CN203965942U - production line free path AGV robot positioning system - Google Patents
production line free path AGV robot positioning system Download PDFInfo
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- CN203965942U CN203965942U CN201420406933.6U CN201420406933U CN203965942U CN 203965942 U CN203965942 U CN 203965942U CN 201420406933 U CN201420406933 U CN 201420406933U CN 203965942 U CN203965942 U CN 203965942U
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Abstract
The disclosed production line free path of the utility model AGV robot positioning system, comprise apparatus for work HeAGV robot, apparatus for work comprises lathe and the material switch connecting successively, AGV robot comprises AGV and mechanical arm, along the outside of AGV, within one week, is respectively arranged with 8 ultrasonic displacement sensors.Production line free path AGV robot positioning system of the present utility model does not need to lay track, and the travel path of AGV robot can freely change, and production line has flexibility, can adapt to the needs of many variety production; Adopt the AGV robot dual-positioning method of AGV one-level location, mechanical arm secondary location, although location cost increases to some extent, saved the expense of laying track, overall economic efficiency is still better than rail type guider.
Description
Technical field
The utility model belongs to equipment manufacturing equipment technical field, is specifically related to a kind of production line free path AGV robot positioning system.
Background technology
Wheeled mobile robot is comprised of AGV (Automated Guided Vehicle, automatic navigation vehicle) and mechanical arm, can be referred to as AGV robot, for operations such as automatic transporting, traction, handling.DangAGV robot is for the production of line, at the operation website of working equipment (as machining tool website, detect website, come in and go out warehouse website, loading and unloading website etc.) AGV robot and material switch, carry out material while exchanging, require AGV accurate positioning, but to travel route in the way between the operation website of working equipment without strict positioning requirements.
Existing AGV navigate mode mainly adopts track to carry out the rail type navigate mode of guiding run course, the Electrified track magnetic orbital of rail type navigate mode and metal track two classes, electromagnetic path navigate mode is to utilize the electromagnetic path that is laid on ground that travel route is set, AGV navigates according to the information of the sensor detection electromagnetic path of settling on it, as shown in Figure 1; Metal track type navigate mode is to utilize the metal track (rail) that is laid on the ground (or aerial) that travel route is set, and AGV travels by the constraint of metal track completely, as shown in Figure 2.Rail type navigate mode advantage is that AGV reaches operation post point location simply, accurately; Shortcoming is: during (1) carrying path change, need to again lay track, bothersome time-consuming, very flexible is revised in path, is applicable to the fixing mode of production in path; (2) to track in the position of the relative working equipment of operation website and direction (pose) require high so that AGV and working equipment accurately carry out material exchange.
Utility model content
The purpose of this utility model is to provide a kind of production line free path AGV robot positioning system, and this system can ShiAGV robot be no longer dependent on fixing track and independent and flexible operation, and can realize with other working equipments and positioning exactly.
The technical scheme that the utility model adopts is: production line free path AGV robot positioning system, comprise apparatus for work HeAGV robot, apparatus for work comprises lathe and the material switch connecting successively, the side of material switch is provided with secondary location marker, lathe one side is provided with one-level location marker, and one-level location marker and secondary location marker are positioned at the homonymy of material switch; AGV robot comprises AGV and mechanical arm, outside along AGV is respectively arranged with 8 ultrasonic displacement sensors for one week, comprise respectively ultrasonic displacement sensor a, ultrasonic displacement sensor b, ultrasonic displacement sensor c, ultrasonic displacement sensor d, ultrasonic displacement sensor e, ultrasonic displacement sensor f, ultrasonic displacement sensor g and ultrasonic displacement sensor h, a side of mechanical arm has been arranged side by side ultrasonic displacement sensor i and ultrasonic displacement sensor j.
Feature of the present utility model is also,
Secondary location marker comprises respectively marker unit e and the marker unit f being arranged side by side in described material switch side; One-level location marker comprises respectively marker unit a, marker unit b, marker unit c and marker unit d, wherein, marker unit b, marker unit c are parallel with marker unit f with marker unit e respectively, and marker unit a is vertical with marker unit f with described marker unit e respectively with marker unit d; Ultrasonic displacement sensor i and ultrasonic displacement sensor j are corresponding with marker unit e and marker unit f respectively.
The beneficial effects of the utility model are: the positioning system of production line free path AGV of the present utility model robot, do not need to lay track, and the driving path of AGV robot can freely change, and production line has flexibility, can adapt to the needs of many variety production; Adopt the AGV robot dual-positioning method of AGV one-level location, mechanical arm secondary location, although location cost increases to some extent, saved the expense of laying track, overall economic efficiency is still better than rail type guider.
Accompanying drawing explanation
Fig. 1 is the structural representation of existing electromagnetic path navigational system;
Fig. 2 is the structural representation of existing metal track navigational system;
Fig. 3 is production line free path AGV robot positioning system's of the present utility model structural representation;
Fig. 4 is the vertical view of Fig. 3.
In figure, 1. lathe, 2. material switch, 3. one-level location marker, 4. secondary location marker, 5.AGV, 6. mechanical arm;
31. marker unit a, 32. marker unit b, 33. marker unit c, 34. marker unit d;
41. marker unit e, 42. marker unit f;
51. ultrasonic displacement sensor a, 52. ultrasonic displacement sensor b, 53. ultrasonic displacement sensor c, 54. ultrasonic displacement sensor d, 55. ultrasonic displacement sensor e, 56. ultrasonic displacement sensor f, 57. ultrasonic displacement sensor g, 58. ultrasonic displacement sensor h;
61. ultrasonic displacement sensor i, 62. ultrasonic displacement sensor j.
Embodiment
Below in conjunction with embodiment, the utility model is elaborated.
The utility model provides a kind of production line free path AGV robot positioning system, as shown in Figure 3 and Figure 4, comprise apparatus for work HeAGV robot, apparatus for work comprises lathe 1 and the material switch 2 connecting successively, the side of material switch 2 is provided with secondary location marker 4, lathe 1 one sides are provided with one-level location marker 3, and one-level location marker 3 and secondary location marker 4 are positioned at the homonymy of material switch 2; AGV robot comprises AGV5 and mechanical arm 6, outside along AGV5 is respectively arranged with 8 ultrasonic displacement sensors for one week, comprise respectively ultrasonic displacement sensor a51, ultrasonic displacement sensor b52, ultrasonic displacement sensor c53, ultrasonic displacement sensor d54, ultrasonic displacement sensor e55, ultrasonic displacement sensor f56, ultrasonic displacement sensor g57 and ultrasonic displacement sensor h58, a side of mechanical arm 6 has been arranged side by side ultrasonic displacement sensor i61 and ultrasonic displacement sensor j62.
Secondary location marker 4 comprises respectively marker unit e41 and the marker unit f42 being arranged side by side in material switch 2 sides; One-level location marker 3 comprises respectively marker unit a31, marker unit b32, marker unit c33 and marker unit d34, wherein, marker unit b32, marker unit c33 are parallel with marker unit f41 with marker unit e41 respectively, and marker unit a31 is vertical with marker unit f41 with marker unit e41 respectively with marker unit d34; Ultrasonic displacement sensor i61 and ultrasonic displacement sensor j62 are corresponding with marker unit e41 and marker unit f42 respectively.
The using method of this system is as follows:
The first step, AGV location
AGV5 positions control according to the information of the one-level location marker 3 of 8 ultrasonic displacement sensor perception, specifically, controls the AGV5 running speed-reduction that advances after the information of ultrasonic displacement sensor a51 perception marker unit d34; After the information of ultrasonic displacement sensor a51 perception marker unit b32, controlling AGV5 advances to travel and stops; Then AGV5 positions adjustment, according to the information of ultrasonic displacement sensor a51 and ultrasonic displacement sensor b52 difference perception marker unit b32 and marker unit c33, utilize craspedodrome, turning, the cross running function of AGV5, adjust position and the direction of AGV5, carry out AGV location;
Second step, the relative material switch of mechanical arm location
Mechanical arm 6 is respectively according to the information of ultrasonic displacement sensor i61 and ultrasonic displacement sensor j62 perception marker unit e41 and marker unit f42, utilize mechanical arm 6 all around locomotive functions, adjust the position of mechanical arm 6 relative material switches 2, the location of realizing mechanical arm 6 relative material switches 2.
When AGV5 travels to apparatus for work from different directions, the function of ultrasonic displacement sensor a51 and ultrasonic displacement sensor b52 is substituted by ultrasonic displacement sensor c53 and ultrasonic displacement sensor d54 respectively; Or by ultrasonic displacement sensor e55 and ultrasonic displacement sensor f56, substituted respectively; Or by ultrasonic displacement sensor g57 and ultrasonic displacement sensor h58, substituted respectively.
Apparatus for work is applied to respectively machining tool website, detects website, discrepancy warehouse website or loading and unloading website.
The positioning system of production line free path AGV of the present utility model robot can ShiAGV robot be no longer dependent on fixing track to be moved flexibly, and can realize with other working equipments and positioning exactly.Do not need to lay track, the travel path of AGV robot can freely change, and production line has flexibility, can adapt to the needs of many variety production; Adopt the AGV robot dual-positioning method of AGV one-level location, mechanical arm secondary location, although location cost increases to some extent, saved the expense of laying track, overall economic efficiency is still better than rail type guider.
Claims (2)
1. production line free path AGV robot positioning system, comprise apparatus for work HeAGV robot, it is characterized in that, described apparatus for work comprises lathe (1) and the material switch (2) connecting successively, the side of described material switch (2) is provided with secondary location marker (4), described lathe (1) one side is provided with one-level location marker (3), and described one-level location marker (3) and described secondary location marker (4) are positioned at the homonymy of described material switch (2), described AGV robot comprises AGV (5) and mechanical arm (6), outside along described AGV (5) is respectively arranged with 8 ultrasonic displacement sensors for one week, comprise respectively ultrasonic displacement sensor a (51), ultrasonic displacement sensor b (52), ultrasonic displacement sensor c (53), ultrasonic displacement sensor d (54), ultrasonic displacement sensor e (55), ultrasonic displacement sensor f (56), ultrasonic displacement sensor g (57) and ultrasonic displacement sensor h (58), one side of described mechanical arm (6) has been arranged side by side ultrasonic displacement sensor i (61) and ultrasonic displacement sensor j (62).
2. production line free path AGV robot positioning system as claimed in claim 1, it is characterized in that, described secondary location marker (4) comprises respectively marker unit e (41) and the marker unit f (42) being arranged side by side in described material switch (2) side; Described one-level location marker (3) comprises respectively marker unit a (31), marker unit b (32), marker unit c (33) and marker unit d (34), wherein, described marker unit b (32), marker unit c (33) are parallel with marker unit f (41) with described marker unit e (41) respectively, and described marker unit a (31) is vertical with marker unit f (41) with described marker unit e (41) respectively with marker unit d (34); Described ultrasonic displacement sensor i (61) and ultrasonic displacement sensor j (62) are corresponding with described marker unit e (41) and marker unit f (42) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420406933.6U CN203965942U (en) | 2014-07-22 | 2014-07-22 | production line free path AGV robot positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420406933.6U CN203965942U (en) | 2014-07-22 | 2014-07-22 | production line free path AGV robot positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203965942U true CN203965942U (en) | 2014-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420406933.6U Expired - Fee Related CN203965942U (en) | 2014-07-22 | 2014-07-22 | production line free path AGV robot positioning system |
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| Country | Link |
|---|---|
| CN (1) | CN203965942U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155977A (en) * | 2014-07-22 | 2014-11-19 | 绍兴绍力机电科技有限公司 | Positioning system and positioning method for production line free path AGV robot |
| CN107450542A (en) * | 2017-08-09 | 2017-12-08 | 苏州阿甘机器人有限公司 | The AGV dollies and its method of work of a kind of carrying small-sized material |
-
2014
- 2014-07-22 CN CN201420406933.6U patent/CN203965942U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155977A (en) * | 2014-07-22 | 2014-11-19 | 绍兴绍力机电科技有限公司 | Positioning system and positioning method for production line free path AGV robot |
| CN104155977B (en) * | 2014-07-22 | 2017-09-12 | 绍兴绍力机电科技有限公司 | Production line free path AGV robot positioning systems and localization method |
| CN107450542A (en) * | 2017-08-09 | 2017-12-08 | 苏州阿甘机器人有限公司 | The AGV dollies and its method of work of a kind of carrying small-sized material |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141126 Termination date: 20190722 |