阅读说明：本技术 一种机械定位机构及agv小车 (Mechanical positioning mechanism and AGV dolly ) 是由 李方安 李特 于 2020-12-24 设计创作，主要内容包括：本发明公开了一种机械定位机构及AGV小车,所述定位机构包括机架,升降组件及浮动定位组件,浮动定位组件包括悬臂支架,浮动座及导向杆,悬臂支架悬挂在升降组件上随升降组件升降,并相对升降组件可左右转动,浮动座安装在悬臂支架上并相对悬臂支架可前后转动,导向杆凸设在浮动座上并相对浮动座可上下移动；所述悬臂支架上还设置有上升定位检测元件、前后定位检测元件及左右定位检测元件来检测导向杆的下压,前后、左右偏转信号并发至至AGV小车的控制系统,以调整AGV小车车体的位置而实现精确定位。本发明采用机械结构提升AGV小车的定位精度,且不受环境影响,定位稳定可靠。(The invention discloses a mechanical positioning mechanism and an AGV trolley, wherein the positioning mechanism comprises a rack, a lifting assembly and a floating positioning assembly, the floating positioning assembly comprises a cantilever support, a floating seat and a guide rod, the cantilever support is hung on the lifting assembly to lift along with the lifting assembly and can rotate left and right relative to the lifting assembly, the floating seat is installed on the cantilever support and can rotate front and back relative to the cantilever support, and the guide rod is convexly arranged on the floating seat and can move up and down relative to the floating seat; the cantilever support is also provided with a lifting positioning detection element, a front-back positioning detection element and a left-right positioning detection element for detecting the downward pressing of the guide rod, and front-back and left-right deflection signals are sent to a control system of the AGV trolley so as to adjust the position of the AGV trolley body and realize accurate positioning. The positioning precision of the AGV trolley is improved by adopting a mechanical structure, the AGV trolley is not influenced by the environment, and the positioning is stable and reliable.)

1. A mechanical positioning mechanism, comprising:

the frame is used for connecting the fixing piece to be fixed on the fixing piece;

the lifting component is arranged on the frame and can lift relative to the frame;

the floating positioning assembly comprises a cantilever support, a floating seat and a guide rod, the cantilever support is hung on the lifting assembly to lift along with the lifting assembly and can rotate left and right relative to the lifting assembly, the floating seat is installed on the cantilever support and can rotate front and back relative to the cantilever support, and the guide rod is convexly arranged on the floating seat and can move up and down relative to the floating seat;

the cantilever support is also provided with a lifting positioning detection element, and when the guide rod is pressed down in the lifting process, the guide rod moves downwards and is detected by the lifting positioning detection element;

the cantilever support is also provided with a front and rear positioning detection element, and when the guide rod is pushed forwards and backwards, the guide rod drives the floating seat to rotate forwards and backwards and is detected by the front and rear positioning detection element;

the cantilever support is also provided with a left positioning detection element and a right positioning detection element, when the guide rod is pushed leftwards and rightwards, the guide rod drives the floating seat, and the floating seat drives the cantilever support to rotate leftwards and rightwards and is detected by the left positioning detection element and the right positioning detection element.

2. The mechanical positioning mechanism of claim 1, wherein the ascending positioning detecting element is a photoelectric sensor mounted on a side wall of the floating seat;

the guide rod is connected with a light screen, and the guide rod drives the light screen to move up and down, so that the light screen is detected by the photoelectric sensor and is triggered to generate a lifting assembly stop motion signal.

3. The mechanical positioning mechanism of claim 1, wherein the front and rear positioning detecting elements comprise an angle encoder and an encoder gear rotatably connected to the angle encoder, the angle encoder being fixed to the cantilever;

the floating block is also provided with a tooth block which is meshed with the encoder gear, and the tooth block rotates along with the encoder gear and pushes the encoder gear to rotate when the floating block rotates forwards and backwards.

4. The mechanical positioning mechanism of claim 1, wherein the left and right positioning detection elements comprise an upper microswitch mounted on the cantilever support and a lower microswitch disposed opposite the upper microswitch;

a left positioning plate and a right positioning plate are fixed on the lifting assembly, and the left positioning plate and the right positioning plate are inserted between the upper microswitch and the lower microswitch and are abutted against the upper microswitch and the lower microswitch.

5. The mechanical positioning mechanism of claim 4, wherein the lifting assembly comprises a motor, a scissor mechanism and a mounting bracket, wherein the lower end of the scissor mechanism is movably connected to the frame, and the upper end of the scissor mechanism is movably connected to the mounting bracket;

the one end of mounting bracket is provided with the connecting seat, control the locating plate and install on the connecting seat, wear to be equipped with the cantilever axle in the connecting seat, this cantilever axle rotates with cantilever support to be connected.

6. The mechanical positioning mechanism of claim 5, wherein the scissors mechanism comprises a first rod and a second rod rotatably connected therebetween, one end of the first rod and one end of the second rod are rotatably connected to the frame and the mounting bracket, respectively, and the other end of the first rod and the other end of the second rod are slidably connected to the mounting bracket and the frame, respectively.

7. The mechanical positioning mechanism of claim 3, wherein a flat transition flap is further coupled between the floating mount and the tooth block.

8. The mechanical positioning mechanism of claim 2, wherein the bottom of the guide rod is connected with a bottom plate, the top of the guide rod is provided with a guide head, the bottom plate is provided with a spring hanging pin and the light screen, and the spring hanging pin is connected with a return tension spring.

9. The mechanical positioning mechanism of claim 8, wherein the guide bar is an elastic telescoping bar.

10. An AGV trolley capable of intelligently replacing an automobile battery comprises a trolley body, an intelligent control unit and a driving wheel mechanism, and is characterized by further comprising a mechanical positioning mechanism, an unlocking mechanism and a lifting mechanism, wherein the mechanical positioning mechanism, the unlocking mechanism and the lifting mechanism are arranged on the trolley body, the driving wheel mechanism, the mechanical positioning mechanism, the unlocking mechanism and the lifting mechanism are controlled by the intelligent control unit to move the trolley body, position and unlock the automobile battery and lift the lifting mechanism.

Technical Field

The invention relates to the technical field of AGV intelligent carrying trolleys, in particular to a mechanical positioning mechanism and an AGV for intelligently replacing an automobile battery.

Background

Because the AGV has the functions of automatic navigation and intelligent loading and unloading, the AGV is more and more widely applied to the cargo handling process of most factories, warehouses and workshops.

When the AGV trolley automatically carries goods, the AGV trolley needs to be intelligently positioned so as to take out or load the goods from or into a loading and unloading position. In the AGV industry, prior art positioning implementations typically locate by magnetic sensors, laser sensors, vision.

The magnetic sensor is positioned by judging the position by magnetic strength, the precision cannot reach a millimeter level, and the error probability is high. Although the precision of the laser sensor can reach millimeter level, the laser sensor has high requirement on environment and is limited by the environment. The visual positioning needs a certain distance of scanning range, and clear images can not be scanned in a short distance, so that the visual positioning is inaccurate in positioning in the short distance.

Namely, the positioning accuracy of the positioning element used on the AGV is not high or the stability is not high due to large environmental influence.

Therefore, the prior art has yet to be improved.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a mechanical positioning mechanism which aims to improve the positioning precision by adopting a mechanical structure and is stable and reliable without being influenced by the environment.

In order to realize the purpose, the invention adopts the following technical scheme:

a mechanical positioning mechanism, comprising:

the frame is used for connecting the fixing piece to be fixed on the fixing piece;

the lifting component is arranged on the frame and can lift relative to the frame;

the floating positioning assembly comprises a cantilever support, a floating seat and a guide rod, the cantilever support is hung on the lifting assembly to lift along with the lifting assembly and can rotate left and right relative to the lifting assembly, the floating seat is installed on the cantilever support and can rotate front and back relative to the cantilever support, and the guide rod is convexly arranged on the floating seat and can move up and down relative to the floating seat;

the cantilever support is also provided with a lifting positioning detection element, and when the guide rod is pressed down in the lifting process, the guide rod moves downwards and is detected by the lifting positioning detection element;

the cantilever support is also provided with a front and rear positioning detection element, and when the guide rod is pushed forwards and backwards, the guide rod drives the floating seat to rotate forwards and backwards and is detected by the front and rear positioning detection element;

the cantilever support is also provided with a left positioning detection element and a right positioning detection element, when the guide rod is pushed leftwards and rightwards, the guide rod drives the floating seat, and the floating seat drives the cantilever support to rotate leftwards and rightwards and is detected by the left positioning detection element and the right positioning detection element.

The ascending positioning detection element is a photoelectric sensor, and the photoelectric sensor is arranged on the side wall of the floating seat;

the guide rod is connected with a light screen, and the guide rod drives the light screen to move up and down, so that the light screen is detected by the photoelectric sensor and is triggered to generate a lifting assembly stop motion signal.

The front and rear positioning detection element comprises an angle encoder and an encoder gear rotationally connected with the angle encoder, and the angle encoder is fixed on the cantilever support;

the floating block is also provided with a tooth block which is meshed with the encoder gear, and the tooth block rotates along with the encoder gear and pushes the encoder gear to rotate when the floating block rotates forwards and backwards.

The left and right positioning detection elements comprise an upper micro switch arranged on the cantilever support and a lower micro switch arranged opposite to the upper micro switch;

a left positioning plate and a right positioning plate are fixed on the lifting assembly, and the left positioning plate and the right positioning plate are inserted between the upper microswitch and the lower microswitch and are abutted against the upper microswitch and the lower microswitch.

The lifting assembly comprises a motor, a scissor fork mechanism and a mounting frame, the lower end of the scissor fork mechanism is movably connected with the rack, and the upper end of the scissor fork mechanism is movably connected with the mounting frame;

the one end of mounting bracket is provided with the connecting seat, control the locating plate and install on the connecting seat, wear to be equipped with the cantilever axle in the connecting seat, this cantilever axle rotates with cantilever support to be connected.

The scissors fork mechanism comprises a first rod piece and a second rod piece, wherein the middle of the scissors fork mechanism is connected with the first rod piece and the second rod piece in a rotating mode, one ends of the first rod piece and the second rod piece are respectively connected with the rack and the mounting rack in a rotating mode, and the other ends of the first rod piece and the second rod piece are respectively connected with the mounting rack and the rack in a sliding mode.

Wherein, still be connected with the plane conversion folded plate between floating seat and the tooth piece.

The bottom of the guide rod is connected with a bottom plate, the top of the guide rod is provided with a guide head, the bottom plate is provided with a spring hanging pin and the light screen, and the spring hanging pin is connected with a reset tension spring.

Wherein, the guide bar is an elastic telescopic bar.

The invention also provides an AGV trolley for intelligently replacing the automobile battery, which comprises a trolley body, an intelligent control unit and a driving wheel mechanism, and is characterized by further comprising the mechanical positioning mechanism, an unlocking mechanism and a lifting mechanism, wherein the mechanical positioning mechanism, the unlocking mechanism and the lifting mechanism are arranged on the trolley body, and the intelligent control unit controls the driving wheel mechanism, the mechanical positioning mechanism, the unlocking mechanism and the lifting mechanism to move the trolley body, position the automobile battery, unlock the automobile battery and lift the lifting mechanism.

According to the mechanical positioning mechanism, the lifting assembly and the floating positioning assembly are arranged on the rack, the floating positioning assembly is hung on the lifting assembly to lift along with the lifting assembly and rotates left and right relative to the lifting assembly, and the floating positioning assembly comprises a cantilever support, a floating seat and a guide rod. The floating positioning assembly is also provided with a lifting positioning detection element, a front-back positioning detection element, a left-right positioning detection element, a Z direction and Y direction position signals are respectively detected by the left-right positioning detection element and the lifting positioning detection element, the Y direction position signals and the X direction position signals are uploaded to an upper control host machine such as a control system of the AGV trolley, then the AGV trolley adjusts the position of the trolley body in the front-back direction and the left-right direction according to the signals to realize accurate positioning, the positioning accuracy can reach about +/-1 mm, and the positioning device is stable, reliable and.

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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a first embodiment of a mechanical positioning mechanism of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a first exploded schematic view of the structure of FIG. 1;

FIG. 4 is a schematic view of the alignment of the guide bar of the mechanical positioning mechanism and the positioning slot of the battery car according to the present invention;

FIG. 5 is a schematic diagram of the deflection of the guide rod of the mechanical positioning mechanism after being subjected to a backward thrust;

FIG. 6 is a schematic view of the forward deflection of the floating seat of the mechanical positioning mechanism of the present invention;

FIG. 7 is a schematic diagram of the rearward deflection of the floating mount of the mechanical positioning mechanism of the present invention;

FIG. 8 is a schematic view of the cantilever of the mechanical positioning mechanism of the present invention deflected to the left;

FIG. 9 is a schematic diagram of rightward deflection of the cantilever of the mechanical positioning mechanism of the present invention;

FIG. 10 is a second exploded schematic view of the structure of FIG. 1;

FIG. 11 is a schematic view of the connection structure of the guide bar according to the present invention;

FIG. 12 is a schematic view of an AGV configuration according to the present invention;

FIG. 13 is a bottom view structural schematic diagram of the structure of FIG. 12;

fig. 14 is a schematic view of the structure of fig. 12 with the panel removed and the internal structure removed.

Description of reference numerals:

100-a positioning mechanism, 1-a frame, 2-a lifting assembly, 21-a left and right positioning plate, 22-a motor, 23-a scissor fork mechanism, 231-a first rod piece, 232-a second rod piece, 24-a mounting frame, 25-a connecting seat, 26-a cantilever shaft, 3-a floating positioning assembly, 4-a cantilever bracket, 5-a floating seat, 51-a gear block, 52-a plane conversion folded plate, 53-a rotating shaft, 54-a guide hole, 55-a tension spring mounting hole, 6-a guide rod, 61-a light shielding plate, 611-a second U-shaped notch, 62-a bottom plate, 63-a guide head, 64-a spring hanging pin, 65-a reset tension spring, 7-a lifting positioning detection element, 71-a first U-shaped notch, 8-a front and back positioning detection element, 81-angle encoder, 82-encoder gear, 9-left and right positioning detection element, 91-upper micro switch, 92-lower micro switch, 200-vehicle body, 300-intelligent control unit, 400-driving wheel mechanism, 500-unlocking mechanism, 600-lifting mechanism and 700-AGV trolley.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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 all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to fig. 3, the present invention provides a mechanical positioning mechanism 100, including:

and the frame 1 is used for connecting the fixing piece to be fixed on the fixing piece. The mount may be a body on the AGV cart, so that when the frame 1 is fixed to the body on the AGV cart, the entire mechanical positioning mechanism 100 is also mounted on the AGV cart to move along with the AGV cart.

And the lifting component 2 is arranged on the frame 1 and can lift relative to the frame 1.

Floating locating component 3, including outrigger 4, float seat 5 and guide bar 6, outrigger 4 hangs and goes up and down along with lifting unit 2 on lifting unit 2 to lifting unit 2 can rotate about relatively, float seat 5 and install on outrigger 4 and relative outrigger 4 can the fore-and-aft rotation, guide bar 6 protruding is established on float seat 5 and relative float seat 5 can reciprocate.

The top end of the guide rod 6 is used for contacting with an object to be contacted, for example, the positioning mechanism 100 is arranged on an AGV trolley, when the AGV trolley is used for automatically replacing a battery for an electric automobile, a positioning groove is arranged at the position of an electric automobile chassis near the battery, and in the process of automatically replacing the battery of the automobile, the AGV trolley firstly carries out primary positioning through an intelligent navigation system on the AGV trolley, moves to the position of the battery under the electric automobile chassis, and then carries out precise positioning to take down the battery. When the guide rod 6 of the positioning mechanism 100 of the present invention extends into the positioning slot of the electric vehicle, and faces the positioning slot, and the positioning slot is not subjected to front-back, left-right resistance, it can be regarded as a successful accurate positioning, as shown in fig. 4.

The cantilever 4 of the positioning mechanism 100 of the present invention is further provided with a lifting position detecting element 7, and when the guide bar 6 is pressed down during the lifting process, the guide bar 6 moves downward and is detected by the lifting position detecting element 7.

In the accurate positioning process, firstly, the lifting component 2 can be lifted upwards, the guide rod 6 is lifted therewith, when the guide rod 6 is lifted to touch a wall surface in a positioning groove of a chassis, the guide rod 6 can be pressed downwards and moves downwards relative to the floating seat 5, then a pressed-down signal is detected by the lifting positioning detection element 7 and is sent to an intelligent control unit of the AGV trolley, the intelligent control unit judges that the guide rod 6 touches the inner wall of the positioning groove according to the signal, and then a lifting component 2 stop upward movement signal is sent to enable the lifting component 2 to stop moving, so that the positioning in the Z direction is realized. It will be appreciated that when the guide bar 6 is pressed down by touching the chassis upwards and is detected by the raised position detection element 7, a retraction signal may also be generated to cause the lifting assembly 2 to retract a certain distance in the Z direction.

The cantilever support 4 of the positioning mechanism 100 of the present invention is further provided with a front and rear positioning detection element 8, when the guide rod 6 is pushed forward and rearward, the guide rod 6 drives the floating seat 5 to rotate forward and rearward and is detected by the front and rear positioning detection element 8.

After the Z-direction elevating assembly 2 stops moving, if the wire guiding rod 6 is not aligned with the positioning groove at this time, i.e. the whole positioning mechanism 100 is offset from the battery position, the guiding rod 6 is forced to move back and forth in the positioning groove, so that the guiding rod 6 and the floating seat 5 or the cantilever 4 are in a deflected state, as shown in fig. 6 and 7. As an example, as shown in FIG. 5, the guide bar 6 is not aligned and the floating mount 5 is deflected rearward by the force from the front of the detent, and the entire positioning mechanism 100 is offset forward relative to the detent, so that the entire positioning mechanism 100 also needs to be fine-tuned as the AGV travels rearward.

When the guide rod 6 is pushed forwards and backwards, the guide rod 6 drives the floating seat 5 to rotate forwards and backwards, the front and back positioning detection elements 8 arranged on the cantilever support 4 detect signals of the front and back rotation of the floating seat 5 at the moment and send the signals to the intelligent control unit of the AGV trolley, the intelligent control unit judges the front and back deflection direction and deflection position of the floating seat 5 according to the signals and then sends the signals to the AGV trolley to move forwards or backwards for fine adjustment, so that the guide rod 6 is aligned with the positioning grooves, and the positioning in the Y direction is realized.

The cantilever support 4 of the positioning mechanism 100 of the present invention is further provided with a left and right positioning detection element 9, when the guide bar 6 is pushed left and right, the guide bar 6 drives the floating seat 5, and the floating seat 5 drives the cantilever support 4 to rotate left and right and is detected by the left and right positioning detection element 9.

Similarly, after the Z-direction elevating assembly 2 stops moving, if the wire guiding rod 6 is not aligned with the positioning groove at this time, i.e. the whole positioning mechanism 100 is offset from the battery position, the guiding rod 6 is forced in the positioning groove in the left-right direction, so that the guiding rod 6, the floating seat 5 and the cantilever 4 are in the deflected state, as shown in fig. 8 and 9.

When the guide rod 6 is pushed leftwards and rightwards, the guide rod 6 drives the floating seat 5, the floating seat 5 drives the cantilever support 4 to rotate leftwards and rightwards, a left positioning detection element 9 and a right positioning detection element 9 which are installed on the cantilever support 4 detect signals of leftward and rightwards rotation of the cantilever support 45 at the moment, the signals are sent to an intelligent control unit of the AGV trolley, the intelligent control unit judges the deflection direction and the deflection position of the left and right cantilever support 4 according to the signals, then the signals are sent to the AGV trolley to move leftwards or rightwards for fine adjustment, the guide rod 6 is aligned with the positioning groove, and positioning in the.

Because the positioning mechanism 100 of the invention can realize the accurate positioning of the AGV by arranging the floating positioning component 3 and combining the ascending positioning detection element 7, the front and back positioning detection elements 8 and the left and right positioning detection elements 9 to perform positioning adjustment from the three directions of Z, Y and X, the positioning accuracy can reach +/-1 mm, compared with the positioning of a magnetic sensor and the visual positioning in the prior art, the positioning accuracy of the positioning mechanism 100 of the invention is greatly improved, and compared with the laser positioning in the prior art, the positioning of the invention is not influenced by the environment, and the stability of the positioning mechanism is also greatly improved.

As one embodiment, as shown in fig. 3 and 10, the lift position detecting element 7 of the present invention is a photoelectric sensor mounted on a side wall of the floating mount 5. The guide rod 6 is connected with a light screen 61, and the guide rod 6 drives the light screen 61 to move up and down, and the light screen is detected by the photoelectric sensor and is triggered to generate a signal for stopping the movement of the lifting assembly 2.

Preferably, the photoelectric sensor of the present invention is a U-shaped photoelectric sensor, the U-shaped photoelectric sensor is provided with a first U-shaped notch 71, and when the first U-shaped notch 71 is shielded by the light shielding plate 61 moving up and down, a trigger signal is generated.

As an embodiment, as shown in fig. 3 and 10, the front-rear positioning detecting element 8 of the present invention includes an angle encoder 81 and an encoder gear 82 rotatably connected to the angle encoder 81, and the angle encoder 81 is fixed to the cantilever 4. The floating block 5 is also provided with a tooth block 51 which is meshed with the encoder gear 82, and when the floating block 5 rotates forwards and backwards, the tooth block 51 rotates along with the encoder gear 82 and pushes the encoder gear 82 to rotate. The angle encoder 81 is used to detect the rotation angle.

Preferably, a flat transfer flap 52 is also connected between said floating seat 5 and the toothed block 51. The plane switching flap 52 switches the forward and backward rotation of the XZ plane of the floating base 5 to the forward and backward rotation of the YZ plane of the tooth block 51, the forward and backward rotation of the tooth block 51 drives the encoder gear 82 to rotate, and the angle encoder 81 performs angle detection based on the rotation of the encoder gear 82. The angle encoder 81 transmits a rotational angle signal to the intelligent control unit of the AGV, and controls the AGV to move backward or forward according to the angle signal so as to align front and back.

The rotating shafts 53 are connected between the left end and the right end of the floating seat 5 and the cantilever support 4, so that the front-back rotating connection between the floating seat 5 and the cantilever support 4 is realized.

As one embodiment, as shown in fig. 2, 3 and 10, the left and right positioning detecting element 9 of the present invention includes an upper microswitch 91 mounted on the arm support 4 and a lower microswitch 92 disposed opposite to the upper microswitch 91. A left positioning plate 21 and a right positioning plate 21 are fixed on the lifting assembly 2, and the left positioning plate 21 and the right positioning plate 21 are inserted between the upper microswitch 91 and the lower microswitch 92 and are abutted against the upper microswitch 91 and the lower microswitch 92.

When the cantilever support 4 deflects leftwards, the contact on the lower micro switch 92 is pushed by the left and right positioning plates 21 to generate a trigger signal, and the trigger signal is sent to the intelligent control unit of the AGV trolley, and the AGV trolley judges that the cantilever support 4 deflects leftwards according to the trigger signal, so that the AGV trolley is judged to deflect rightwards relative to the positioning groove, and the AGV trolley is driven to move leftwards to be adjusted to be aligned.

When the cantilever support 4 deflects rightwards, the contact on the lower micro switch 91 is pushed by the left and right positioning plates 21 to generate a trigger signal, and the trigger signal is sent to the intelligent control unit of the AGV trolley, and the AGV trolley judges that the cantilever support 4 deflects rightwards according to the trigger signal, so that the AGV trolley is judged to deflect leftwards relative to the positioning groove, and the AGV trolley is driven to move rightwards to be adjusted and aligned.

In the present invention, the left and right positioning plates 21 perform the left and right deflection detection in cooperation with the micro switch, and the left and right positioning plates 21 also perform the function of supporting the balance cantilever 4, so that the cantilever 4 is in a horizontal state when the guide bar is not pushed by the force in the left and right directions.

It is understood that the left and right positioning detecting elements 9 may also use an angle encoder to detect the deflection direction and the deflection angle, and the front and rear positioning detecting elements 8 may also use an up and down micro switch to detect the deflection direction.

Specifically, as shown in fig. 10, the lifting assembly 2 of the present invention includes a motor 22, a scissor mechanism 23 and a mounting frame 24, wherein the lower end of the scissor mechanism 23 is movably connected to the frame 1, and the upper end of the scissor mechanism 23 is movably connected to the mounting frame 24. One end of the mounting bracket 24 is provided with a connecting seat 25, the left and right positioning plates 21 are mounted on the connecting seat 25, a cantilever shaft 26 penetrates through the connecting seat 25, and the cantilever shaft 26 is rotatably connected with the cantilever support 4. The cantilever shaft 25 allows the entire floating positioning assembly 3 to be suspended from the lifting assembly 2 and to be rotated left and right.

The scissors fork mechanism 23 of the present invention comprises a first rod 231 and a second rod 232 rotatably connected in the middle, one end of the first rod 231 and one end of the second rod 232 are rotatably connected to the frame 1 and the mounting frame 24, respectively, and the other end of the first rod 231 and the other end of the second rod 232 are slidably connected to the mounting frame 24 and the frame 1, respectively. The scissors mechanism 23 can lift the entire floating positioning assembly 3 and can keep the entire positioning mechanism 100 stable.

Further, as shown in fig. 10 and 11, a bottom plate 62 is connected to the bottom of the guide bar 6 of the present invention, a guide head 63 is installed at the top, a spring hanging pin 64 and the light shielding plate 61 are installed on the bottom plate 62, and a return tension spring 65 is connected to the spring hanging pin 64. In the embodiment of the invention, two reset tension springs 65 are arranged on two sides of the guide rod 6, two corresponding spring hanging pins 64 are connected with the bottom of the reset tension springs 65, the floating seat 5 is provided with tension spring mounting holes 55 on two sides of the guide hole 54, the reset tension springs 65 are arranged in the tension spring mounting holes 55 in a penetrating manner, the upper ends of the reset tension springs 65 are fixed in the tension spring mounting holes 55, and the reset tension springs 65 enable the guide rod 6 to move upwards in a reset manner after being pressed downwards and when the pressure is relieved.

The guide head 63 is directly contacted with a positioning groove on the electric automobile, and the guide rod 6 is arranged in the guide hole 54 of the floating seat 5 in a penetrating way. Due to the arrangement of the reset tension spring, the guide rod 6 can automatically return after the downward pressing force is relieved, and meanwhile, the guide rod 6 can be prevented from falling off the floating seat 5 downwards.

The light shielding plate 61 is an L-shaped plate, the upper end of which is provided with a second U-shaped notch 611, the second U-shaped notch 611 is matched with the first U-shaped notch 71 on the photoelectric sensor, and when the second U-shaped notch 611 and the first U-shaped notch 71 are aligned, the light is not shielded, and the signal for stopping the rising is not triggered. When the guide rod 6 is pushed down to move, the bottom plate 62 and the light shielding plate 61 are driven to move downwards, the second U-shaped notch 611 is dislocated with the first U-shaped notch 71, and the non-notch portion of the light shielding plate 61 shields the light passing through the first U-shaped notch 71 to trigger the stop-rising signal.

Preferably, the guide bar 6 of the present embodiment is an elastic telescopic bar. When the elastic telescopic rod is positioned and abutted to the positioning groove in the electric automobile, the guide rod 6 is prevented from being damaged due to hard collision. .

As shown in fig. 12 to 14, the present invention further provides an AGV cart 700 for intelligently replacing a battery of an automobile, which includes an automobile body 200, an intelligent control unit 300, a driving wheel mechanism 400, the mechanical positioning mechanism 100, an unlocking mechanism 500, and a lifting mechanism 600, wherein the mechanical positioning mechanism 100, the unlocking mechanism 500, and the lifting mechanism 600 are disposed on the automobile body 200, the intelligent control unit 300 controls the driving wheel mechanism 400, the mechanical positioning mechanism 100, the unlocking mechanism 500, and the lifting mechanism 600 to move the automobile body 200, position and unlock the battery of the automobile, and lift the lifting mechanism 600.

After the mechanical positioning mechanism 100 approaches the position of the battery of the electric automobile through intelligent navigation, the AGV cart 700 is further accurately positioned and aligned with the positioning groove on the electric automobile, then the lifting mechanism 600 upwards drags the bottom of the battery, then the unlocking mechanism 500 unlocks the battery mechanism locked on the electric automobile, the battery after unlocking falls on the lifting mechanism 600, then the lifting mechanism 600 descends, and the battery is transported away by the AGV cart 700. A similar process is repeated for loading the battery.

Electric vehicles are expected to be developed more as an important approach to solve the problems of resource shortage, environmental pollution and the like. And the traditional electric automobile needs to be stopped for charging after power utilization, so that waiting time is consumed. In the battery exchange mode of 'vehicle electricity separation', the battery exchange of the electric vehicle is a great trend in the future. The AGV cart 700 of the present invention may be designed for use with a home electric vehicle battery replacement type cart. Because the AGV car 700 of this embodiment employs the above-mentioned mechanical positioning mechanism 100, the AGV car 700 can be accurately positioned when replacing the battery for the battery car, and is not affected by the environment, and has high stability.

According to the mechanical positioning mechanism 100 and the AGV trolley provided by the embodiment of the invention, the lifting component 2 and the floating positioning component 3 are arranged on the rack 1, the floating positioning component 3 is hung on the lifting component 2 to lift along with the lifting component and rotates left and right relative to the lifting component 2, and the floating positioning component 3 comprises a cantilever support 4, a floating seat 5 and a guide rod 6. The floating positioning component 3 is also provided with a lifting positioning detection element 7, a front and back positioning detection element 8, a left and right positioning detection element 9 which are used for respectively detecting position signals in the Z direction, the Y direction and the X direction and uploading the position signals to an upper control host machine such as a control system of the AGV trolley 700, then the AGV trolley 700 adjusts the position of the trolley body up and down, front and back and left and right according to the signals to realize accurate positioning, the positioning accuracy can reach about +/-1 mm, and the positioning device is stable, reliable, free of environmental influence and suitable for popularization and application.

The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.