CN107554646B - Bidirectional movable trailer and bidirectional movement trailer carrying system - Google Patents
Bidirectional movable trailer and bidirectional movement trailer carrying system Download PDFInfo
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- CN107554646B CN107554646B CN201710908466.5A CN201710908466A CN107554646B CN 107554646 B CN107554646 B CN 107554646B CN 201710908466 A CN201710908466 A CN 201710908466A CN 107554646 B CN107554646 B CN 107554646B
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- 239000000463 material Substances 0.000 description 2
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Abstract
The invention discloses a bidirectional movable trailer and a bidirectional movable trailer carrying system, wherein the bidirectional movable trailer carrying system comprises an AGV tractor and at least one trailer connected with the AGV tractor and driven to advance or retreat by the AGV tractor, and a magnetic stripe sensor for detecting signals of a magnetic stripe forming a navigation path and a steering mechanism for driving two rear wheels on the trailer to synchronously and co-directionally steer according to the signals of the magnetic stripe sensor are arranged on the trailer. This patent design is exquisite, has changed the usual thinking that current trailer traction system only can carry out single forward, when normally advancing, through AGV tractor as power and control direction of advance, and when advancing in reverse, regard AGV tractor as power, detect the magnetic stripe with confirming the direction of advance of trailer with the magnetic stripe sensor to control the trailer through turning to the device and advance according to the direction of predetermineeing, provide a brand-new two-way removal's trailer handling system for trailer handling system uses better nimble, controllable.
Description
Technical Field
The invention relates to the field of AGVs, in particular to a bidirectional movable trailer and a bidirectional movable trailer carrying system.
Background
AGVs are also commonly referred to as AGVs, which are vehicles equipped with automatic guides such as electromagnetic or optical guides, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and which are used in industrial applications without the need for a driver's truck, and which use rechargeable batteries as their power sources.
Along with the development of AGV dolly technique, its application in the tractor field also becomes the trend of necessity, and current AGV tractor is on the basis of current tractor, increases automatic guiding device, makes it can drive the trailer to advance along the circuit of setting voluntarily to realize the transport of material, but it is the automation of transportation only.
However, after the existing AGV tractor is connected with the trailer in place, because the connection between the AGV tractor and the trailer is movable, the AGV tractor can only drive the trailer to move forward, but cannot drive the trailer to move backward according to an expected line, so that the requirements of carrying which needs to move backward cannot be met, the application flexibility is limited, and if the trailer is forcibly driven to move backward, the travelling direction is not easy to control, accidents are easy to cause, and potential safety hazards exist.
Meanwhile, after the existing AGV tractor moves to the corresponding position of the trailer, the trailer and the connecting piece of the AGV tractor are connected together manually, so that the AGV tractor drives the trailer to walk, materials are often stacked on the trailer, the weight is large, the working strength is high, the automation degree is low, and the connection can be realized only by the field operation of workers, so that the labor cost is increased.
Disclosure of Invention
The present invention is directed to a bi-directional movable trailer and a bi-directional motion trailer handling system that solve the above-mentioned problems of the prior art.
The aim of the invention is achieved by the following technical scheme:
The trailer capable of moving bidirectionally comprises a frame, wherein a magnetic stripe sensor for detecting signals of a magnetic stripe forming a navigation path and a steering mechanism for driving two rear wheels on the trailer to synchronously and equidirectionally steer are arranged on the trailer according to the signals of the magnetic stripe sensor.
Preferably, the bi-directionally movable trailer, wherein: the steering mechanism comprises a pivot connecting piece positioned at the middle position of the tail of the trailer, the pivot connecting piece is pivoted with one end of a supporting rod, a center piece is arranged on the supporting rod, the center piece is pivoted with one ends of two equal-length transmission rods, the other ends of the two transmission rods are respectively pivoted with a rear universal wheel mounting piece of the trailer, the center piece and the two rear universal wheel mounting pieces are distributed in a triangular shape, and a driving device for driving the supporting rod to rotate is further arranged at the tail of the trailer.
Preferably, the bi-directionally movable trailer, wherein: the driving device is an oil cylinder with a telescopic shaft connected with the supporting rod in a pivot mode.
Preferably, the bi-directionally movable trailer, wherein: the pivot connection point of the oil cylinder and the supporting rod is positioned between the center piece and the pivot connection piece
Preferably, the bi-directionally movable trailer, wherein: the magnetic stripe sensor and the two rear wheels synchronously rotate in the same direction, the magnetic stripe sensor is fixed at the tail end of a cross rod which is connected with the supporting rod and vertical to the supporting rod, and the cross rod is parallel to the horizontal plane.
Two-way motion trailer handling system, its characterized in that: the automatic connecting device comprises an AGV tractor and at least one trailer, wherein the trailer is connected with or separated from the AGV tractor through the automatic connecting device, and is driven to advance or retreat by the AGV tractor in a connecting state.
Preferably, the bi-directional motion trailer handling system, wherein: the AGV tractor is a laser guided AGV tractor or a magnetic stripe guided AGV tractor.
Preferably, the bi-directional motion trailer handling system, wherein: the AGV tractor and the trailer are connected or separated through an automatic connecting device.
Preferably, the bi-directional motion trailer handling system, wherein: the automatic connecting device comprises a containing piece arranged at the tail part of a vehicle body of the AGV tractor, the containing piece at least comprises an upper plate and a middle plate which are parallel, the upper plate and the middle plate form a containing groove for containing a part of a trailer hook with a connecting hole, a metal bolt which can move up and down relative to the upper plate and can penetrate through the middle plate is arranged on the upper plate, the metal bolt is driven by magnetic force and gravity and can move out of or be inserted into the connecting hole of the trailer hook, the containing piece further comprises a lower plate which is arranged below the middle plate and is parallel to the middle plate in a clearance mode, and a first proximity switch is arranged on the lower plate and connected with an AGV vehicle-mounted control system.
Preferably, the bi-directional motion trailer handling system, wherein: an electromagnet for driving the metal plug to move upwards is arranged in a gap above the accommodating piece and is connected with a power supply control circuit, and the power supply control circuit is connected with the vehicle-mounted control system.
Preferably, the bi-directional motion trailer handling system, wherein: and the tail part of the vehicle body and the two sides of the vehicle body are also provided with proximity sensors connected with the vehicle-mounted control system.
Preferably, the bi-directional motion trailer handling system, wherein: and a second proximity switch used for sensing the head of the metal bolt is arranged on one side of the accommodating part and positioned between the electromagnet and the accommodating part, and the second proximity switch is connected with the vehicle-mounted control system.
The technical scheme of the invention has the advantages that:
This patent design is exquisite, simple structure, has changed the conventional thinking that current trailer traction system can only carry out single forward, when normally advancing, through AGV tractor as power and control direction of advance, and when advancing in reverse, regard AGV tractor as power, detect the magnetic stripe with confirming the direction of advance of trailer with the magnetic stripe sensor to control the trailer through turning to the device and advance according to the direction of predetermineeing, provide a brand-new two-way movable trailer handling system, make trailer handling system use better nimble, controllable.
When needs are connected with the trailer couple, adsorb the lifting through the magnetic force of electro-magnet, thereby make the trailer couple can place in the accepting groove, and, through increasing proximity switch, can be accurate confirm whether the trailer couple is arranged in the accepting groove of acceping the piece, make accurate connection control realize more easily, then make the electro-magnet loosen the metal bolt through the outage, and utilize metal bolt self gravity to be connected with the trailer couple, thereby realize the automatic connection of AGV tractor and trailer, and can confirm through proximity switch whether the connecting piece on metal bolt and the trailer is connected in place, no need manual intervention, the cost of labor has been reduced, high degree of automation, high accuracy, very big promotion of efficiency.
Through two proximity sensor, the automatic confirmation AGV tractor and trailer remove in place, can make AGV tractor and trailer be close fast accurately, the high-efficient of being convenient for accept piece and trailer couple is connected.
Because the vehicle-mounted control system can communicate with intelligent terminals such as a smart phone, the AGV tractor can be remotely controlled and monitored.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic structural view of the automatic connecting device in the patent of the invention.
Detailed Description
The objects, advantages and features of the present invention are illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the technical scheme of the invention, and all technical schemes formed by adopting equivalent substitution or equivalent transformation fall within the scope of the invention.
The present invention discloses a bi-directional motion trailer handling system, as shown in fig. 1, comprising an AGV tractor 1 and at least one trailer 2 connected thereto and driven by it either forward or backward, wherein the AGV tractor 1 is preferably a laser guided AGV tractor or a magnetic stripe guided AGV tractor.
And, as shown in fig. 2, the AGV tractor 1 is connected to or disconnected from the trailer 2 by an automatic connection device.
Specifically, as shown in fig. 2, a receiving member 12 is disposed at the tail of the vehicle body 11 of the AGV tractor 1, the receiving member 12 includes a connecting plate 125 connected to the vehicle body 11, an upper plate 121, a middle plate 122 and a lower plate 124 are integrally formed on the connecting plate 125 from top to bottom and keep a gap, and the upper plate 121, the middle plate 122 and the lower plate 124 are parallel to each other and parallel to a horizontal plane.
The upper plate 121 and the middle plate 122 form a receiving slot 123 for receiving a portion of the trailer hook with a connecting hole, and, in order to ensure that the connecting hole of the trailer hook is accurately located in the receiving slot 123, the lower plate 124 is provided with a first proximity switch 16, in detail, the first proximity switch 16 is located below the lower plate 124, the lower plate 124 is provided with a through hole matched with an induction area of the first proximity switch 16, the first proximity switch 16 is connected with a vehicle-mounted control system (not shown in the figure), and the vehicle-mounted control system is connected and communicated with a smart phone or a PAD (not shown in the figure) through a wireless communication module, so that a user can remotely monitor and control the operation of the AGV tractor.
The upper plate 121 is provided with a metal pin 13 that can move up and down relative to the upper plate and can penetrate through the middle plate 122, the metal pin 13 is driven by magnetic force and gravity and can be moved out of or inserted into a connecting hole of the trailer hook, and in specific implementation, an electromagnet 15 that drives the metal pin 13 to move up is arranged in a gap above the accommodating part 12, and the electromagnet 15 is connected with a power supply control circuit (not shown in the figure) that is connected with the vehicle-mounted control system.
In addition, since the positions of the connection holes of the trailer hooks may not match with the metal pins 13 during actual connection, they cannot be connected at this time, so that it is confirmed whether they are connected to control the start of the AGV tractor, and correspondingly, a second proximity switch 17 for sensing the head 131 of the metal pins 13 is disposed at a position between the electromagnet 15 and the receiving member 12 on one side of the receiving member 12, and the second proximity switch 17 is connected to the vehicle control system.
Further, in order to achieve a quick and accurate connection position between the AGV tractor 1 and the trailer 2, a proximity sensor 14 connected to the vehicle-mounted control system is provided at the rear end of the vehicle body 11 and at both sides thereof.
When the trailer 2 is not required to be connected, the electromagnet 14 is powered off, the metal plug pin 13 penetrates through the middle plate 122, if traction needs exist, the tractor and the trailer are quickly moved into place through the proximity sensor 14, the large-suction electromagnet is electrified, suction force is generated to pull up the metal plug pin 13, then the trailer coupler enters the accommodating groove 123, a connecting hole in the large-suction electromagnet corresponds to the metal plug pin, a first proximity switch detects that the hook is in place and then sends out an in-place signal, the vehicle-mounted control system controls the electromagnet to be powered off, the metal plug pin 13 falls under the action of self gravity and is connected with the trailer coupler, the head of the second proximity switch 17 detects that the head of the metal plug pin 13 indicates that the plug pin is connected in place, and the vehicle-mounted control system is started up the tractor by the concurrent signal.
Further, as shown in fig. 1, since the trailer 2 is in a movable connection state when connected to the AGV tractor 1, when the AGV tractor 1 is reversed, the traveling direction of the trailer 2 cannot be accurately controlled, and thus reverse conveyance is not possible, and therefore, in order to realize reverse conveyance, it is necessary to accurately determine the traveling direction of the trailer 2 and adjust the direction when the direction deviates.
Correspondingly, as shown in fig. 1, a navigation path formed by magnetic stripes is arranged on the ground or other carrying areas, a magnetic stripe sensor 4 for detecting signals of the magnetic stripe 3 and a steering mechanism 5 for driving two rear wheels 21 (here, the rear wheels refer to universal wheels positioned at the rear on the trailer 2 when the AGV tractor is positioned at the front of the trailer travelling direction) on the trailer 2 according to the signals of the magnetic stripe sensor 4 are arranged at the tail of the trailer 2, and the driving devices in the magnetic stripe sensor 4 and the steering mechanism 5 are connected with a trailer control system, and the trailer control system is connected with the navigation system for communication.
In detail, the steering mechanism 5 includes a pivot connection member 51 located at a middle position of a tail of the trailer 2, the pivot connection member 51 is located at a bottom of a frame of the trailer 2, the pivot connection member 51 is pivotally connected to one end of a supporting rod 52, the other end of the supporting rod 52 extends out of the frame of the trailer, the supporting rod 52 can horizontally rotate around one end connected with the pivot connection member 51, a central member 53 is disposed on an upper surface of the supporting rod 52, the pivot of the central member 53 is connected to one end of two equal-length transmission rods 54, the other ends of the two transmission rods 54 are respectively pivotally connected to one rear universal wheel mounting member 22 of the trailer 2, the central member 53 and the two rear universal wheel mounting members 22 are distributed in a triangle, and when the two rear wheels 21 are parallel to the supporting rod 52, the two transmission rods 54 are mirror-symmetrical.
The tail of the trailer is further provided with a driving device for driving the supporting rod 52 to rotate, preferably, the driving device is an oil cylinder 55 with a telescopic shaft pivotally connected with the supporting rod 52, the oil cylinder 55 is controlled by a trailer control system, a pivot connection point of the oil cylinder 55 and the supporting rod 52 is located between the center piece 53 and the pivot connection piece 51 and is close to the center piece 53, and thus the arrangement is beneficial to the oil cylinder 55 to realize large-amplitude adjustment of the supporting rod 52 in a smaller telescopic stroke.
Of course, in other embodiments, the driving device may have other possible structures, for example, a motor connected to the support rod 52 via a rotating shaft or a transmission structure formed by a rotating cylinder or a motor and a gear, which will not be described herein.
And, the magnetic stripe sensor 4 rotates synchronously and in the same direction with the two rear wheels 21, it is fixed to the end of the cross bar 6, the cross bar 6 is fixed to the end of the support bar 52, it is perpendicular to the support bar 52 and parallel to the horizontal plane, and at the same time, the magnetic stripe sensor 4 is located in the area between the center piece 53 and the rear universal wheel mounting 22.
When the bidirectional movable trailer carrying system works, the process is as follows:
When the tractor runs forward, the AGV tractor is used as a power source and performs direction control, and at the moment, the magnetic stripe sensor and the steering device on the trailer do not work;
When the vehicle runs reversely, the magnetic stripe sensor detects signals of the magnetic stripe at any time, and the steering mechanism 5 is started to control the direction of the rear wheel 21 according to the set requirements of the system.
As shown in the drawing, when the telescopic shaft of the oil cylinder 55 extends, the oil cylinder 55 pushes the supporting rod 52 to rotate rightward, at this time, the supporting rod 52 drives the center piece 53 to move rightward, so that the center piece 53 pushes the right driving rod 54, and pulls the left driving rod 54 at the same time, and finally drives the two rear wheels to move leftward or rightward synchronously, and the specific moving direction is determined according to the connection position of the driving rod and the rear universal wheel mounting piece 22.
When the steering is required to be performed to the other side, the oil cylinder is retracted, and the reversing motion of each part realizes the steering, so that the description is omitted.
In addition, when a plurality of trailers exist, the tail part of each trailer is provided with the magnetic stripe sensor 4 and the steering mechanism, and the control device of the trailer is matched with the navigation system to control.
The invention has various embodiments, and all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the invention.
Claims (9)
1. Two-way movable trailer, including the frame, its characterized in that: the frame is provided with a magnetic stripe sensor (4) for detecting signals of a magnetic stripe (3) forming a navigation path and a steering mechanism (5) for driving two rear wheels (21) on the trailer (2) to synchronously and co-directionally steer according to the signals of the magnetic stripe sensor (4); the rear wheels are universal wheels, the steering mechanism (5) comprises pivot connecting pieces (51) positioned at the middle position of the tail of the trailer, the pivot connecting pieces (51) are in pivot connection with one end of a supporting rod (52), a center piece (53) is arranged on the supporting rod (52), the center piece (53) is in pivot connection with one end of two equal-length transmission rods (54), the other ends of the two transmission rods (54) are respectively in pivot connection with one rear universal wheel mounting piece (22) of the trailer, the center piece (53) and the two rear universal wheel mounting pieces (22) are distributed in a triangle shape, and a driving device for driving the supporting rod (52) to rotate is further arranged at the tail of the trailer; the magnetic stripe sensor (4) and the two rear wheels (21) synchronously rotate in the same direction, the magnetic stripe sensor is fixed at the tail end of a cross rod (6) which is connected with the supporting rod (52) and is vertical to the supporting rod, and the cross rod (6) is parallel to the horizontal plane.
2. The bi-directionally movable trailer of claim 1 wherein: the driving device is an oil cylinder (55) which is pivotally connected with the supporting rod (52) through a telescopic shaft.
3. The bi-directionally movable trailer of claim 2, wherein: the pivot connection point of the oil cylinder (55) and the supporting rod (52) is positioned between the central piece (53) and the pivot connection piece (51).
4. Two-way motion trailer handling system, its characterized in that: comprising an AGV tractor (1) and at least one trailer (2) according to any of claims 1-3, said trailer (2) being connected to or disconnected from said AGV tractor (1) by means of an automatic connection and being driven forward or backward by said AGV tractor (1) in the connected state.
5. The bi-directional motion trailer handling system of claim 4, wherein: the AGV tractor is a laser guided AGV tractor or a magnetic stripe guided AGV tractor.
6. The bi-directional motion trailer handling system of claim 4, wherein: the automatic connecting device comprises a containing piece (12) arranged at the tail part of a vehicle body (11) of the AGV tractor (1), the containing piece (12) at least comprises an upper plate (121) and a middle plate (122) which are parallel, the containing piece and the middle plate form a containing groove (123) for containing a part of a connecting hole of a trailer hook, the upper plate (121) is provided with a metal bolt (13) which can move up and down relative to the upper plate and can penetrate through the middle plate (122), the metal bolt (13) is driven by magnetic force and gravity and can move out of or be inserted into the connecting hole of the trailer hook, the containing piece (12) further comprises a lower plate (124) which is arranged below the middle plate (122) and is parallel to the middle plate, and a first proximity switch (16) is arranged on the lower plate, and the first proximity switch (16) is connected with an AGV vehicle-mounted control system.
7. The bi-directional motion trailer handling system of claim 6, wherein: an electromagnet (15) for driving the metal plug pin (13) to move upwards is arranged in a gap above the accommodating piece (12), the electromagnet (15) is connected with a power supply control circuit, and the power supply control circuit is connected with the vehicle-mounted control system.
8. The bi-directional motion trailer handling system of claim 6, wherein: and the tail part of the vehicle body (11) and two sides of the vehicle body are also provided with proximity sensors (14) connected with the vehicle-mounted control system.
9. The bi-directional motion trailer handling system of claim 7, wherein: a second proximity switch (17) for sensing the head (131) of the metal plug pin (13) is arranged on one side of the accommodating part (12) and positioned between the electromagnet (15) and the accommodating part (12), and the second proximity switch (17) is connected with the vehicle-mounted control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710908466.5A CN107554646B (en) | 2017-09-29 | 2017-09-29 | Bidirectional movable trailer and bidirectional movement trailer carrying system |
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| CN201710908466.5A CN107554646B (en) | 2017-09-29 | 2017-09-29 | Bidirectional movable trailer and bidirectional movement trailer carrying system |
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| CN107554646A CN107554646A (en) | 2018-01-09 |
| CN107554646B true CN107554646B (en) | 2024-06-18 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217316A (en) * | 2018-03-02 | 2019-09-10 | 广东科达洁能股份有限公司 | Automated guided vehicle |
| CN108563209B (en) * | 2018-07-04 | 2024-03-22 | 严格科创发展(昆山)有限公司 | System for AGV pulls a plurality of goods shelves simultaneously |
| CN209321102U (en) * | 2018-09-30 | 2019-08-30 | 杭州海康机器人技术有限公司 | The chassis of automated guided vehicle and automated guided vehicle |
| CN109334818B (en) * | 2018-11-29 | 2024-01-23 | 杭叉集团股份有限公司 | Magnetic guide sensor mounting device and system thereof |
| CN110341780A (en) * | 2019-07-26 | 2019-10-18 | 湃思科技（苏州）有限公司 | Cart universal wheel fixes device |
| CN111661194A (en) * | 2020-06-16 | 2020-09-15 | 中开汽车制造有限公司 | Multi-section trailer with limiting and clamping functions |
| CN112340338B (en) * | 2020-10-30 | 2023-05-30 | 北京京东乾石科技有限公司 | Material trolley, traction equipment, system and method for controlling material trolley to run bidirectionally |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3334513B2 (en) * | 1996-10-22 | 2002-10-15 | 三菱自動車工業株式会社 | Rear wheel steering control method for towing vehicle and four-wheel steering mechanism |
| KR20080006149U (en) * | 2007-06-08 | 2008-12-11 | 유영재 | Magnetic Sensor sensing method and equipment to rotate with steering |
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| JPH07232638A (en) * | 1994-02-24 | 1995-09-05 | Eretotsupu Kk | Automated guided vehicle |
| JPH11240461A (en) * | 1998-02-26 | 1999-09-07 | Honda Motor Co Ltd | Steering system for trailer |
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