CN107181118B - Combined intelligent mobile AGV based on dynamic state and docking method thereof - Google Patents
Combined intelligent mobile AGV based on dynamic state and docking method thereof Download PDFInfo
- Publication number
- CN107181118B CN107181118B CN201710383467.2A CN201710383467A CN107181118B CN 107181118 B CN107181118 B CN 107181118B CN 201710383467 A CN201710383467 A CN 201710383467A CN 107181118 B CN107181118 B CN 107181118B
- Authority
- CN
- China
- Prior art keywords
- docking
- module
- agv
- sub
- butt joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Toys (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The application discloses a combined intelligent mobile AGV based on dynamic state and a docking method thereof. The combined intelligent mobile AGV based on the dynamic state comprises a first AGV, wherein at least one side wall of the first AGV is provided with a docking module; the docking module comprises at least one docking sub-module and/or at least one docking parent module, wherein the docking sub-module is used for being in docking connection with the docking parent module of the second AGV, and the docking parent module is used for being in docking connection with the docking sub-module of the second AGV; the docking sub-module is provided with a docking sub-end, and the docking main module is provided with a docking main end. The combined intelligent mobile AGV based on the dynamic state and the control method thereof can realize the mutual switching among different modes of the AGV, maximize benefits, are flexible in combination mode, and can be well adapted to materials with different specifications.
Description
Technical Field
The application relates to a combined intelligent mobile AGV based on dynamic and a docking method thereof, and belongs to the field of mobile equipment docking.
Background
There are currently various sizes of AGV (Automated Guided Vehicle) on the market, designed for different loads and different tasks. However, the smart mobile AGVs on the market have their own unique working environment and limited load range, either for smaller, lightweight products for transportation, turnover, or for specialized loading of large objects, which are themselves larger and more cumbersome.
The functions of the existing intelligent mobile AGVs are fixed, the functions cannot be converted and are universal, if the product change interval is large, in order to carry various weight objects, the intelligent mobile AGVs of several types are required to meet the actual production requirements, and the AGVs of various sizes are often required to be purchased. Sometimes, a large intelligent mobile AGV needs to be equipped for a small amount of large and heavy objects, the idle rate of the AGV is high, and the AGV is not flexible enough, and the manufacturing cost of the large intelligent mobile AGV is very high, so that the production resource is wasted greatly.
Chinese patent publication No. CN104518352a discloses a plug and socket integrated connector compatible with butt-joint of board-to-board, the connector includes a plug, a socket, a box, a movable board for correcting the installation position between the plug and the socket, and a plurality of symmetrically distributed guide posts for guiding the position between the correction plug and the socket, the bottom end of the plug penetrates through the box and then is fixedly connected with the socket, the bottom end of the socket is inserted into the movable board, one ends of the guide posts are fixed on two sides of the plug, and the other ends of the guide posts sequentially penetrate through holes on two sides of the box and the socket and then are inserted into two sides of the movable board. The application uses the guide post to correct and guide the position between the plug and the socket, so that the upper and lower plugs and sockets can be guided in advance when being connected and inserted, and meanwhile, a movable plate is added between the plug and the socket, so that the installation position between two devices and modules can be automatically and quickly corrected, the phenomenon of misalignment between the two devices and modules is avoided, and seamless and wireless cable connection between the devices and between the modules is realized. However, the patent can only aim at static guiding butt joint, and cannot solve the problems of accurate butt joint and fixed connection of mobile equipment in movement.
Disclosure of Invention
Aiming at the problems and defects of inflexible loading and inflexible use of the intelligent mobile AGVs on the market at present, the application aims to provide a dynamic-based combined intelligent mobile AGV and a butt joint method thereof, which can realize the mutual switching among different modes, and when a large-load material is required to be transported, the carrying capacity and the size of a combined body formed by combining two vehicles, three vehicles, four vehicles and the like are directly doubled, so that the combined intelligent mobile AGV can be used as the intelligent mobile AGV with the large load to finish the work, and when a small-load material is required to be transported, the combined intelligent mobile AGV can be switched into a light-weight mode to finish the work. And no more intelligent mobile AGVs with various specifications are additionally arranged, the maximization of benefits is realized, the combination mode is flexible, and the intelligent mobile AGVs can be well adapted to materials with different specifications.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
the combined intelligent mobile AGV based on the dynamic state comprises a first AGV, and is characterized in that at least one side wall of the first AGV is provided with a butt joint module; the docking module comprises at least one docking sub-module and/or at least one docking parent module, wherein the docking sub-module is used for being in docking connection with the docking parent module of the second AGV, and the docking parent module is used for being in docking connection with the docking sub-module of the second AGV; the butt joint sub-module is provided with a butt joint sub-end, and the butt joint main-module is provided with a butt joint main-end;
preferably, a plurality of side walls of the first AGV are respectively provided with a butting sub-module and/or a butting parent module of the butting module; more preferably, the four side walls of the first AGV are each provided with a docking module, a docking sub-module and/or a docking parent module.
Therefore, the two butted AGVs are respectively provided with the butting submodule and the butting parent module, namely, the butted movable trolley has the role of butting parent end and the role of butting child end, and is more suitable for butting in the movement process.
And the four side walls are respectively provided with a butting submodule and a butting parent module, so that the butting can be realized from any side face.
Preferably, the first AGV and the second AGV are identical in structure.
According to the embodiment of the application, the application can be further optimized, and the following technical scheme is formed after the optimization:
in order to facilitate locking after the butt joint sub-module and the butt joint main module are in butt joint, the end part of the butt joint sub-end is provided with a locking mechanism, and when the butt joint sub-end of the first AGV is in butt joint with the butt joint main end of the butt joint main module of the second AGV and the butt joint main end of the first AGV is in butt joint with the butt joint sub-end of the butt joint sub-module of the second AGV, the locking mechanism is used for butt joint and locking the butt joint main end of the first AGV and the butt joint main end of the butt joint main module of the second AGV together; preferably, the end part of the butt joint child end is provided with a rotating block serving as a locking mechanism, and the rotating block is inserted into a groove of the butt joint parent end which is in butt joint with the rotating block and is fixedly connected with the butt joint parent end; preferably, the length dimension of the rotating block is larger than the width dimension, and the length dimension of the groove of the butt joint female end is larger than the width dimension.
The rotating direction of the rotating block of the butt joint sub-end of the first AGV is opposite to the rotating direction of the rotating block of the butt joint sub-end of the butt joint sub-module of the second AGV. Therefore, the rotating directions of the butt joint sub-ends of the two AGVs are opposite after butt joint, so that after the butt joint positions are deviated, the alignment of the positions is realized through locking.
Preferably, the butt joint sub-end comprises a motor mounting plate, a motor arranged on the motor mounting plate, a rotary column connected with the output end of the motor, and a rotary block fixed at the end part of the rotary column; the butt joint female end comprises a female end body, wherein an inner cavity for accommodating the rotating block and a groove arranged at the end part of the female end body are formed in the female end body, and the groove is used as a channel for the rotating block to enter the inner cavity; the side wall of the groove is used as an anti-falling stop block after the rotating block arranged in the inner cavity rotates for a certain angle. Therefore, the rotating block can realize reliable connection of two AGVs after rotating for a certain angle, and the butt joint and the separation are convenient.
In order to ensure more reliable butt joint, a first butt joint guiding device is arranged between a butt joint sub-module and a butt joint main module of the first AGV, and a second butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the second AGV; the first butt joint guiding device and the second butt joint guiding device are a corrector end and/or a corrector female end, and the corrector end is used for butt joint with the corresponding corrector female end; preferably, the syndrome end comprises a sub-syndrome block having a tip portion and a syndrome bearing or a syndrome roller mounted at the tip of the sub-syndrome block; the correcting female end comprises a female correcting block and a V-shaped groove arranged on the female correcting block. During butt joint, the correcting bearing or the correcting roller extends into the V-shaped groove.
In order to provide guidance for the docking sub-module and the docking female module through the docking of the correction sub-end and the corresponding correction female end, the docking sub-end of the docking sub-module and the docking female end of the corresponding docking female module are guided by the correction sub-end and/or the correction female end through the forced guiding mechanism to dock together.
As a specific structural form, the lateral wall of the first AGV is provided with a transversely arranged sliding rail and a sliding block matched in the sliding rail through a mounting plate, the sliding block is correspondingly arranged on the inner sides of the butt joint sub-module and the butt joint main module, the forced guiding mechanism comprises a limiting block fixed on the correction sub-end and the correction main end, and an elastic limiting mechanism is arranged between the limiting block and the corresponding sliding block. More optionally, the elastic limiting mechanism comprises a left limiting plate and a right limiting plate fixed on the mounting plate, the limiting block is positioned between the left limiting plate and the right limiting plate, and elastic elements are respectively arranged between the limiting block and the left limiting plate and between the limiting block and the right limiting plate; preferably, the elastic element is a spring, and the elastic element plays roles of finding the dynamic butt joint position of the intelligent mobile AGV and limiting the position during synchronous movement after butt joint. Therefore, after the correction sub-ends and the corresponding correction main ends are in butt joint, the butt joint sub-module and the butt joint main module are forced to move to ideal butt joint positions through the forced guide mechanism, and therefore dynamic and accurate butt joint of the butt joint sub-module and the butt joint main module is achieved.
Based on the same inventive concept, the application also provides a docking method of the combined intelligent mobile AGV based on the dynamic state, which comprises the following steps:
s1, the first AGV and/or the second AGV move, and when the butt joint sub-module of the first AGV is in butt joint with the butt joint main module of the second AGV, the butt joint main module of the first AGV is in butt joint with the butt joint sub-module of the second AGV;
s2, when the butt joint sub-module is in butt joint with the butt joint main module, position alignment after butt joint position deviation is achieved through the forced guiding mechanism, and the butt joint sub-module is locked with the butt joint main module through the locking mechanism.
Preferably, the docking method of the combined intelligent mobile AGV based on the dynamic state comprises the following steps:
s11, the first AGV and/or the second AGV move, and when a corrector end or a corrector master end of the first AGV is correspondingly contacted with a corrector master end or a corrector master end of the second AGV, the corrector master end is led into the corresponding corrector master end;
s22, the correction sub-end is led into the corresponding correction main end and simultaneously forces the correction sub-module and the correction main module to transversely move through the forcing guide mechanism, so that the relative positions of the butt joint sub-module and the butt joint main module are corrected;
s33, the butt joint sub-module of the first AGV is in butt joint with the butt joint mother module of the second AGV, and the butt joint mother module of the first AGV is in butt joint with the butt joint sub-module of the second AGV; when the butt joint sub-module is in butt joint with the butt joint main module, the rotating block at the end part of the butt joint sub-end of the butt joint sub-module stretches into the groove of the butt joint main module and is driven to rotate by a motor to lock the butt joint sub-module and the butt joint main module together, and the rotating direction of the rotating block at the butt joint sub-end of the first AGV is opposite to that of the rotating block at the butt joint sub-end of the second AGV.
Therefore, after the correction sub-end is led into the correction main end, the forced guide mechanism drives the correction sub-module and the correction main module to move on the linear slide rail, so that the relative positions of the whole butt joint sub-module and the butt joint main module are corrected. When two AGVs are in butt joint, the correction child ends and the correction mother ends are matched with each other, and then the positions of the butt joint child modules and the butt joint mother modules are corrected under the guidance of the forced guiding mechanism, so that accurate dynamic butt joint is realized.
Compared with the prior art, the application has the beneficial effects that: the AGVs based on the dynamic combined intelligent mobile AGVs can be combined and butted freely, each AGV is relatively independent and complete, and tasks of material transportation and turnover can be independently realized. The AGVs may be identical or different in function to achieve different work situations, work environment applications (e.g., obstacle surmounting and no obstacle surmounting, turn in place and turn in place, etc.). The device can work independently at ordinary times, can be combined by itself when needed, and can form various queue shapes in a combined mode, such as long queues or various matrix shapes, so that on one hand, the conveying of materials with different sizes is met, and on the other hand, the conveying of materials with large loads is realized. When the transportation is completed, the intelligent mobile equipment can be separated automatically, and the intelligent mobile equipment serving as a small load can be used for continuing the original work, so that the free switching among different modes is realized.
Compared with the CN104518352A, the docking and guiding of the application aims at two dynamic objects, so that the static guiding docking of the CN104518352A cannot realize the docking of two dynamic mobile devices of the application, in other words, the application realizes the accurate docking of two dynamic objects in the motion process, and the docking can also change positions after the docking, such as the docking to the front and the rear after the left and right docking.
Drawings
FIG. 1 is a schematic diagram of the structure of one embodiment of the present application;
FIG. 2 is a schematic view of a docking sub-module according to the present application;
FIG. 3 is a schematic view of the structure of a docking bay module according to the present application;
FIG. 4 is a longitudinal cross-sectional view of FIG. 2;
FIG. 5 is a docking status diagram of a docking module according to the present application;
fig. 6 is a state diagram after four combined intelligent mobile devices are combined.
In the drawings
1-a body; 2-butting modules; 3-sliding blocks, 4-corrector ends, 5-butt joint mother ends and 6-butt joint son ends; 7-correcting the female end; 8-butt-joint mounting bottom plates, 9-linear slide rails, 10-left limiting mechanisms, 11-right limiting mechanisms and 12-limiting blocks; 13-mounting plate, 14-correction bearing, 15-correction block, 16-motor mounting plate, 17-motor, 18-swivel bearing, 19-bearing mounting cover, 20-swivel post, 21-swivel block.
Detailed Description
The application will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are used hereinafter to denote only the directions corresponding to the upper, lower, left, and right directions of the drawings, and do not limit the structure.
A combination formula intelligence removes AGV based on developments, as shown in FIG. 1, including first AGV, be equipped with butt joint module 2 on four lateral walls of first AGV, from this, make things convenient for the free combination and the split between the intelligent removal AGV.
As shown in fig. 2 and 3, the docking module 2 includes one docking sub-module and one docking mother module, where the docking sub-module is configured to dock with the docking mother module of the second AGV, and the docking mother module is configured to dock with the docking sub-module of the second AGV; the docking sub-module is provided with a docking sub-end 6, and the docking main module is provided with a docking main end 7. Preferably, a docking module, a docking sub-module and a docking parent module are arranged on a plurality of side walls of the first AGV. The butt joint sub-module is provided with a butt joint sub-end 6, and the butt joint main module is provided with a butt joint main end 7; the tip of butt joint child end 6 is equipped with locking mechanical system, and when the butt joint child end 6 of first AGV and the butt joint female end 7 butt joint of the female module of butt joint of second AGV, and the butt joint child end 7 of the butt joint child end 6 butt joint of the butt joint child module of first AGV, locking mechanical system is used for with the butt joint child end 6 of first AGV and the butt joint female end 7 of the butt joint child end 7 of the butt joint female module of second AGV and the butt joint child end 6 butt joint locking of butt joint child module together.
The butt joint sub-end 6 comprises a motor mounting plate 16, a motor 17 arranged on the motor mounting plate 16, a rotary column connected with the output end of the motor and a rotary block fixed at the end part of the rotary column; the butt joint female end 7 comprises a female end body, wherein an inner cavity for accommodating the rotating block and a groove arranged at the end part of the female end body are formed in the female end body, and the groove is used as a channel for the rotating block to enter the inner cavity; the side wall of the groove is used as an anti-falling stop block after the rotating block arranged in the inner cavity rotates for a certain angle.
A first butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the first AGV, and a second butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the second AGV; the first butt joint guiding device and the second butt joint guiding device are a corrector end and/or a corrector female end, and the corrector end is used for butt joint with the corresponding corrector female end; preferably, the syndrome end comprises a sub-syndrome block having a tip portion and a syndrome bearing or a syndrome roller mounted at the tip of the sub-syndrome block; the correcting female end comprises a female correcting block and a V-shaped groove arranged on the female correcting block.
Preferably, the correcting sub-end and/or the correcting main end guide the butt joint sub-end 6 of the butt joint sub-module to butt joint main end 7 of the corresponding butt joint main module through a forced guiding mechanism. The side wall of the first AGV is provided with a transversely arranged sliding rail and a sliding block matched in the sliding rail through a mounting plate, and the sliding block is correspondingly arranged on the inner sides of the butt joint sub-module and the butt joint mother module. The forced guiding mechanism comprises a limiting block fixed on the correction child end and the correction parent end, and an elastic limiting mechanism is arranged between the limiting block and the corresponding sliding block. The elastic limiting mechanism comprises a left limiting plate and a right limiting plate which are fixed on the mounting plate, the limiting block is located between the left limiting plate and the right limiting plate, and springs are respectively arranged between the limiting block and the left limiting plate and between the limiting block and the right limiting plate.
The side wall of the first AGV is provided with a transversely arranged slide rail and a slide block matched in the slide rail, the slide block is correspondingly arranged on the inner sides of the butt joint sub-module and the butt joint mother module, the forced guiding mechanism comprises a limiting block fixed on the correction sub-end and the correction mother end, and an elastic limiting mechanism is arranged between the limiting block and the corresponding slide block.
The docking module can be detached at any time, can be selected according to specific needs, and can be installed in any one or two directions. Each intelligent mobile AGV module can select the same function or different functions according to actual application scenes and requirements. If the intelligent mobile AGVs of other brands are allowed, the docking module can also be arranged on the equipment of the intelligent mobile AGVs, so that docking among the equipment of different brands is realized. The butt joint module is provided with an automatic adjusting device, and can be adjusted (20 mm adjusting range) according to the actual position of equipment during butt joint, so as to adjust the positioning deviation among the equipment.
As shown in FIG. 1, each of the dynamic-based combined intelligent mobile AGVs is composed of a body 1 and a docking module 2, wherein the docking module 2 is installed around the body, can realize free combination from any direction, and can be selectively installed in any two directions according to actual application requirements. Two bodies 1 with the same function can be combined together, or several bodies 1 with different functions can be combined together.
The butt joint submodule piece and the butt joint master module are respectively arranged on the two bodies 1, the whole butt joint submodule piece and the whole butt joint master module are arranged on the linear slide rail, a limiting block 12 is arranged below the submodule piece and the master module mounting plate 13, and two limiting mechanisms are respectively arranged on two sides of the limiting block: the left limit mechanism 10 and the right limit mechanism 11, the sub-module and the main module can slide left and right along the linear slide rail 9 within a set range (the range is set according to actual conditions and needs). A correction child end 4 for correcting the position deviation is installed in the middle of the child module, and a correction parent end 7 is installed at the end of the parent module. The butt joint female end 5 and the butt joint child end 6 are distributed on two sides of the correction child end. The butt joint sub-end mainly comprises a rotating motor 17, a rotating bearing 18 and a rotating block 21, wherein the rotating motor 17 is arranged on the mounting plate 13 of the butt joint sub-end through a motor mounting plate 16, a rotating column 20 is arranged at the output end of the rotating motor 17, the rotating block 21 is arranged at the other end of the rotating column 20, and the bearing mounting cover 19 fixes the rotating bearing on the rotating column 20.
When the combination is needed, the corrector end 4 is contacted with the corrector master end 7, and the corrector end 4 is guided into the corrector master end 7 through the guide of the corrector bearing 14 arranged on the corrector block 15 to drive the corrector sub-module and the corrector master module to move on the linear slide rail 9, so that the relative positions of the whole butt-joint sub-module and the butt-joint master module are corrected. After the position correction, the rotating block 21 in the butt joint sub-end 6 on the first mounting plate enters the groove of the butt joint main end 5 on the second mounting plate, the rotating motor 17 on the butt joint sub-end 6 rotates to drive the rotating block 21 to rotate, and the rotating block is fixed in the groove of the butt joint main end 5. When the butt joint sub-module is separated, the rotating motor 17 rotates to separate the rotating block 21 on the butt joint sub-end 6 from the groove of the butt joint main end 5, then the body 1 moves to drive the butt joint sub-module and the butt joint main module to separate, and the springs in the left limiting mechanism and the right limiting mechanism push the limiting block 12, so that the butt joint sub-module and the butt joint main module return to the initial positions.
When the butt joint sub-module is provided with the butt joint sub-end 6 and the butt joint main end 5, and the butt joint main module is provided with the butt joint main end 5 and the butt joint sub-end 6, after the position correction, the rotating blocks 21 in the butt joint sub-end 6 on the first mounting plate are already entered into the grooves of the butt joint main end 5 on the second mounting plate, meanwhile, the rotating blocks 21 in the butt joint sub-end 6 on the second mounting plate are already entered into the grooves of the butt joint main end 5 on the first mounting plate, and the rotating motors 17 of the two butt joint sub-ends rotate to drive the rotating blocks 21 to rotate, and are simultaneously fixed in the grooves of the corresponding butt joint main ends 5.
As shown in FIG. 6, in one embodiment, after four combined intelligent mobile AGVs based on dynamic state are combined, the devices can be combined at will from different directions according to the actual application scene so as to meet the actual production requirement.
The embodiment provides a control method with reasonable design and simple and clear logic for the combined intelligent mobile AGV, so that the combined body can work cooperatively, and the maximum capability of the combined body is exerted.
The application also provides a docking method of the combined intelligent mobile AGV based on the dynamic state, which comprises the following steps:
s1, the first AGV and/or the second AGV move, when a butting submodule of the first AGV is in butt joint with a butting submodule of the second AGV, a corrector end or a corrector master end of the first AGV is in corresponding contact with a corrector master end or a corrector master end of the second AGV, the corrector master end is led into the corresponding corrector master end, and the butting submodule of the first AGV is in butt joint with the butting submodule of the second AGV;
and S2, when the butt joint sub-module is in butt joint with the butt joint main module, the corrector sub-module and the corrector main module are forced to transversely move by the forced guide mechanism while the corrector sub-end is led into the corresponding corrector main end, so that the relative positions of the butt joint sub-module and the butt joint main module are corrected, and then the position alignment after the butt joint position is deviated is realized by locking by the locking mechanism.
S3, the butt joint sub-module of the first AGV is in butt joint with the butt joint mother module of the second AGV, and the butt joint mother module of the first AGV is in butt joint with the butt joint sub-module of the second AGV; when the butt joint sub-module is in butt joint with the butt joint main module, the rotating block at the end part of the butt joint sub-end of the butt joint sub-module stretches into the groove of the butt joint main module and is driven to rotate by a motor to lock the butt joint sub-module and the butt joint main module together, and the rotating direction of the rotating block at the butt joint sub-end of the first AGV is opposite to that of the rotating block at the butt joint sub-end of the second AGV.
Therefore, after the correction sub-end is led into the correction main end, the forced guide mechanism drives the correction sub-module and the correction main module to move on the linear slide rail, so that the relative positions of the whole butt joint sub-module and the butt joint main module are corrected. When two AGVs are in butt joint, the correction child ends and the correction mother ends are matched with each other, and then the positions of the butt joint child modules and the butt joint mother modules are corrected under the guidance of the forced guiding mechanism, so that accurate dynamic butt joint is realized.
The foregoing examples are set forth in order to provide a more thorough description of the present application and are not intended to limit the scope of the application, and various modifications of the application, which are equivalent to those skilled in the art upon reading the present application, will fall within the scope of the application as defined in the appended claims.
Claims (24)
1. The combined intelligent mobile AGV based on the dynamic state comprises a first AGV, and is characterized in that at least one side wall of the first AGV is provided with a docking module; the docking module comprises at least one docking sub-module and/or at least one docking parent module, wherein the docking sub-module is used for being in docking connection with the docking parent module of the second AGV, and the docking parent module is used for being in docking connection with the docking sub-module of the second AGV; the butt joint sub-module is provided with a butt joint sub-end, and the butt joint main-module is provided with a butt joint main-end;
a plurality of side walls of the first AGV are respectively provided with a butting sub-module and/or a butting parent module of the butting module; a first butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the first AGV, and a second butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the second AGV; the first butt joint guiding device and the second butt joint guiding device are a corrector end and/or a corrector female end, and the corrector end is used for butt joint with the corresponding corrector female end;
the correction sub-end comprises a sub-correction block with a tip part and a correction bearing or a correction roller arranged at the tip of the sub-correction block; the correcting female end comprises a female correcting block and a V-shaped groove arranged on the female correcting block;
and a locking mechanism is arranged at the end part of the butt joint sub-end.
2. The intelligent mobile AGV of claim 1, wherein the first AGV has a docking module, a docking sub-module and/or a docking parent module, mounted on each of the four side walls of the first AGV.
3. The intelligent mobile AGV of claim 1 wherein the locking mechanism is configured to dock the docking sub-end of the first AGV with the docking sub-end of the docking sub-module of the second AGV when the docking sub-end of the first AGV is docked with the docking sub-end of the docking sub-module of the second AGV and the docking sub-end of the docking sub-module of the first AGV is docked.
4. The intelligent mobile AGV according to claim 3 wherein the end of the docking sub-end is provided with a rotating block as a locking mechanism that is inserted into a recess of the docking female end to which it is docked and fixedly attached to the docking female end.
5. The intelligent mobile AGV according to claim 4 wherein the rotating block has a length dimension greater than a width dimension and the recess of the docking head has a length dimension greater than a width dimension.
6. The dynamic-based combined intelligent mobile AGV of claim 3 wherein the rotational direction of the rotational block of the docking sub-end of the first AGV is opposite the rotational direction of the rotational block of the docking sub-end of the docking sub-module of the second AGV.
7. The intelligent mobile AGV according to claim 3 wherein said docking station comprises a motor mounting plate, a motor mounted on the motor mounting plate, a spin column coupled to the output of the motor, and a spin block secured to the end of the spin column; the butt joint female end comprises a female end body, wherein an inner cavity for accommodating the rotating block and a groove arranged at the end part of the female end body are formed in the female end body, and the groove is used as a channel for the rotating block to enter the inner cavity; the side wall of the groove is used as an anti-falling stop block after the rotating block arranged in the inner cavity rotates for a certain angle.
8. The intelligent mobile AGV of claim 1, wherein the corrector sub-end and/or corrector female end guides the docking sub-end of the docking sub-module to dock with the docking female end of the corresponding docking female module via a forced guiding mechanism.
9. The intelligent mobile AGV according to claim 8, wherein the lateral wall of the first AGV is provided with a slide rail and a slide block, wherein the slide rail is transversely arranged and the slide block is matched with the slide rail, the slide block is correspondingly arranged on the inner sides of the docking sub-module and the docking main module, the forced guiding mechanism comprises a limiting block fixed on the calibration sub-end and the calibration main end, and an elastic limiting mechanism is arranged between the limiting block and the corresponding slide block.
10. The dynamic-based combined intelligent mobile AGV according to claim 9 wherein the elastic limiting mechanism comprises a left limiting plate and a right limiting plate fixed on the mounting plate, the limiting block is located between the left limiting plate and the right limiting plate, and elastic elements are respectively arranged between the limiting block and the left limiting plate and the right limiting plate.
11. The dynamically-based, modular, intelligent mobile AGV of claim 10, wherein the resilient member is a spring.
12. The method for docking the combined intelligent mobile AGVs based on the dynamic state is characterized in that the combined intelligent mobile AGVs based on the dynamic state comprise a first AGV, and at least one side wall of the first AGV is provided with a docking module; the docking module comprises at least one docking sub-module and/or at least one docking parent module, wherein the docking sub-module is used for being in docking connection with the docking parent module of the second AGV, and the docking parent module is used for being in docking connection with the docking sub-module of the second AGV; the butt joint sub-module is provided with a butt joint sub-end, and the butt joint main-module is provided with a butt joint main-end;
a plurality of side walls of the first AGV are respectively provided with a butting sub-module and/or a butting parent module of the butting module; a first butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the first AGV, and a second butt joint guiding device is arranged between the butt joint sub-module and the butt joint main module of the second AGV; the first butt joint guiding device and the second butt joint guiding device are a corrector end and/or a corrector female end, and the corrector end is used for butt joint with the corresponding corrector female end;
the butt joint method comprises the following steps:
s1, the first AGV and/or the second AGV move, and when the butt joint sub-module of the first AGV is in butt joint with the butt joint main module of the second AGV, the butt joint main module of the first AGV is in butt joint with the butt joint sub-module of the second AGV;
and S2, when the butt joint sub-module is in butt joint with the butt joint main module, the position alignment after the butt joint position is deviated is realized through the forced guide mechanism, and the butt joint sub-module and the butt joint main module are locked together through the locking mechanism.
13. The method of docking a dynamically-based, combined intelligent mobile AGV of claim 12, comprising the steps of:
s11, the first AGV and/or the second AGV move, and when a corrector end or a corrector master end of the first AGV is correspondingly contacted with a corrector master end or a corrector master end of the second AGV, the corrector master end is led into the corresponding corrector master end;
s22, the correction sub-end is led into the corresponding correction main end and simultaneously forces the correction sub-module and the correction main module to transversely move through the forcing guide mechanism, so that the relative positions of the butt joint sub-module and the butt joint main module are corrected;
s33, the butt joint sub-module of the first AGV is in butt joint with the butt joint mother module of the second AGV, and the butt joint mother module of the first AGV is in butt joint with the butt joint sub-module of the second AGV; when the butt joint sub-module is in butt joint with the butt joint main module, the rotating block at the end part of the butt joint sub-end of the butt joint sub-module stretches into the groove of the butt joint main module and is driven to rotate by a motor to lock the butt joint sub-module and the butt joint main module together, and the rotating direction of the rotating block at the butt joint sub-end of the first AGV is opposite to that of the rotating block at the butt joint sub-end of the second AGV.
14. The method of docking a dynamically-based, modular intelligent mobile AGV of claim 12 wherein the syndrome end includes a sub-correction block having a tip portion and a correction bearing or correction roller mounted at the tip of the sub-correction block; the correcting female end comprises a female correcting block and a V-shaped groove arranged on the female correcting block.
15. The method of docking a dynamically-based, modular, intelligent mobile AGV of claim 12 wherein the first AGV has docking modules, a docking sub-module and/or a docking parent module, mounted on each of the four side walls of the first AGV.
16. The docking method of claim 12 wherein the end of the docking sub-end is provided with a locking mechanism for locking the docking sub-end of the first AGV and the docking sub-end of the docking sub-module of the second AGV together when the docking sub-end of the first AGV is docked with the docking sub-end of the docking sub-module of the second AGV and the docking sub-end of the docking sub-module of the first AGV is docked with the docking sub-end of the docking sub-module of the second AGV.
17. The docking method of the dynamically-based, combined intelligent mobile AGV of claim 16 wherein the end of the docking sub-end is provided with a rotating block as a locking mechanism that is inserted into a recess of the docking female end to which it is docked and fixedly coupled to the docking female end.
18. The method of docking a dynamically-based, modular intelligent mobile AGV of claim 17 wherein the rotating block has a length dimension greater than a width dimension and the recess of the docking nut has a length dimension greater than a width dimension.
19. The method of docking a dynamically-based, combined intelligent mobile AGV of claim 16 wherein the rotational direction of the rotational block of the docking sub-end of the first AGV is opposite to the rotational direction of the rotational block of the docking sub-end of the docking sub-module of the second AGV.
20. The method of docking a dynamically-based, modular, intelligent mobile AGV of claim 16 wherein the docking station includes a motor mounting plate, a motor mounted on the motor mounting plate, a spin column coupled to an output end of the motor, and a spin block secured to an end of the spin column; the butt joint female end comprises a female end body, wherein an inner cavity for accommodating the rotating block and a groove arranged at the end part of the female end body are formed in the female end body, and the groove is used as a channel for the rotating block to enter the inner cavity; the side wall of the groove is used as an anti-falling stop block after the rotating block arranged in the inner cavity rotates for a certain angle.
21. The method of docking a dynamically-based, modular, intelligent mobile AGV of claim 12 wherein the syndrome ends and/or the syndrome ends are guided by a forced guiding mechanism to dock the docking sub-ends of the docking sub-modules with the docking female ends of the corresponding docking female modules.
22. The method of claim 21 wherein the first AGV has a lateral rail disposed on a side wall thereof and a slide mounted in the rail by a mounting plate, the slide being mounted on an inner side of the docking sub-module and the docking parent module, the forced guiding mechanism includes a stopper fixed on the correction sub-end and the correction parent end, and an elastic limiting mechanism is disposed between the stopper and the corresponding slide.
23. The method of docking a dynamically-based, combined intelligent mobile AGV of claim 22 wherein the resilient stop mechanism comprises a left stop plate and a right stop plate secured to the mounting plate, the stop block is positioned between the left stop plate and the right stop plate, and resilient elements are respectively disposed between the stop block and the left stop plate and the right stop plate.
24. The method of docking a dynamically-based, modular intelligent mobile AGV of claim 23 wherein the resilient member is a spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710383467.2A CN107181118B (en) | 2017-05-26 | 2017-05-26 | Combined intelligent mobile AGV based on dynamic state and docking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710383467.2A CN107181118B (en) | 2017-05-26 | 2017-05-26 | Combined intelligent mobile AGV based on dynamic state and docking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107181118A CN107181118A (en) | 2017-09-19 |
| CN107181118B true CN107181118B (en) | 2023-08-15 |
Family
ID=59835988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710383467.2A Active CN107181118B (en) | 2017-05-26 | 2017-05-26 | Combined intelligent mobile AGV based on dynamic state and docking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107181118B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129389A (en) * | 2017-06-27 | 2019-01-04 | 京东方科技集团股份有限公司 | A kind of robot and its joining method, robot splicing system |
| CN109533679B (en) * | 2018-12-03 | 2024-03-19 | 深圳怡丰机器人科技有限公司 | AGV draw gear and AGV dolly |
| CN109625123B (en) * | 2018-12-25 | 2021-03-02 | 中国科学院深圳先进技术研究院 | Spliced type carrying vehicle, carrying system and carrying method |
| CN109878401A (en) * | 2019-01-29 | 2019-06-14 | 广东赛斐迩物流科技有限公司 | A kind of type variable cargo movement system and its operating method |
| CN110103747B (en) * | 2019-04-16 | 2020-08-11 | 杭州电子科技大学 | Automatic charging device and charging method for heavy-load AGV |
| CN110597208B (en) * | 2019-09-19 | 2020-11-20 | 驭势科技（北京）有限公司 | Method for loading cargoes by intelligently driving trailer, vehicle-mounted equipment and storage medium |
| CN110633941A (en) * | 2019-09-19 | 2019-12-31 | 驭势科技（北京）有限公司 | Method for transporting goods by intelligently driving trailer, vehicle-mounted equipment and storage medium |
| CN112256018A (en) * | 2020-07-16 | 2021-01-22 | 北京京东乾石科技有限公司 | Robot scheduling processing method, device, equipment and storage medium |
| CN112896365B (en) * | 2021-02-20 | 2022-07-29 | 北京卫星制造厂有限公司 | Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system |
| CN113247521B (en) * | 2021-05-28 | 2022-10-25 | 江苏安全技术职业学院 | Conveying equipment for engineering machinery manufacturing production |
| CN114408829A (en) * | 2021-12-10 | 2022-04-29 | 北京特种机械研究所 | Airplane model turning-over system |
| CN118418876A (en) * | 2024-07-03 | 2024-08-02 | 中铁四局集团第二工程有限公司 | AGV transport vechicle of synthetic involution body |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537564A (en) * | 2009-04-14 | 2009-09-23 | 中冶实久建设有限公司 | Pairing method of H-section steel for super-large crane beams |
| CN202167663U (en) * | 2011-07-01 | 2012-03-14 | 富港电子(天津)有限公司 | Board-to-board battery connector, male connector of board-to-board battery connector and female connector of board-to-board battery connector |
| CN103101556A (en) * | 2013-01-23 | 2013-05-15 | 扬州凯思特机械有限公司 | Universal pin tooth car pusher |
| CN104518352A (en) * | 2014-12-23 | 2015-04-15 | 深圳市凌科电气有限公司 | Plug-socket integrated connector with board-to-board butting compatibility function |
| CN104565714A (en) * | 2013-10-09 | 2015-04-29 | 全研科技有限公司 | Electromagnetic brake assembly device of fine tuning device |
| CN207038828U (en) * | 2017-05-26 | 2018-02-23 | 山东非凡智能科技有限公司 | AGV is moved based on dynamic combined intelligent |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1710869B1 (en) * | 2005-04-05 | 2008-04-30 | Sumitomo Wiring Systems, Ltd. | A connector device |
-
2017
- 2017-05-26 CN CN201710383467.2A patent/CN107181118B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537564A (en) * | 2009-04-14 | 2009-09-23 | 中冶实久建设有限公司 | Pairing method of H-section steel for super-large crane beams |
| CN202167663U (en) * | 2011-07-01 | 2012-03-14 | 富港电子(天津)有限公司 | Board-to-board battery connector, male connector of board-to-board battery connector and female connector of board-to-board battery connector |
| CN103101556A (en) * | 2013-01-23 | 2013-05-15 | 扬州凯思特机械有限公司 | Universal pin tooth car pusher |
| CN104565714A (en) * | 2013-10-09 | 2015-04-29 | 全研科技有限公司 | Electromagnetic brake assembly device of fine tuning device |
| CN104518352A (en) * | 2014-12-23 | 2015-04-15 | 深圳市凌科电气有限公司 | Plug-socket integrated connector with board-to-board butting compatibility function |
| CN207038828U (en) * | 2017-05-26 | 2018-02-23 | 山东非凡智能科技有限公司 | AGV is moved based on dynamic combined intelligent |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107181118A (en) | 2017-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107181118B (en) | Combined intelligent mobile AGV based on dynamic state and docking method thereof | |
| CN107039846B (en) | Combined intelligent mobile device and docking module thereof | |
| US11515668B2 (en) | Alignment mechanism, charging device and charging system for automatic charging | |
| EP3013632B1 (en) | Method and device for replacement of a battery in a vehicle | |
| US8509981B2 (en) | Docking stations for automated guided vehicles | |
| CN111038955B (en) | Circulating production line capable of realizing multidirectional distribution | |
| CN106183945B (en) | A kind of AGV carrier with loading and unloading docking facilities | |
| TWI641548B (en) | System and docking device for automatically docking a travelling machine, particularly a container stacker crane, to a movable supply, and coupling therefor | |
| CN215705790U (en) | Charging device, charging base station, robot, and charging system | |
| CN212829122U (en) | Unmanned aerial vehicle air park | |
| KR101849880B1 (en) | Automatic centering system of electric actuator | |
| CN113353276B (en) | Multilevel structure transmission system and method for assisting unmanned aerial vehicle in landing | |
| CN117985474B (en) | Magnetic drive conveying system | |
| US10525867B2 (en) | Transport vehicle | |
| EP3705360A1 (en) | Battery storage device and battery storage and exchange system | |
| CN110371088A (en) | Electric shifting apparatus is changed with what no lateral force was floated | |
| CN207038828U (en) | AGV is moved based on dynamic combined intelligent | |
| CN210793126U (en) | Electricity changing transfer device with non-lateral force floating function | |
| CN110667528A (en) | Support device and autonomous guided vehicle | |
| CN217807613U (en) | Bidirectional multi-suction-head variable-pitch structure | |
| KR101093028B1 (en) | Pallet transfer equipment | |
| CN115385054A (en) | Conveying line accurate posture adjusting and positioning system for rocket engine tray | |
| CN211192743U (en) | Modular assembly line for lens | |
| CN110980164B (en) | Universal ball transportation platform and transportation method | |
| TWI748112B (en) | Unpowered stop mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |