the center of the docking nozzle 141), a horizontal component force required for pose adjustment can be provided, so that the docking ball 220 exerts a force on the entire car body 110 to automatically align the car body 110, and therefore, during docking, the docking ball 220 can smoothly slide into the docking nozzle 141 within a certain error range until the docking switch 142 detects the docking ball 220, which represents that docking is completed, thereby overcoming an error caused by the positioning accuracy of the AGV 100 or the placement accuracy of the material rack 210, ensuring that docking can be completed under the condition of a large position error, and reducing the requirement on the placement accuracy of the device 200 to be docked, the work efficiency is improved, and only all the docking balls 220 fall into the corresponding docking nozzles 141 through at least two sets of docking nozzles 141, that is, the vehicle body 110 is righted and the docking work is completed.

Specifically, the in-place switch 142 may employ a proximity switch, a mechanical switch, an infrared sensor, or the like.

Specifically, climbing mechanism 120 includes servo motor 121, servo motor 121 electric connection has spiral lift 122, jacking board 130 is connected at spiral lift 122 top, can drive spiral lift 122 operation when servo motor 121 starts and go up and down the operation, spiral lift 122 is prior art, the screw rod transmission principle promptly, this no longer gives details to this kind of this of its concrete structure, it needs to explain here that climbing mechanism 120 also can adopt other electrical parts that can realize raising and lowering functions, for example electric putter or electric jar etc..

Specifically, a controller 150 is arranged in the vehicle body 110, the servo motor 121 and the in-place switch 142 are electrically connected with the controller 150, when the in-place switch 142 detects the butt-joint ball 220, a feedback signal can be generated to the controller 150, and the controller 150 generates a signal to the servo motor 121 to stop running, that is, the butt-joint is automatically completed, and the intelligent management is performed.

Specifically, two sets of docking mechanisms 140 are provided and located at opposite angles of the lifting plate 130, so as to facilitate accurate docking and ensure uniform stress on the vehicle body 110 during docking.

Specifically, the docking mechanism 140 further includes a flange 143 disposed on the docking nozzle 141, the flange 143 is disposed inside the lifting plate 130, so as to facilitate assembly and disassembly, and the docking nozzle 141 is firmly fixed to prevent deviation and has good bearing capacity during docking.

Specifically, the code reader 160 is disposed at the bottom of the AGV body 110, the code reader 160 is electrically connected to the controller 150, and the code reader 160 is used for scanning related information (such as two-dimensional codes or bar codes) and feeding the scanned information back to the controller 150 to determine whether the current position of the AGV 100 needs to be adjusted.

Specifically, the support guide post 170 is disposed in the vehicle body 110, the support guide post 170 may contact with the bottom of the lifting plate 130, and after the butt joint is completed, when the lifting plate 130 drives the material rack 210 to move down to the lowest position (at this time, the lifting plate 130 is flush with the top surface of the vehicle body 110), the support guide post 170 may improve the support acting force on the lifting plate 130 and the material rack 210.

Specifically, the bottom of the car body 110 is provided with a plurality of road wheels 180 and a driving element 190 for driving the corresponding road wheels 180, the driving element 190 is electrically connected with the controller 150, and the controller 150 can generate a signal to the driving element 190 to enable the road wheels 180 to automatically run according to a planned route, so that the AGV car 100 is driven to automatically move to a corresponding position, and intelligent logistics management is realized.

In the prior art, AGV dolly 100 is when the jacking is pulling waiting to dock equipment 200, for guaranteeing the frictional force on walking wheel 180 and ground, mainly realize walking wheel 180 and the pressure on ground through the counter weight that increases AGV dolly 100 at present, this mode has not only increased AGV dolly 100 operation and has needed the consumption, and increase battery capacity causes the cost extravagant, consequently, accomplish the butt joint back, automobile body 110 top is lifted and is waited to dock equipment 200 and make it and AGV dolly 100 hookup move together, through waiting to dock equipment 200 multiplicable AGV dolly 100's walking wheel 180 and the frictional force on ground, the jacking tractive ability of AGV dolly 100 has been improved, thereby AGV dolly 100 consumption has been reduced and the cost is reduced.

Example 2

As shown in fig. 1-5, the present embodiment provides a docking method for automatically docking and jacking an AGV device, which includes the following steps:

step S1: placing the material rack 210 at a corresponding station position, and laying a label 300 compatible with the code reader 160 below the position of the material rack 210 to be butted;

step S2: controlling the AGV 100 to reach a position close to the bottom of the material rack 210, and then enabling the code reader 160 on the AGV 100 to read the label 300 laid on the ground;

step S3: feeding back the read tag 300 information to the controller 150, comparing the tag with the designated tag 300 information by the controller 150 to calculate the distance and angle deviation of the AGV 100 at the current position, and transmitting a deviation instruction to the driving element 190 by the controller 150 to move the AGV 100 to the position where the tag 300 is set;

step S4: the controller 150 sends a control instruction to the servo motor 121, and the servo motor 121 drives the spiral lifter 122 to drive the jacking plate 130 and the docking mechanism 140 to jack upwards, so that the docking ball 220 below the material rack 210 slides into the docking nozzle 141 of the docking device to perform docking pose adjustment;

step S5: the position switch 142 detects the docking ball 220 and feeds back a detection signal to the controller 150, and the controller 150 sends a control instruction to the servo motor 121 to stop running, so that docking is completed.

Specifically, the label 300 is a two-dimensional code or a bar code, and the number can be used according to actual situations.

In this embodiment, can calculate the position deviation of AGV dolly 100 automatically through controller 150, realize the automatic correction of AGV dolly 100, and drive spiral elevator 122 through controller 150 and rise the automation and carry out butt joint work, utilize the structural design of docking mechanism 140 to make butt joint ball 220 smooth in certain error range can slide into to the butt joint mouth 141, when controller 150 received the detected signal that two proximity switches feed back, just accomplished AGV dolly 100 and material frame 210's an automatic butt joint, final AGV dolly 100 takes to treat that butt joint equipment 200 is steady together, the low consumption motion, the butt joint degree of difficulty has been reduced, and the efficiency is improved, whole process automation moves, realize intelligent logistics management.

In step S3, the code reader 160 may read the tag 300 information again, and repeat the steps one or more times until the two-dimensional code information fed back by the code reader 160 coincides with the set two-dimensional code information, which means that the AGV 100 arrives at the designated position and is located below the material rack 210.

In the prior art, in order to identify the tag 300 installed on the device 200 to be docked, the code reader 160 is mostly installed with the scanning lens facing upward, the requirement on the confidentiality of data information by some special enterprises (such as military equipment, product development, and enterprise of production planning tasks) is extremely high, the application characteristic of the code reader 160 has a great potential safety hazard, and particularly, the requirement on the safety and intelligent development of the AGV is severely restricted under the condition that the lens of the code reader 160 faces upward. Therefore, the tag 300 is arranged below the material rack 210 (i.e., on the ground), so that the code reader 160 is correspondingly arranged at the bottom of the vehicle body 110, and the problem of potential safety hazard caused by the fact that a lens of the code reader 160 is arranged upwards when a docking device is used by a special enterprise is solved.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (10)

1. The utility model provides an automatic butt joint jacking AGV device which characterized in that includes the AGV dolly and treats butt joint equipment: wherein the content of the first and second substances,

the AGV trolley comprises a trolley body, wherein a jacking mechanism is arranged in the trolley body, a jacking plate is arranged at the top of the jacking mechanism, the jacking plate is positioned at the top of the trolley body, at least two groups of butt joint mechanisms are arranged on the jacking plate, each butt joint mechanism comprises a butt joint nozzle arranged at the top of the jacking plate, each butt joint nozzle is funnel-shaped, and the bottom of each butt joint nozzle is connected with an in-place switch;

the equipment to be butted comprises a material frame, wherein at least two butting balls which are in one-to-one correspondence with the positions of the butting nozzles are arranged at the bottom of the material frame, and the diameters of the butting balls are smaller than the minimum inner diameter of the butting nozzles.

2. The AGV device of claim 1, wherein the jacking mechanism comprises a servo motor, the servo motor is electrically connected to a screw elevator, and the jacking plate is connected to the top of the screw elevator.

3. The automatic butt-joint jacking AGV device of claim 2, wherein a controller is arranged in the vehicle body, and the servo motor and the in-place switch are electrically connected with the controller.

4. An automatic docking and jacking AGV apparatus according to claim 1, wherein said docking mechanism is provided in two sets and located at opposite corners of said lifting plate.

5. An automatic butt joint jacking AGV device according to claim 1 or 4, wherein said docking mechanism further comprises a flange plate sleeved on the docking nozzle, said flange plate being disposed inside the jacking plate.

6. The automatic butt-joint jacking AGV device of claim 3, wherein a code reader is arranged at the bottom of the vehicle body and electrically connected with the controller.

7. The AGV device of claim 1, wherein a support guide post is provided in the car body, and the support guide post is in contact with the bottom of the lifting plate.

8. The automatic butt-joint jacking AGV device of claim 6, wherein the bottom of the vehicle body is provided with a plurality of travelling wheels and driving elements for driving the corresponding travelling wheels, and the driving elements are electrically connected with the controller.

9. The docking method for automatically docking a jacking AGV device according to claim 8, comprising the steps of:

step S1: placing the material rack at a corresponding station position, and laying a label compatible with the code reader below the position of the material rack to be butted;

step S2: controlling the AGV to reach a position close to the bottom of the material rack, and enabling a code reader on the AGV to read a label laid on the ground;

step S3: feeding the read tag information back to the controller, comparing the tag information with the specified tag information by the controller to calculate the distance and angle deviation of the AGV trolley at the current position, and transmitting a deviation instruction to the driving element by the controller to enable the AGV trolley to move to the position of the set tag;

step S4: the controller sends a control command to the servo motor, and the servo motor drives the spiral elevator to drive the jacking plate and the butting mechanism to jack upwards, so that the butting balls below the material rack slide into the butting nozzle of the butting device to adjust the butting pose;

step S5: the in-place switch detects the butt-joint ball and feeds back a detection signal to the controller, and the controller sends a control instruction to the servo motor to stop the servo motor to complete the butt joint.

10. The method of claim 9, wherein said tag is a two-dimensional code or a bar code.

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