CN211495528U

Movatterモバイル変換

Info

Publication number: CN211495528U
Application number: CN201922318676.6U
Authority: CN
Inventors: 陈钦明; 林惠勇; 徐中福; 刘海金; 董兴灿
Original assignee: Baite Fujian Intelligent Equipment Technology Co Ltd
Current assignee: Wuliangye Yibin Co Ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-09-15
Anticipated expiration: 2029-12-20

Abstract

本实用新型涉及AGV小车物料托盘定位技术领域，具体涉及一种AGV物料托盘定位装置；包括AGV小车、AGV物料托盘、用于AGV物料托盘左右定位的托盘导向定位机构、用于支撑AGV物料托盘的托盘承接机构与用于AGV物料托盘前后定位的机械定位机构；上述AGV物料托盘包括托盘框架、AGV导向机构、AGV定位机构与料仓支撑块，所述托盘框架的顶部两侧对称设置有多组料仓支撑块，所述托盘框架内侧顶面中部固定有AGV定位机构；本实用新型通过上述托盘导向定位机构200、托盘承接机构300和机械定位机构400实现对AGV物料托盘实现前后左右高度5个方向的精定位，重复定位精度可到达±2mm，以满足机器人直接抓取托盘上料仓的精度要求。

The utility model relates to the technical field of AGV trolley material tray positioning, in particular to an AGV material tray positioning device, which comprises an AGV trolley, an AGV material tray, a tray guiding and positioning mechanism for left and right positioning of the AGV material tray, and an AGV material tray for supporting the AGV material tray. Tray receiving mechanism and mechanical positioning mechanism used for front and rear positioning of AGV material tray; the above-mentioned AGV material tray includes tray frame, AGV guide mechanism, AGV positioning mechanism and silo support block. The top of the tray frame is symmetrically arranged with multiple groups on both sides The silo support block, the AGV positioning mechanism is fixed in the middle of the inner top surface of the tray frame; the utility model realizes the height of 5 front and rear, left and right for the AGV material tray through the above-mentioned tray guiding and positioning mechanism 200, tray receiving mechanism 300 and mechanical positioning mechanism 400. The precise positioning of the direction, the repeated positioning accuracy can reach ±2mm, to meet the accuracy requirements of the robot directly grabbing the silo on the pallet.

Description

Translated fromChinese

一种AGV物料托盘定位装置An AGV material tray positioning device

技术领域technical field

本实用新型涉及AGV小车物料托盘定位技术领域，具体涉及一种AGV物料托盘定位装置。The utility model relates to the technical field of AGV trolley material tray positioning, in particular to an AGV material tray positioning device.

背景技术Background technique

随着人工成本的增加和智能化的发展，AGV无人小车已被广泛应用于汽车、立体车库、码头、仓储、物流、自动化等领域。目前市场上的AGV无人小车大都是通过导航标识，(反光板、二维码、磁条)来实现物料的自动搬运堆垛。这些定位方式的定位原理导致AGV的重复定位精度只能达到±10mm。如果需要更高的重复精度(比如机器人直接抓取需在±2mm内)，对场地和AGV设备需要更严苛的要求，成本也大幅增加。因此考虑一种终端位置精定位装置来实现这种较高的重复精度。With the increase of labor costs and the development of intelligence, AGV unmanned vehicles have been widely used in automobiles, three-dimensional garages, docks, warehousing, logistics, automation and other fields. At present, most of the AGV unmanned vehicles on the market use navigation signs (reflectors, two-dimensional codes, magnetic strips) to realize the automatic handling and stacking of materials. The positioning principles of these positioning methods lead to the repeated positioning accuracy of the AGV only reaching ±10mm. If higher repeatability is required (for example, the robot needs to directly grasp within ±2mm), more stringent requirements are required for the venue and AGV equipment, and the cost also increases significantly. Therefore, a terminal position fine positioning device is considered to achieve this high repeatability.

实用新型内容Utility model content

本实用新型提供了一种AGV物料托盘定位装置，使用普通AGV小车即可实现与物料托盘精准连接，且AGV物料托盘在使用当中能够精准定位以满足工业机器人的抓取精度要求。The utility model provides an AGV material tray positioning device, which can be accurately connected with the material tray by using an ordinary AGV trolley, and the AGV material tray can be accurately positioned in use to meet the grasping accuracy requirements of industrial robots.

本实用新型过以下技术方案予以实现：The utility model is realized through the following technical solutions:

一种AGV物料托盘定位装置，包括AGV小车、AGV物料托盘、用于AGV物料托盘左右定位的托盘导向定位机构、用于支撑AGV物料托盘的托盘承接机构与用于AGV物料托盘前后定位的机械定位机构；An AGV material tray positioning device, including an AGV trolley, an AGV material tray, a tray guide positioning mechanism for left and right positioning of the AGV material tray, a tray receiving mechanism for supporting the AGV material tray, and a mechanical positioning for the front and rear positioning of the AGV material tray mechanism;

上述AGV物料托盘包括托盘框架、AGV导向机构、AGV定位机构与料仓支撑块，所述托盘框架的顶部两侧对称设置有多组料仓支撑块，所述托盘框架内侧顶面中部固定有AGV定位机构，所述AGV定位机构由支撑板及开设于支撑板四角的导向孔组成，所述托盘框架的内部两侧壁上对称设置有AGV导向机构，所述托盘框架的底部两侧设置有与托盘承接机构进行抵接配合的托盘支撑板；The above-mentioned AGV material tray includes a tray frame, an AGV guide mechanism, an AGV positioning mechanism and a silo support block. A plurality of groups of silo support blocks are symmetrically arranged on both sides of the top of the tray frame, and an AGV is fixed in the middle of the inner top surface of the tray frame. Positioning mechanism, the AGV positioning mechanism consists of a support plate and guide holes opened at the four corners of the support plate, the inner two side walls of the tray frame are symmetrically provided with AGV guide mechanisms, and the bottom sides of the tray frame are provided with A pallet support plate that is abutted and matched by the pallet receiving mechanism;

上述AGV小车的顶部设置有与导向孔相配合的导向销；The top of the above-mentioned AGV trolley is provided with a guide pin matched with the guide hole;

上述托盘导向定位机构分为左右两组平行设置，所述托盘导向定位机构包括固定支架、导轮组驱动装置、导向滚轮组件、滑轨组件与与机械限位机构，所述导向滚轮组件通过滑轨组件滑动连接于所述固定支架的顶部，所述导轮组驱动装置安装于所述固定支架的顶部，且其伸缩端与导向滚轮组件相连接，所述机械限位机构包括限位件与抵接件，所述限位件固定于固定支架侧部，所述抵接件固定于导向滚轮组件的底部；The above-mentioned tray guiding and positioning mechanism is divided into two groups, left and right, which are arranged in parallel. The rail assembly is slidably connected to the top of the fixed bracket, the guide wheel group driving device is installed on the top of the fixed bracket, and its telescopic end is connected to the guide roller assembly, and the mechanical limit mechanism includes a limit member and an abutting piece, the limiting piece is fixed on the side of the fixing bracket, and the abutting piece is fixed on the bottom of the guide roller assembly;

上述托盘承接机构左右各两组设于两组托盘导向定位机构之间，所述托盘承接机构包括承接支架与万向球，所述万向球均匀设置于所述承接支架的顶部；Two sets of left and right tray bearing mechanisms are arranged between the two sets of tray guiding and positioning mechanisms, and the tray bearing mechanism includes a bearing bracket and a universal ball, and the universal ball is evenly arranged on the top of the bearing bracket;

上述机械定位机构设于托盘承接机构的前端，其包括固定定位面机构、夹持件与夹紧气缸，所述固定定位面机构上固定安装有夹紧气缸，所述夹紧气缸输出转轴上安装有夹持件。The above-mentioned mechanical positioning mechanism is arranged at the front end of the tray receiving mechanism, which includes a fixed positioning surface mechanism, a clamping piece and a clamping cylinder. A clamping cylinder is fixedly installed on the fixed positioning surface mechanism, and a clamping cylinder is installed on the output shaft of the clamping cylinder. There are clamps.

进一步的，所述托盘支撑板到托盘框架支脚的距离小于托盘承接机构的高度。Further, the distance from the tray support plate to the legs of the tray frame is smaller than the height of the tray receiving mechanism.

进一步的，所述滑轨组件由线性滑轨与滑块组成，线性滑轨固定于固定支架的顶部两侧，滑块分别固定于导向滚轮组件的底部两侧，两侧滑块分别与两侧线性滑轨滑动连接。Further, the slide rail assembly is composed of a linear slide rail and a slider, the linear slide rail is fixed on both sides of the top of the fixed bracket, the sliders are respectively fixed on both sides of the bottom of the guide roller assembly, and the sliders on both sides are respectively connected to the two sides of the bottom of the guide roller assembly. Linear slide slide connection.

进一步的的，AGV小车进入到AGV物料托盘内后，所述AGV小车与两侧AGV导向机构的双边间隙小于10mm。Further, after the AGV trolley enters the AGV material tray, the bilateral gap between the AGV trolley and the AGV guide mechanisms on both sides is less than 10mm.

进一步的，两侧料仓支撑块的顶部交替设置有定位销。Further, positioning pins are alternately arranged on the tops of the support blocks of the silos on both sides.

进一步的，两侧所述托盘导向定位机构上的导轮组驱动装置伸长至限位件与抵接件相抵接时，两侧导向滚轮组件之间的最短间距等于AGV物料托盘的宽度。Further, when the guide wheel group driving devices on the tray guide and positioning mechanisms on both sides are extended until the stopper and the abutment member abut, the shortest distance between the guide roller assemblies on both sides is equal to the width of the AGV material tray.

本实用新型的有益效果是：The beneficial effects of the present utility model are:

本实用新型通过上述托盘导向定位机构200、托盘承接机构300和机械定位机构400实现对AGV物料托盘实现前后左右高度5个方向的精定位，重复定位精度可到达±2mm，以满足机器人直接抓取托盘上料仓的精度要求。The utility model realizes the precise positioning of the AGV material tray in five directions of front, rear, left, right, and height through the above-mentioned tray guiding andpositioning mechanism 200, trayreceiving mechanism 300 andmechanical positioning mechanism 400, and the repeat positioning accuracy can reach ±2mm, so as to meet the requirements of direct grasping by robots. Accuracy requirements for pallet loading bins.

附图说明Description of drawings

为了更清楚地说明本实用新型实施方式的技术方案，下面将对实施方式中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本实用新型的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

图1是本实用新型的结构示意图；Fig. 1 is the structural representation of the present utility model;

图2是AGV物料托盘示意图；Figure 2 is a schematic diagram of the AGV material tray;

图3是托盘导向定位机构示意图；Figure 3 is a schematic diagram of a tray guiding and positioning mechanism;

图4是托盘承接机构示意图；Figure 4 is a schematic diagram of a tray receiving mechanism;

图5是机械定位机构示意图；5 is a schematic diagram of a mechanical positioning mechanism;

图6是AGV小车的示意图；Figure 6 is a schematic diagram of an AGV car;

图7是AGV物料托盘中AGV导向机构导向AGV小车的示意图；Figure 7 is a schematic diagram of the AGV guide mechanism guiding the AGV trolley in the AGV material tray;

图8是托盘导向定位机构导向AGV小车及AGV物料托盘的示意图；Figure 8 is a schematic diagram of the tray guiding and positioning mechanism guiding the AGV trolley and the AGV material tray;

图9是托盘导向定位机构上机械限位机构的示意图。FIG. 9 is a schematic diagram of the mechanical limit mechanism on the tray guide positioning mechanism.

图中的标号分别代表：The symbols in the figure represent:

AGV物料托盘100；托盘框架110；托盘支撑板111；AGV导向机构120；AGV定位机构130；支撑板131；导向孔132；料仓支撑块140；托盘导向定位机构200；固定支架210；导轮组驱动装置220；导向滚轮组件230；滑轨组件240；机械限位机构250；限位件251；抵接件252；托盘承接机构300；承接支架310；万向球320；机械定位机构400；固定定位面机构410；支架411；固定件412；夹持件420；夹持气缸430；AGV小车500；导向销510；料仓600。AGV material tray 100;tray frame 110;tray support plate 111;AGV guide mechanism 120;AGV positioning mechanism 130;support plate 131;guide hole 132;Group drive device 220;guide roller assembly 230;slide rail assembly 240;mechanical limit mechanism 250;limit member 251;abutment member 252;tray receiving mechanism 300;receiving bracket 310;universal ball 320; Fixingpositioning surface mechanism 410;bracket 411;fixing piece 412;clamping piece 420;clamping cylinder 430;AGV trolley 500;guide pin 510;

具体实施方式Detailed ways

为使本实用新型实施方式的目的、技术方案和优点更加清楚，下面将结合本实用新型实施方式中的附图，对本实用新型实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本实用新型一部分实施方式，而不是全部的实施方式。基于本实用新型中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本实用新型保护的范围。因此，以下对在附图中提供的本实用新型的实施方式的详细描述并非旨在限制要求保护的本实用新型的范围，而是仅仅表示本实用新型的选定实施方式。基于本实用新型中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本实用新型保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments of the present invention are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

在本实用新型的描述中，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本实用新型的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

参照附图1，一种AGV物料托盘定位装置，包括AGV小车500、AGV物料托盘100、用于AGV物料托盘100左右定位的托盘导向定位机构200、用于支撑AGV物料托盘100的托盘承接机构300与用于AGV物料托盘100前后定位的机械定位机构400；Referring to FIG. 1, an AGV material tray positioning device includes anAGV trolley 500, anAGV material tray 100, a tray guiding andpositioning mechanism 200 for locating theAGV material tray 100 left and right, and atray receiving mechanism 300 for supporting theAGV material tray 100. With themechanical positioning mechanism 400 for the front and rear positioning of theAGV material tray 100;

参照附图1和2，上述AGV物料托盘100包括托盘框架110、AGV导向机构120、AGV定位机构130、料仓支撑块140与定位销150，托盘框架110的顶部两侧对称设置有多组料仓支撑块140，定位销150交替设置于两侧料仓支撑块140的顶部，托盘框架110内侧顶面中部固定有AGV定位机构130，AGV定位机构130由支撑板131及开设于支撑板131四角的导向孔132组成，托盘框架110的内部两侧壁上对称设置有AGV导向机构120，其中AGV导向机构120由固定框与安装于固定框内的滚轮组构成，托盘框架110的底部两侧设置有与托盘承接机构300进行抵接配合的托盘支撑板111；1 and 2, the above-mentionedAGV material tray 100 includes atray frame 110, anAGV guide mechanism 120, anAGV positioning mechanism 130, asilo support block 140 and apositioning pin 150. The top of thetray frame 110 is symmetrically arranged with multiple groups of materials on both sides. Thesilo support block 140, thepositioning pins 150 are alternately arranged on the top of thesilo support blocks 140 on both sides, and theAGV positioning mechanism 130 is fixed in the middle of the inner top surface of thetray frame 110. TheAGV guide mechanism 120 is symmetrically arranged on the inner two side walls of thetray frame 110, wherein theAGV guide mechanism 120 is composed of a fixed frame and a roller set installed in the fixed frame, and the bottom of thetray frame 110 is provided on both sides. There is atray support plate 111 for abutting and matching with thetray receiving mechanism 300;

参照附图6，上述AGV小车500的顶部设置有与导向孔132相配合的导向销510；其中AGV小车500为承载平台具有升降功能的常规现有技术中的AGV小车；6, the top of the above-mentioned AGVtrolley 500 is provided with aguide pin 510 matched with theguide hole 132; wherein the AGVtrolley 500 is a conventional prior art AGV trolley with a lifting function of the carrying platform;

参照附图1、3和9，上述托盘导向定位机构200分为左右两组平行设置，托盘导向定位机构200包括固定支架210、导轮组驱动装置220、导向滚轮组件230、滑轨组件240与机械限位机构250，其中导向滚轮组件230由上下连接板及均匀设置于上下连接板之间的滚轮组成；导向滚轮组件230通过滑轨组件240滑动连接于固定支架210的顶部，导轮组驱动装置220安装于固定支架210的顶部，且其伸缩端与导向滚轮组件230相连接，机械限位机构250包括限位件251与抵接件252，限位件251固定于固定支架210侧部，抵接件252固定于导向滚轮组件230的底部；其中导轮组驱动装置220可选用伸缩气缸，也可采用其它直线驱动机构。Referring to Figures 1, 3 and 9, the above-mentioned tray guiding andpositioning mechanism 200 is divided into two groups, left and right, which are arranged in parallel. Themechanical limit mechanism 250, wherein theguide roller assembly 230 is composed of upper and lower connecting plates and rollers evenly arranged between the upper and lower connecting plates; theguide roller assembly 230 is slidably connected to the top of the fixedbracket 210 through theslide rail assembly 240, and the guide wheel group drives Thedevice 220 is installed on the top of the fixedbracket 210 , and its telescopic end is connected with theguide roller assembly 230 . Themechanical limit mechanism 250 includes alimit piece 251 and acontact piece 252 , and thelimit piece 251 is fixed on the side of the fixedbracket 210 . The abuttingmember 252 is fixed on the bottom of theguide roller assembly 230 ; wherein the guide roller set drivingdevice 220 can be selected from a telescopic cylinder or other linear drive mechanisms.

参照附图1和4，上述托盘承接机构300左右各两组设于两组托盘导向定位机构200之间，托盘承接机构300包括承接支架310与万向球320，万向球320均匀设置于承接支架310的顶部；AGV物料托盘100放置于托盘承接机构300顶部后可进行前后左右的滑动。Referring to Figures 1 and 4 , two groups of the above-mentionedtray receiving mechanisms 300 are arranged between the two sets of tray guiding andpositioning mechanisms 200. Thetray receiving mechanism 300 includes a receivingbracket 310 and auniversal ball 320. Theuniversal balls 320 are evenly arranged in the receiving The top of thebracket 310; after theAGV material tray 100 is placed on the top of thetray receiving mechanism 300, it can slide back and forth, left and right.

参照附图1和5，上述机械定位机构400设于托盘承接机构300的前端，其包括固定定位面机构410、夹持件420与夹紧气缸430，其中固定定位面机构410由支架411以及固定安装于支架411顶部的固定件412组成；固定定位面机构410上固定安装有夹紧气缸430，夹紧气缸430输出转轴上安装有夹持件420；其中夹紧气缸430为常规现有技术，其可带动夹持件420绕其输出转轴进行来回翻转，进而实现夹持动作，用于夹持托盘框架110的前端横杆，以实现AGV物料托盘100前后精定位。机械定位机构400初始时，夹持件420呈水平或水平向下倾斜的状态，夹持时夹紧气缸430带动夹持件420向上翻转。1 and 5, the above-mentionedmechanical positioning mechanism 400 is provided at the front end of thetray receiving mechanism 300, which includes a fixedpositioning surface mechanism 410, a clampingmember 420 and aclamping cylinder 430, wherein the fixedpositioning surface mechanism 410 is fixed by abracket 411 and a fixedpositioning surface mechanism 410. It is composed of a fixingpiece 412 installed on the top of thebracket 411; aclamping cylinder 430 is fixedly installed on the fixedpositioning surface mechanism 410, and aclamping piece 420 is installed on the output shaft of theclamping cylinder 430; wherein theclamping cylinder 430 is a conventional prior art, It can drive the clampingmember 420 to flip back and forth around its output shaft, thereby realizing the clamping action, which is used to clamp the front-end crossbar of thetray frame 110 to realize the front and rear precise positioning of theAGV material tray 100 . When themechanical positioning mechanism 400 is initially, the clampingmember 420 is in a state of horizontal or horizontal downward inclination, and theclamping cylinder 430 drives the clampingmember 420 to turn upward during clamping.

参照附图1，托盘支撑板111到托盘框架110支脚的距离小于托盘承接机构300的高度；当托盘支撑板111与托盘承接机构300相抵接时，托盘框架110支脚能够脱离地面。1 , the distance from thepallet support plate 111 to the feet of thepallet frame 110 is less than the height of thepallet receiving mechanism 300; when thepallet support plate 111 abuts thepallet receiving mechanism 300, the feet of thepallet frame 110 can be separated from the ground.

参照附图3，滑轨组件240由线性滑轨与滑块组成，线性滑轨固定于固定支架210的顶部两侧，滑块分别固定于导向滚轮组件230的底部两侧，两侧滑块分别与两侧线性滑轨滑动连接。Referring to FIG. 3 , theslide rail assembly 240 is composed of a linear slide rail and a slider. The linear slide rail is fixed on both sides of the top of the fixingbracket 210 , the sliders are respectively fixed on both sides of the bottom of theguide roller assembly 230 , and the sliders on both sides are respectively Sliding connection with linear slides on both sides.

参照附图1与7，AGV小车500进入到AGV物料托盘100内后，AGV小车500与两侧AGV导向机构120的双边间隙小于10mm；AGV小车500进入AGV物料托盘100内后，使AGV小车500与AGV物料托盘100的中心线最终偏差缩小到±5mm以内，实现AGV小车500的左右位置调整。Referring to Figures 1 and 7, after theAGV trolley 500 enters theAGV material tray 100, the bilateral gap between theAGV trolley 500 and theAGV guide mechanisms 120 on both sides is less than 10mm; after theAGV trolley 500 enters theAGV material tray 100, theAGV trolley 500 The final deviation from the center line of theAGV material tray 100 is reduced to within ±5mm, and the left and right position adjustment of theAGV trolley 500 is realized.

参照附图1和2，两侧料仓支撑块140的顶部交替设置有定位销150；使用时，料仓600放置于AGV物料托盘100顶部，料仓600的底部开设有与定位销150相匹配的圆孔槽，以实现料仓600的定位及防止料仓600的滑落。Referring to Figures 1 and 2, the tops of the silo support blocks 140 on both sides are alternately provided withpositioning pins 150; when in use, thesilo 600 is placed on the top of theAGV material tray 100, and the bottom of thesilo 600 is provided with a matchingpositioning pin 150 The circular hole groove is used to realize the positioning of thesilo 600 and prevent thesilo 600 from sliding down.

参照附图9，两侧托盘导向定位机构200上的导轮组驱动装置220伸长至限位件251与抵接件252相抵接时，两侧导向滚轮组件230之间的最短间距等于AGV物料托盘100的宽度；即两侧导轮组驱动装置220伸长至限位件251与抵接件252相抵接时，AGV物料托盘100正好被推至正中间位置。Referring to FIG. 9 , when the guide rollergroup driving device 220 on the guide andpositioning mechanism 200 on both sides is extended until thestopper 251 and theabutment member 252 abut, the shortest distance between theguide roller assemblies 230 on both sides is equal to the AGV material The width of thetray 100; that is, theAGV material tray 100 is just pushed to the middle position when thedriving device 220 of the guide wheel group on both sides is extended until the limitingmember 251 and the abuttingmember 252 abut.

AGV物料托盘定位装置使用时，将托盘导向定位机构200安装在机器人需要抓取料仓的指定位置地面，分左右两组托盘导向定位机构200进行安装，托盘承接机构300左右各两组设于两组托盘导向定位机构200之间，机械定位机构400设于托盘承接机构300的前端。When the AGV material tray positioning device is used, the tray guiding andpositioning mechanism 200 is installed on the ground at the designated position where the robot needs to grab the silo, and the two groups of left and right tray guiding andpositioning mechanisms 200 are installed. Themechanical positioning mechanism 400 is arranged at the front end of thetray receiving mechanism 300 between the group trays guiding thepositioning mechanism 200 .

工作原理：working principle:

AGV小车500根据设定好的导航行驶至AGV物料托盘100的正前方，此时AGV小车500中心线与AGV物料托盘100的中心线可能会有±20mm以内的偏差。当AGV小车500进入AGV物料托盘100时，依靠物料托盘下方的AGV导向机构120导轮组进行导正粗定位，使AGV小车500与AGV物料托盘100最终偏差缩小到±5mm以内(如附图7所示)。AGV小车500前进到位停止后，其承载平台上升，承载平台上的导向销510插入AGV物料托盘100上的导向孔132，并继续上升使AGV物料托盘100脱离地面。AGV小车500载着AGV物料托盘100行驶至机器人抓取工位(即需要精定位的工位)前方。此时AGV小车500中心线与精定位工位的中心线可能会有±20mm以内的偏差。托盘导向定位机构200的导向滚轮组件230先退回，然后AGV小车500缓慢行驶进入精定位工位，此过程中，导向滚轮组件230与AGV物料托盘100侧壁相抵接对AGV小车500进行导正(如附图8所示)。AGV小车继续前进，直至AGV物料托盘100抵住机械定位机构400的固定件412。AGV小车500承载平台下降，将AGV物料托盘100放在承接平台300上，AGV物料托盘100的支脚不接触地面。AGV小车500行驶离开，托盘导向定位机构200两侧的导向轮组230推出至自身机械限位，把AGV物料托盘100推至正中间位置，此时AGV物料托盘100中心线与精定位工位中心线偏差可缩小到±2mm以内。进一步的机械定位机构400的夹持件420夹住AGV物料托盘100的前端横杆，实现托盘前后精定位。至此AGV物料托盘100的前后左右已经被完全固定住，从而实现了AGV物料托盘100的精准定位，满足机器人精准抓取料仓600的功能。TheAGV trolley 500 drives to the front of theAGV material tray 100 according to the set navigation. At this time, the center line of theAGV trolley 500 and the center line of theAGV material tray 100 may have a deviation within ±20mm. When theAGV trolley 500 enters theAGV material tray 100, the guide wheel set of theAGV guide mechanism 120 under the material tray is used for guiding and rough positioning, so that the final deviation between theAGV trolley 500 and theAGV material tray 100 is reduced to within ±5mm (as shown in Figure 7 shown). After theAGV trolley 500 advances and stops, its carrying platform rises, the guide pins 510 on the carrying platform are inserted into the guide holes 132 on theAGV material tray 100, and continue to rise to make theAGV material tray 100 off the ground. TheAGV trolley 500 carries theAGV material tray 100 and travels to the front of the robot grabbing station (ie, the station requiring precise positioning). At this time, the center line of theAGV trolley 500 and the center line of the fine positioning station may have a deviation within ±20mm. Theguide roller assembly 230 of the tray guide andpositioning mechanism 200 first retreats, and then theAGV trolley 500 slowly travels into the fine positioning station. During this process, theguide roller assembly 230 abuts against the side wall of theAGV material tray 100 to guide the AGV trolley 500 ( as shown in Figure 8). The AGV trolley continues to move forward until theAGV material tray 100 abuts the fixingmember 412 of themechanical positioning mechanism 400 . The carrying platform of theAGV trolley 500 is lowered, and theAGV material tray 100 is placed on the receivingplatform 300. The feet of theAGV material tray 100 do not touch the ground. TheAGV trolley 500 drives away, and the guide wheel sets 230 on both sides of the tray guiding andpositioning mechanism 200 are pushed out to their own mechanical limits, and theAGV material tray 100 is pushed to the middle position. Line deviation can be reduced to within ±2mm. Further, the clampingmember 420 of themechanical positioning mechanism 400 clamps the front-end cross bar of theAGV material tray 100 to realize precise positioning of the tray front and rear. So far, the front, rear, left and right sides of theAGV material tray 100 have been completely fixed, thereby realizing the precise positioning of theAGV material tray 100 and satisfying the function of the robot to accurately grasp thesilo 600 .

以上所述仅为本实用新型的优选实施方式而已，并不用于限制本实用新型，对于本领域的技术人员来说，本实用新型可以有各种更改和变化。凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包括在本实用新型的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

Translated fromChinese

1.一种AGV物料托盘定位装置，包括AGV小车(500)，其特征在于，还包括：AGV物料托盘(100)、用于AGV物料托盘(100)左右定位的托盘导向定位机构(200)、用于支撑AGV物料托盘(100)的托盘承接机构(300)与用于AGV物料托盘(100)前后定位的机械定位机构(400)；1. An AGV material tray positioning device, comprising an AGV trolley (500), characterized in that it further comprises: an AGV material tray (100), a tray guide positioning mechanism (200) for locating the AGV material tray (100) left and right, a tray receiving mechanism (300) for supporting the AGV material tray (100) and a mechanical positioning mechanism (400) for positioning the AGV material tray (100) back and forth;

上述AGV物料托盘(100)包括托盘框架(110)、AGV导向机构(120)、AGV定位机构(130)与料仓支撑块(140)，所述托盘框架(110)的顶部两侧对称设置有多组料仓支撑块(140)，所述托盘框架(110)内侧顶面中部固定有AGV定位机构(130)，所述AGV定位机构(130)由支撑板(131)及开设于支撑板(131)四角的导向孔(132)组成，所述托盘框架(110)的内部两侧壁上对称设置有AGV导向机构(120)，所述托盘框架(110)的底部两侧设置有与托盘承接机构(300)进行抵接配合的托盘支撑板(111)；The above-mentioned AGV material tray (100) includes a tray frame (110), an AGV guide mechanism (120), an AGV positioning mechanism (130) and a silo support block (140), and two sides of the top of the tray frame (110) are symmetrically provided with There are multiple groups of silo support blocks (140), an AGV positioning mechanism (130) is fixed in the middle of the inner top surface of the tray frame (110), and the AGV positioning mechanism (130) consists of a support plate (131) and a support plate (131). 131) The four corners of the guide holes (132) are formed, the inner two side walls of the tray frame (110) are symmetrically provided with AGV guide mechanisms (120), and both sides of the bottom of the tray frame (110) are provided with the tray to undertake a tray support plate (111) with which the mechanism (300) abuts and cooperates;

上述AGV小车(500)的顶部设置有与导向孔(132)相配合的导向销(510)；The top of the AGV trolley (500) is provided with a guide pin (510) matched with the guide hole (132);

上述托盘导向定位机构(200)分为左右两组平行设置，所述托盘导向定位机构(200)包括固定支架(210)、导轮组驱动装置(220)、导向滚轮组件(230)、滑轨组件(240)与机械限位机构(250)，所述导向滚轮组件(230)通过滑轨组件(240)滑动连接于所述固定支架(210)的顶部，所述导轮组驱动装置(220)安装于所述固定支架(210)的顶部，且其伸缩端与导向滚轮组件(230)相连接，所述机械限位机构(250)包括限位件(251)与抵接件(252)，所述限位件(251)固定于固定支架(210)侧部，所述抵接件(252)固定于导向滚轮组件(230)的底部；The above-mentioned tray guiding and positioning mechanism (200) is divided into two groups, left and right, which are arranged in parallel. An assembly (240) and a mechanical limiting mechanism (250), the guide roller assembly (230) is slidably connected to the top of the fixed bracket (210) through the slide rail assembly (240), and the guide roller assembly driving device (220) ) is installed on the top of the fixed bracket (210), and its telescopic end is connected with the guide roller assembly (230), and the mechanical limit mechanism (250) includes a limit piece (251) and a contact piece (252) , the limiting member (251) is fixed on the side of the fixing bracket (210), and the abutting member (252) is fixed on the bottom of the guide roller assembly (230);

上述托盘承接机构(300)左右各两组设于两组托盘导向定位机构(200)之间，所述托盘承接机构(300)包括承接支架(310)与万向球(320)，所述万向球(320)均匀设置于所述承接支架(310)的顶部；The left and right two sets of the above-mentioned tray receiving mechanisms (300) are arranged between the two sets of tray guiding and positioning mechanisms (200). The balls (320) are evenly arranged on the top of the receiving bracket (310);

上述机械定位机构(400)设于托盘承接机构(300)的前端，其包括固定定位面机构(410)、夹持件(420)与夹紧气缸(430)，所述固定定位面机构(410)上固定安装有夹紧气缸(430)，所述夹紧气缸(430)输出转轴上安装有夹持件(420)。The above-mentioned mechanical positioning mechanism (400) is provided at the front end of the tray receiving mechanism (300), and includes a fixed positioning surface mechanism (410), a clamping member (420) and a clamping cylinder (430), the fixed positioning surface mechanism (410) ) is fixedly installed with a clamping cylinder (430), and a clamping member (420) is installed on the output shaft of the clamping cylinder (430).

2.根据权利要求1所述一种AGV物料托盘定位装置，其特征在于，所述托盘支撑板(111)到托盘框架(110)支脚的距离小于托盘承接机构(300)的高度。2 . The AGV material tray positioning device according to claim 1 , wherein the distance from the tray support plate ( 111 ) to the feet of the tray frame ( 110 ) is smaller than the height of the tray receiving mechanism ( 300 ). 3 .

3.根据权利要求1所述一种AGV物料托盘定位装置，其特征在于，所述滑轨组件(240)由线性滑轨与滑块组成，线性滑轨固定于固定支架(210)的顶部两侧，滑块分别固定于导向滚轮组件(230)的底部两侧，两侧滑块分别与两侧线性滑轨滑动连接。3. The AGV material tray positioning device according to claim 1, wherein the slide rail assembly (240) is composed of a linear slide rail and a slider, and the linear slide rail is fixed on the top two of the fixed bracket (210). The sliding blocks are respectively fixed on both sides of the bottom of the guide roller assembly (230), and the sliding blocks on both sides are respectively slidably connected with the linear sliding rails on both sides.

4.根据权利要求1所述一种AGV物料托盘定位装置，其特征在于，AGV小车(500)进入到AGV物料托盘(100)内后，所述AGV小车(500)与两侧AGV导向机构(120)的双边间隙小于10mm。4. The AGV material tray positioning device according to claim 1, characterized in that, after the AGV trolley (500) enters the AGV material tray (100), the AGV trolley (500) and the AGV guide mechanisms on both sides ( 120) the bilateral gap is less than 10mm.

5.根据权利要求1所述一种AGV物料托盘定位装置，其特征在于，两侧所述料仓支撑块(140)的顶部交替设置有定位销(150)。5 . The AGV material tray positioning device according to claim 1 , wherein positioning pins ( 150 ) are alternately provided on the tops of the silo support blocks ( 140 ) on both sides. 6 .

6.根据权利要求1所述一种AGV物料托盘定位装置，其特征在于，两侧所述托盘导向定位机构(200)上的导轮组驱动装置(220)伸长至限位件(251)与抵接件(252)相抵接时，两侧导向滚轮组件(230)之间的最短间距等于AGV物料托盘(100)的宽度。6. The AGV material tray positioning device according to claim 1, wherein the guide wheel group driving device (220) on the tray guiding and positioning mechanism (200) on both sides is extended to the limiter (251) When abutting against the abutting member (252), the shortest distance between the guide roller assemblies (230) on both sides is equal to the width of the AGV material tray (100).