CN111170229B

CN111170229B - AGV with high-precision parking docking, docking system and docking method thereof

Info

Publication number: CN111170229B
Application number: CN202010098233.5A
Authority: CN
Inventors: 佐富兴; 樊雨; 周晓静; 吴郭芸; 钱雨清
Original assignee: Noblelift Intelligent Equipment Co Ltd
Current assignee: Noblelift Intelligent Equipment Co Ltd
Priority date: 2020-02-18
Filing date: 2020-02-18
Publication date: 2024-11-26
Anticipated expiration: 2040-02-18
Also published as: CN111170229A

Abstract

The invention relates to the field of automatic logistics, in particular to an AGV design. The invention is realized by the following technical scheme: the utility model provides a AGV of high accuracy stop butt joint, contains the automobile body, the automobile body contains the fork, install the adjustment assembly on the fork, the adjustment assembly contains install slide rail on the fork, with slide rail sliding connection's guide device and with the resilient means who leads the device to be connected, guide device contains the direction tool, install the guide pillar on the direction tool. The invention aims to provide an AGV (automatic guided vehicle) with high-precision stop position butt joint, a butt joint system and a butt joint method thereof, wherein the system is simple in structural design, beneficial to implementation, capable of reducing production and processing cost of enterprises, accurate in stop position butt joint, capable of meeting the alignment requirement of CNC (computerized numerical control) machine tools and capable of realizing automation and unmanned in the whole process.

Description

AGV (automatic guided vehicle) with high-precision stop butt joint, butt joint system and butt joint method thereof

Technical Field

The invention relates to the field of automatic logistics, in particular to an AGV design.

Background

An AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, and is capable of traveling along a predetermined guidance path. With the progress of information technology and the maturity of automation level, AGVs are also becoming more common and widely used in various fields of transportation, stacking and logistics.

The chinese patent document CN201811549911.4 discloses an AGV, which includes a car body and a door frame mounted on the car body, and a fork is mounted on the door frame. In an actual logistics operation, a workpiece is loaded on a fork of an AGV, and the workpiece needs to be placed on a CNC machine.

CNC, (Computerised Numerical Control Machine, computer numerical control machine), it belongs to high accuracy processing equipment, and the fixed work piece of loading of to board places the position and location size requirement extremely high, has reached millimeter level to the requirement of the position of placing of work piece. Therefore, a proper, safe and reliable manner is needed to place the workpiece on the machine.

At present, in actual processing in an automatic factory, a processed workpiece is often transported to the vicinity of a CNC machine by using an AGV, and then is placed on the CNC machine by manually using equipment such as a crane. However, the mode still needs manual operation, has low automation degree, needs to be matched with tools such as a crane, and improves the production and processing cost.

In order to promote the degree of automation unmanned, also there is the improvement scheme: AGVs are used for carrying the workpieces to an RGV cargo carrying platform, and then the workpieces are placed on the CNC machine platform through clamping mechanisms such as mechanical arms of the RGVs. If the carrying scheme is adopted, automation and unmanned operation can be realized. However, the complex cost of the RGV engine body is too high, the running area needs to be paved with rails, the occupied channel is large, and the RGV engine body is difficult to change once paved in the later period and is not easy to popularize.

Disclosure of Invention

The invention aims to provide an AGV (automatic guided vehicle) with high-precision stop position butt joint, a butt joint system and a butt joint method thereof, wherein the system is simple in structural design, beneficial to implementation, capable of reducing production and processing cost of enterprises, accurate in stop position butt joint, capable of meeting the alignment requirement of CNC (computerized numerical control) machine tools and capable of realizing automation and unmanned in the whole process.

The technical aim of the invention is realized by the following technical scheme: the utility model provides a AGV of high accuracy stop butt joint, contains the automobile body, the automobile body contains the fork, install the adjustment assembly on the fork, the adjustment assembly contains install slide rail on the fork, with slide rail sliding connection's guide device and with the resilient means who leads the device to be connected, guide device contains the direction tool, install the guide pillar on the direction tool.

Preferably, the extending direction of the guiding jig is perpendicular to the extending direction of the sliding rail.

Preferably, the guide jigs are two, and the guide posts are mounted on the inner side surfaces of the guide jigs.

Preferably, the two guiding jigs are connected by means of a connecting rod.

Preferably, the guide post is a rolling guide post for reducing friction force at the time of surface contact.

Preferably, the guide post is a universal ball or a bearing.

Preferably, the sliding rail comprises a front sliding rail and a rear sliding rail, and the front sliding rail and the rear sliding rail are arranged according to the extending direction of the guiding jig.

Preferably, the sliding rail is a linear sliding rail or a wedge sliding rail.

Preferably, the fork is provided with an inductor for ranging.

Preferably, the sensor is a laser distance measuring sensor or a travel switch.

The utility model provides a high accuracy stops butt joint's docking system, contains AGV and board that high accuracy stopped butt joint, the board contains the mesa, the guide pillar be used for with the lateral surface of mesa is contradicted.

Preferably, the upper surface of the guiding jig is a bearing plane, and the goods are loaded on the bearing plane, and the goods comprise a carrier and a workpiece above the carrier.

A docking method of a docking system for high-precision stop docking comprises the following steps:

S01, proceeding to the step of advancing,

The AGV advances to the machine;

S02, a guide post contact step is carried out,

The guide jig advances, and the guide post collides with the outer side surface of the table top;

S03, a passive transverse moving step,

The AGV continues to advance forwards, and the guide device slides relative to the sliding rail so as to match the position of the table top;

s04, a component placement step of placing the component,

The AGV lowers the forks and the workpiece is placed on the upper surface of the table.

Preferably, before the step S04, a distance measurement stopping step is further included, and the sensor is used for sensing the distance between the AGV and the machine table, and when the distance reaches a preset threshold value, the AGV stops advancing.

In summary, the invention has the following beneficial effects:

1. in the process of the AGV advancing, the goods automatically move transversely to reach the corresponding placement position, and the position accuracy is high.

2. The whole alignment and placement process depends on automatic adjustment between the adjustment assembly and the machine table, manual participation is not needed, and the degree of automation is high.

3. The equipment structure is simple, and the practicality is strong for the cost of enterprise's production and processing is controllable.

Drawings

FIG. 1 is a schematic diagram of a first embodiment;

FIG. 2 is a schematic view of a fork, load, machine, and adjustment assembly;

FIG. 3 is a schematic view of an adjustment assembly.

In the figure:

1. The device comprises a vehicle body, 11, a fork, 2, a machine table, 21, a table top, 3, cargoes, 31, carriers, 32, workpieces, 4, an adjusting assembly, 41, sliding rails, 411, rear sliding rails, 412, front sliding rails, 42, elastic devices, 43, a guide device, 431, a guide jig, 4311, a bearing plane, 432, a connecting rod, 433, a guide post, 5 and an inductor.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.

In embodiment 1, as shown in fig. 1, a fork 11 is provided at the front end of a vehicle body 1 including an AGV and a machine table 2, and the fork 11 can be lifted and lowered in the height direction. The AGV transports a load 3, and the load 3 includes a lower carrier 31 and an upper workpiece 32. In the transport operation, the load 3 needs to be placed on the table top 21 of the machine table 2 from the AGV.

Firstly, the vehicle body 1 advances towards the machine platform 2, wherein the positioning and navigation technology is the prior art, and magnetic stripe navigation, laser navigation or RFID positioning navigation can be adopted, and the scheme is not limited. Unlike the prior art, the cargo 3 is not directly loaded on the fork 11, but is loaded on the fork 11 by the adjustment assembly 4, as shown in fig. 1 and 2.

As shown in fig. 3, fig. 3 is a specific structural diagram of the adjustment assembly 4. A rail 41 is fixedly installed on the fork 11, and the rail 41 may extend in a horizontal lateral direction, i.e., a left-right direction. The slide rail 41 may be a linear slide rail, a wedge chute, or the like, which may be used for guiding. The guide device 43 is slidably mounted on the sliding rail 41, and the guide device 43 may be a half-open frame, and includes two guide jigs 431 on the left and right sides and a connecting rod 432 connecting the two guide jigs 431. The guiding jig 431 extends in the horizontal front-rear direction, and the extending direction is perpendicular to the direction of the slide rail 41. In order to improve stability, the front and rear ends of the guide jig 431 are respectively connected with the rear slide rail 411 and the front slide rail 412. Guide posts 433 are mounted on the inner sides of the guide jigs 431, that is, the sides of the two guide jigs 431 opposite to each other. The guide post 433 may be a mechanism such as a ball, a bearing, etc. that may be used to reduce contact friction. The guide post 433 reduces the friction force of the hard contact, and ensures that the AGV enters smoothly.

During the process that the AGV approaches the machine table 2, the inner sides of the two guiding jigs 431 collide with the two outer sides of the table top 21. In order to facilitate the entry of the guide jig 431, as shown in fig. 2, the corner of the side of the table top 21 near the AGV may be subjected to an oblique cutting process as a guide. In this process, the guide pillar 433 and the outer side surface of the table 21 are in rolling friction, and since the position of the machine 2 is fixed, the guide device 43 can passively move on the slide rail 41 under the interference guidance of the table 21, that is, the effect that the goods 3 realize automatic alignment to the machine 2 without manual participation is formed.

The resilient means 42 provides resilient support for the movement of the guide means 43. The resilient means 42 may be a spring, which is connected at one end to the fork 11 and at the other end to the guide means 43. The elastic device 42 makes the guide device 43 possess a certain range of freedom in the transverse direction, and at the same time, the guide device 43 can be restrained in the transverse direction to keep the guide device 43 and the loaded goods 3 in the initial position when the guide device 43 is separated from the machine table 2, and the guide device cannot swing freely.

The AGV continues to advance and as shown in FIG. 3, the pallet fork 11 has an inductor 5 mounted thereon. The sensor 5 may be in the form of a laser range finding type, an induction type, a travel switch, etc. The sensor 5 is used to detect the distance to the base of the machine 2 so that the AGV stops at a set distance. After stopping, the fork 11 descends, and the goods 3 are accurately placed on the CNC machine table 2.

Based on this technical scheme, realize the automation mechanized operation of CNC board on the machined part, whole unmanned operation, degree of automation is high, efficient. The AGV directly carries the workpiece to the CNC machine without the operation of a third party component such as a mechanical arm, a crane and the like. The whole mechanism is simple and reliable, the processing technology is simple, the assembly is convenient, the AGV cost is much lower than RGV, and the flexibility degree is high, so that the application degree of the invention is high, and the industrial popularization is easy.

Claims

1. A docking method for a docking system with high-precision stop docking, characterized in that: the docking system with high-precision stop docking comprises an AGV with high-precision stop docking and a machine (2), the machine (2) comprising a table (21), a guide column (433) being used to abut against the outer side surface of the table (21), the AGV with high-precision stop docking comprising a vehicle body (1), the vehicle body (1) comprising a fork (11), an adjustment assembly (4) being installed on the fork (11), the adjustment assembly (4) comprising a slide rail (41) installed on the fork (11), a guide device (43) slidably connected to the slide rail (41), and an elastic device (42) connected to the guide device (43), the guide device (43) comprising a guide fixture (431), and a guide column (433) being installed on the guide fixture (431), the docking method comprising the following steps: S01, a forward step, The AGV moves forward toward the machine platform (2); S02, guide column contact step, the guide fixture (431) moves forward, and the guide column (433) comes into contact with the outer surface of the table (21); S03, passive transverse movement step, the AGV continues to move forward, and the guide device (43) slides relative to the slide rail (41) to match the position of the table (21); S04, component placement step, the AGV lowers the fork (11), and the workpiece (32) is placed on the upper surface of the table (21).

2. The docking method of a docking system for high-precision stop docking according to claim 1, characterized in that the extension direction of the guide fixture (431) is perpendicular to the extension direction of the slide rail (41).

3. The docking method of a docking system for high-precision stop docking according to claim 2, characterized in that: there are two guide jigs (431), and the guide pillars (433) are installed on the inner side of the guide jigs (431).

4. The docking method of a docking system for high-precision stop docking according to claim 3, characterized in that: the two guide jigs (431) are connected by a connecting rod (432).

5. A docking method for a docking system with high-precision stop docking according to claim 1 or 2 or 3 or 4, characterized in that: the guide post (433) is a rolling guide post for reducing friction during surface contact.

6. A docking method for a docking system with high-precision stop docking according to claim 5, characterized in that: the guide column (433) is a universal ball or a bearing.

7. A docking method for a docking system with high-precision stop docking according to claim 1 or 2 or 3 or 4, characterized in that: the slide rail (41) includes a front slide rail (412) and a rear slide rail (411), which are arranged according to the extension direction of the guide fixture (431).

8. A docking method for a docking system with high-precision stop docking according to claim 1, 2, 3 or 4, characterized in that: the slide rail (41) is a linear slide rail or a wedge slide rail.

9. A docking method for a docking system with high-precision stop docking according to claim 1, 2, 3 or 4, characterized in that a sensor (5) for distance measurement is installed on the fork (11).

10. A docking method for a docking system with high-precision stop docking according to claim 9, characterized in that: the sensor (5) is a laser distance sensor or a travel switch.

11. The docking method of a docking system with high-precision stop docking according to claim 1, characterized in that: the upper surface of the guide fixture (431) is a load-bearing plane (4311), and the cargo (3) is loaded on the load-bearing plane (4311), and the cargo (3) includes a carrier (31) and a workpiece (32) above the carrier (31).

12. The docking method of a docking system with high-precision stop docking according to claim 9 is characterized in that: before step S04, it also includes a distance measurement stop step, and the sensor (5) is used to sense the distance to the machine (2), and when the distance reaches a preset threshold, the AGV stops moving forward.