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CN-122008932-A - Robot warehousing high-precision alignment device based on tail end servo sliding table and visual laser feedback

CN122008932ACN 122008932 ACN122008932 ACN 122008932ACN-122008932-A

Abstract

The invention belongs to the technical field of AGV charging alignment, in particular to a robot warehousing high-precision alignment device based on a tail end servo sliding table and visual laser feedback, which comprises a charging terminal, wherein horizontal traction units are symmetrically arranged in the charging terminal, and balance units are symmetrically arranged in the charging terminal; according to the invention, through the relative action difference value between the multi-degree-of-freedom charging brushes at different ends and the traction wheel, the oil liquid ratio between the angle cylinder and the double-headed spring firing pin is dynamically changed, and finally, through the compensation cooperation between the self elastic variable of the double-headed spring firing pin and the elastic variable of the telescopic spring, the relative compression ratio between the double-headed spring firing pins at two sides of the oil pipeline is dynamically regulated in real time until the oil liquid in the oil pipeline is in a relatively stable value, and the clamping acting force between the traction wheel and the multi-degree-of-freedom charging brushes is uniform and relatively distributed, namely, a floating-elastic-self-adaptive three-level buffer structure is adopted, so that the charging brush is allowed to realize six-degree-of-freedom regulation while keeping symmetrical stress.

Inventors

  • WANG HAO
  • YAO JIEBING
  • YU HAO
  • LIU YONG
  • WANG LIFAN
  • HE GUANGYUAN

Assignees

  • 安徽信力共擎科技有限公司

Dates

Publication Date
20260512
Application Date
20260302

Claims (10)

  1. 1. The robot warehousing high-precision alignment device based on the tail end servo sliding table and the visual laser feedback comprises a charging terminal (1) and is characterized in that horizontal traction units (2) are symmetrically arranged in the charging terminal (1), and balance units (3) which are distributed in vertical positions with the horizontal traction units (2) are symmetrically arranged in the charging terminal (1); the balancing unit (3) comprises: The number of the angular bins (31) is two, and the angular bins are symmetrically arranged in the vertical interiors at the two sides of the charging terminal (1); The angle steel plate (32) is clamped and installed in the middle of the inner wall of the angle bin (31); the electric telescopic rod (33) is clamped and installed in the middle of the end face of the corner steel plate (32) close to one side of the center line of the charging terminal (1); the movable sleeves (34) are symmetrically clamped and installed at two ends of the end face of one side of the corner steel plate (32) close to the center line of the charging terminal (1); The switching groove ring (35) is clamped and installed on the outer wall of one end, far away from the angle steel plate (32), of the electric telescopic rod (33); the support plate (36) is clamped and mounted on the end face of one side, far away from the angle steel plate (32), of the switching groove ring (35), and the support plate (36) and the movable sleeve (34) are clamped and matched for assembly; The corner cylinders (37) are symmetrically inserted and clamped at the middle positions of the two ends of the support plate (36); The corner sliding blocks (38) are symmetrically clamped and installed at two ends of the vertical sections at two sides of the support plate (36), and the corner sliding blocks (38) are assembled with the charging terminal (1) in a sliding clamping mode.
  2. 2. The robot warehouse entry high-precision alignment device based on the tail end servo sliding table and visual laser feedback is characterized in that a piston (311) is installed on the inner wall of a corner barrel (37) in a sliding clamping manner, an angle valve (316) assembled with the inner wall of the corner barrel (37) is installed on the outer wall of one end of the piston (311) far away from a supporting plate (36) in a sliding clamping manner, a gasket (313) assembled with the inner wall of the corner barrel (37) is installed on the outer wall of one end of the piston (311) in a clamping manner near the outer wall of one end of the supporting plate (36), a telescopic spring (314) sleeved on the outer wall of the piston (311) is installed between the angle valve (312) and the gasket (313) in a joint manner, a shaft end seat (315) is installed on the outer wall of the corner barrel (37) in a sliding manner in a clamping manner, an angle valve (316) communicated with the interior of the corner barrel (37) is installed on the middle position of one side of the corner barrel (37) near the corner plate (32), a circuit (317) is formed in an interior of a charging terminal (1), and two oil pipe sections (317) are installed in a sliding manner through two oil pipe sections (317) and two end sections (317) are installed in a sliding manner, and the two end sections of the oil pipe sections are matched with each other in a sliding manner.
  3. 3. The robot warehousing high-precision alignment device based on the tail end servo sliding table and the visual laser feedback as claimed in claim 2, wherein: the axle head seat (315) is kept away from extension board (36) one side terminal surface and is symmetrical form joint and installs otic placode (321), and two altogether otic placode (321) are constituteed a set of, and joint cooperation installs traction wheel (322) between two otic placodes (321) of same group, extension board (36) are kept away from angle steel board (32) one side terminal surface intermediate position and are symmetrical form joint and install pillar (323) with axle head seat (315) slip joint assembly, and corner post (341) run through axle head seat (315) completely, pillar (323) are kept away from extension board (36) one side terminal surface roll fit and are installed rubber head (324), be provided with jointly between axle head seat (315) and the extension board (36) and be symmetrical form angle face ring (325) that distributes, and joint cooperation installs between angle face ring (325) and the pillar (323), joint cooperation installs between two same group angle face ring (325) and overlap compression spring (326) of establishing at pillar (323) outer wall.
  4. 4. The robot warehouse entry high-precision alignment device based on the tail end servo sliding table and visual laser feedback is characterized in that a 匚 port frame (331) is installed in a symmetrical clamping mode at one end, close to a vehicle body (11), of a shaft end seat (315), a long connecting rod (332) is installed between the 匚 port frames (331) in a joint rotation mode, a connecting plate (333) is installed in a clamping mode at the middle position of the outer wall of the long connecting rod (332), an electrostatic shovel (334) is installed in a clamping mode at the outer wall, far from the shaft end seat (315), of the connecting plate (333), an outer end post (335) is installed in a clamping mode at one end, close to gravity, of the long connecting rod (332), a torsion spring (336) is installed in a joint mode between the 匚 port frame (331) and the outer end post (335), an angle outer ring (337) is installed in a clamping mode at one end, close to the outer wall of gravity, a transmission gear (338) is installed in a clamping mode, and a spiral spring (339) is installed in a joint mode between the outer end post (338) and the angle outer ring (337).
  5. 5. The robot warehousing high-precision alignment device based on the tail end servo sliding table and visual laser feedback is characterized in that an angle post (341) is installed in a clamping mode at the middle position of one side end face of a shaft end seat (315) close to an outer end post (335), a position supplementing plate (342) is installed in a clamping mode at one end of the angle post (341) far away from the shaft end seat (315), a driving gear (343) meshed with a transmission gear (338) is installed at one end of the position supplementing plate (342) far away from the axis of the angle post (341) through shaft connection rotating fit, a page plate (344) is installed at one end of the driving gear (343) far away from the transmission gear (338) through shaft connection rotating fit, a ball rod (345) matched with the page plate (344) is installed at one end face of a multi-degree-of-freedom charging brush (112) close to gravity in a symmetrical mode, a dust collection bin (346) is installed in a clamping mode at one side end face of the connecting plate (333) far away from the angle steel plate (32), and an external angle valve (347) is installed in an array mode in a uniform inserting mode at one side end face of the dust collection bin (346) close to a long connecting rod (332).
  6. 6. The robot warehousing high-precision alignment device based on the tail end servo sliding table and visual laser feedback, which is characterized in that an angle surface seat (351) is installed in a sliding clamping fit mode in the middle of one side end face of a connecting plate (333) close to an angle steel plate (32), a bracket (352) is installed in a symmetrical clamping mode on one side end face of the angle surface seat (351) far away from the connecting plate (333), an angle shovel (353) is installed in a clamping mode on one end of the bracket (352) far away from the angle surface seat (351), a two-section dust bin (354) is installed in a clamping mode on one side end face of the angle shovel (353) close to the connecting plate (333), and a transfer valve (355) communicated with the two-section dust bin (354) is installed in a joint inserting mode between the two-section dust bin (354) and the bracket (352).
  7. 7. The robot warehousing high-precision alignment device based on the tail end servo sliding table and the visual laser feedback, as claimed in claim 6, wherein the horizontal traction unit (2) comprises: the number of the transverse grid grooves (21) is two, and the transverse grid grooves are symmetrically arranged in the charging terminal (1), and the transverse grid grooves (21) are distributed in vertical positions with the angular position bins (31); the transverse grid plates (22) are symmetrically clamped and installed on the inner wall of the transverse grid groove (21); the traction columns (23) are at least two and are installed between the two transverse grid plates (22) in the same group in a sliding clamping manner; the traction ball (24) is arranged at one end of the traction column (23) far away from the transverse grid plate (22) in a rolling fit manner; the gasket (25) is clamped and installed on the outer wall of one end of the traction column (23) far away from the center line of the charging terminal (1); the pressure ring (26) is clamped and installed on the outer wall of one end of the traction column (23) close to the center line of the charging terminal (1), and the pressure ring (26) and the gasket (25) are both positioned between the transverse grid plates (22); The reset spring (27) is clamped between the pressure ring (26) and the gasket (25), and the reset spring (27) is sleeved on the outer wall of the traction column (23).
  8. 8. The robot warehousing high-precision alignment device based on the tail end servo sliding table and visual laser feedback is characterized in that an annular spraying cabin (211) installed in a clamping manner with a transverse grid plate (22) is installed on the outer wall of one end of a traction column (23) far away from a gasket (25) in a sliding clamping manner, air holes (212) are uniformly formed in the end face of one side, far away from the gasket (25), of the annular spraying cabin (211), the density of one side, far away from a charging terminal (1), of the air holes (212) is smaller than that of one side, close to the charging terminal (1), the density of one side, of the air holes (212) is smaller than that of the other side, the outer wall of one side, close to the charging terminal (1) of the annular spraying cabin is clamped with a double-pass pipe (213) installed in a clamping manner with the transverse grid plate (22), a pressurizing pipe (214) connected with the double-pass pipe (213) is arranged on the side, a three-way groove (215) is formed in the inner portion of the charging terminal, two horizontal sections of the three-way groove (215) are respectively spliced with an air guiding pipe (216), the inner portion of the vertical section of the three-way groove (215) is spliced with an air inlet pipe (217) communicated with the air inlet pipe (216), and an air inlet pipe (219) is connected with the air inlet pipe (219) at the outer end (219), and the air inlet pipe (219) is arranged at the end of the charging terminal (1) and far away from the charging terminal (1).
  9. 9. The robot warehouse entry high-precision alignment device based on terminal servo slipway and visual laser feedback of claim 8 is characterized in that a car body (11) is installed at one end joint of a charging terminal (1), wheels (12) are installed at the middle position of the car body (11) in a rotating fit mode, a lifting platform (13) is installed at one end joint of the car body (11) in a way of deviating from gravity, in addition, an air pump (219) is installed through a mounting bracket (352) in a way of being connected with the lifting platform (13), an objective table (14) is installed at one end joint of the lifting platform (13) in a way of being connected with the car body (11), an AGV charging pile (15) is just relatively arranged at one side of the charging terminal (1) in a way of being connected with the car body (11), an anti-collision bracket (16) is installed at one end joint of the car body (11) in a way of being connected with a rubber cushion (17), a front bumper (18) is installed at one end joint of the car body (11) in a way of being connected with a laser plug-in a way, and a visual laser plug-in type device (19) is installed at one end of the objective table (14) in a way of being connected with the car.
  10. 10. The robot warehousing high-precision alignment device based on the tail end servo sliding table and visual laser feedback, which is characterized in that a charging bin (111) is installed in the AGV charging pile (15) in a clamping mode, a multi-degree-of-freedom charging brush (112) is installed in the charging bin (111) in a clamping mode, an angle opening bin (113) communicated with a transverse grid groove (21) and an angle position bin (31) is formed in the middle position of one side end face of a charging terminal (1) far away from a vehicle body (11), the cross section of the angle opening bin (113) is isosceles trapezoid, and a charging seat (114) is installed in the middle position of one end inner wall of the angle opening bin (113) close to the vehicle body (11) in a clamping mode.

Description

Robot warehousing high-precision alignment device based on tail end servo sliding table and visual laser feedback Technical Field The invention belongs to the technical field of AGV charging alignment, and particularly relates to a robot warehousing high-precision alignment device based on a tail end servo sliding table and visual laser feedback. Background The intelligent AGV charging alignment system comprises an automatic charging auxiliary system integrating multi-sensor sensing, high-precision servo control and dynamic error compensation, a core logic, an automatic charging control system and an automatic charging control system, wherein the automatic charging auxiliary system is specially designed for solving the problem of accurate butt joint of charging interfaces of AGVs in industrial storage or intelligent manufacturing and other scenes; In the prior art, the contact between an AGV charging brush and a charging seat is completely dynamic, and the charging brush body has multi-degree-of-freedom flexible adjustment capability; In the specific implementation, the six-degree-of-freedom dynamic adjustment capability of the AGV charging brush is realized through the cooperation of a multi-stage elastic sliding rail, a compression spring, an elastic hinge and a torsion spring, however, the spring continuously generates dislocation slip in the metal lattice in the repeated compression or extension process (for example, the charging brush and a charging seat are repeatedly contacted every thousand times), the problem that the local spring is attenuated below a set extremum is necessarily generated under a dislocation slip accumulation mechanism, the multi-degree-of-freedom adjustment is obviously asymmetric, the local stress concentration on one side is particularly generated (the dislocation density of an asymmetric stress area is obviously higher than that of other areas, a resident slip belt is formed, microscopic cracks are formed at the slip belt along with the increase of the cycle times, and finally, the local elastic modulus is reduced, and the spring stiffness is attenuated), and the charging alignment precision and the reliability are seriously influenced; In addition, the problem of uneven stress distribution caused by asymmetrical mechanical contact exists, namely, an AGV positioning error causes an offset angle to be generated when a charging brush is in contact with a charging seat, so that one side spring bears additional pressure, the other side is not enough in stress, and single-side stress caused by charging butt joint deviation occurs; When the AGV charging brush is in butt joint with the charging seat, the X-Y-Z three-way spring generates coupling deformation, the actual stress born by the asymmetric area spring exceeds a preset value, so that the pre-pressure of the spring in a certain degree of freedom area is insufficient, the compensation burden in other degrees of freedom area is increased, a domino effect is formed, the overall degradation is accelerated, the butt joint precision is reduced, and the power transmission efficiency is influenced. Disclosure of Invention In order to solve the problems, the invention adopts the following technical scheme that the robot warehousing high-precision alignment device based on the tail end servo sliding table and the visual laser feedback comprises a charging terminal, wherein horizontal traction units are symmetrically arranged in the charging terminal, and balance units which are distributed in vertical positions with the horizontal traction units are symmetrically arranged in the charging terminal; the balancing unit includes: the number of the angular bins is two, and the angular bins are symmetrically arranged in the vertical interiors at two sides of the charging terminal; the angle steel plate is clamped and installed in the middle of the inner wall of the angle bin; The electric telescopic rod is clamped and installed in the middle of the end face of one side of the corner steel plate, which is close to the center line of the charging terminal; the movable sleeves are symmetrically clamped and installed at two ends of one side end face of the corner steel plate, which is close to the center line of the charging terminal; the switching groove ring is clamped and installed on the outer wall of one end, far away from the angle steel plate, of the electric telescopic rod; the support plate is clamped and mounted on the end surface of one side of the switching groove ring, which is far away from the angle steel plate, and the support plate and the movable sleeve are clamped and matched and assembled; the corner barrels are symmetrically spliced and clamped at the middle positions of the two ends of the support plate; The corner sliding blocks are symmetrically clamped and installed at two ends of the vertical sections on two sides of the support plate, and the corner sliding blocks are assembled with the charging terminal in a sliding cl