CN110395079A - It is a kind of with the AGV and its interconnection method that hold mechanism - Google Patents
It is a kind of with the AGV and its interconnection method that hold mechanism Download PDFInfo
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- CN110395079A CN110395079A CN201910693831.4A CN201910693831A CN110395079A CN 110395079 A CN110395079 A CN 110395079A CN 201910693831 A CN201910693831 A CN 201910693831A CN 110395079 A CN110395079 A CN 110395079A
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- clamp arm
- component
- holding mechanism
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003032 molecular docking Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000033001 locomotion Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000001939 inductive effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 208000010138 Diastema Diseases 0.000 description 4
- 210000000475 diastema Anatomy 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The present invention provides a kind of with the AGV and its interconnection method that hold mechanism, wherein, AGV includes AGV ontology, to connected components and including holding mechanism, it is described that connected components are used to dock with the docking mechanism on truck, for providing tractive force to truck, the mechanism that holds is arranged on AGV ontology, the mechanism that holds includes telescopic component and two groups of clamp arm components, the telescopic component is arranged on AGV ontology, the clamp arm component is set on telescopic component, when AGV is docked with truck, two groups of clamp arm components are stretched out with the telescopic component to the truck two sides, for to the amplitude of fluctuation for limiting the truck left and right directions.The present invention is additionally arranged on AGV ontology and holds mechanism, by clamp arm component to being clamped at left and right sides of truck, is fed on the left and right directions of vehicle driving direction and increases constraint, can prevent truck from swinging, improve the traveling precision and stopping accuracy of truck.
Description
Technical field
The present invention relates to AGV technical fields, relate generally to a kind of with the AGV and its interconnection method that hold mechanism.
Background technique
In automatic production line workshop, it will usually material is transported using the AGV with navigation feature, it is specific
Operation is that AGV is docked with truck, and then band material mover drives to designated place, but AGV has traveling, stopping accuracy, AGV
It is needed when being docked with truck there are surplus is docked, being docked by docking mechanism only cannot give the left and right sides of truck
Constraint is formed, during truck follows AGV to travel, truck can be swung in restriction range, increase truck when AGV stops
Posture uncertainty, stopping accuracy not can guarantee, and increase truck and next station docks difficulty.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind to increase constraint at left and right sides of truck to mention
High truck traveling precision has the AGV for holding mechanism.
In order to solve the above-mentioned technical problem, the invention adopts the following technical scheme:
It is a kind of with the AGV for holding mechanism comprising AGV ontology and to connected components, it is described connected components to be used for and truck
On docking mechanism docking, further include holding mechanism, it is described hold mechanism be arranged on the AGV ontology, it is described to hold mechanism
Including telescopic component and two groups of clamp arm components, the telescopic component is arranged on the AGV ontology, and the clamp arm component, which is set to, to be stretched
On contracting component, when the AGV is docked with truck, two groups of clamp arm components are stretched with the telescopic component to the truck two sides
Out, for the amplitude of fluctuation for limiting the truck left and right directions.
Compared with prior art, provided by the invention that there is the AGV for holding mechanism, it is additionally arranged and holds on AGV ontology
Mechanism is fed on the left and right directions of vehicle driving direction and increases about by clamp arm component to being clamped at left and right sides of truck
Beam, it can prevent truck from swinging, improve the traveling precision and stopping accuracy of truck.
Further, the mechanism that holds further includes transverse transmission device, and the transverse transmission device setting is stretched described
On contracting component, two groups of clamp arm components are connect with the transverse transmission device, and the transverse transmission device can make described two groups
Clamp arm component makees clamping of the synchronizing close realization to truck along the two sides of truck, or makees synchronous open to unclamp truck.It utilizes
Clamp arm is clamped truck, reinforces the constraint to truck two sides, further increases the traveling precision and stopping accuracy of truck.
Further, the mechanism that holds further includes two groups of transverse transmission devices, and the transverse transmission device is arranged in institute
It states on telescopic component, the clamp arm component is connect with the transverse transmission device；It is individually controlled by two groups of traversing transmission dresses
Contact of two clamp arm components with truck is made, to realize the complete clamping to truck, is fed on the left and right directions of vehicle driving direction
It while increasing constraint, can prevent in truck and the not be overlapped center line of AGV, it is inconsistent to hold stroke needed for truck two sides
The appearance of caused diastema avoids shaking in truck driving process, allows truck is high-precision AGV is followed to walk.
Preferably, the transverse transmission device includes driving motor, turn-screw, feed screw nut, guide rail and sliding setting
The first connecting plate on the guide rail, the driving motor and the turn-screw are sequentially connected, and thick stick nut thread is connected to
On turn-screw, in first connecting plate lower end face, the clamp arm component is arranged described first for feed screw nut's setting
The upper surface of connecting plate, it is simple and reliable for structure.
Preferably, clamp arm component includes upper pallet and lower pallet, and the upper pallet and lower pallet are connected by the second connecting plate
Connect, be fixedly connected on the downside of the upper pallet with feed screw nut, between the upper pallet and lower pallet between equipped with several bearing wheels,
The bearing wheel plays the role of limit to truck, meanwhile, because of lifting assembly when AGV and truck front-rear direction switch
With the relationship of truck docking mechanism reserved margin, truck and clamp arm have a changing of the relative positions, and the bearing wheel can perfect prevention material
Vehicle surface scratches.
Preferably, it is equipped with travel switch on two groups of clamp arm components, the travel switch is fixed under lower pallet
Side, the end of the upper pallet are fixed with first close to switch, after can detect clamp arm component clamping truck using travel switch
Stop movement, position-limiting action is played to clamp arm component close to switch using first, it is initial to guarantee that clamp arm is returned to when retracting respectively
Position.
Preferably, the telescopic component includes that bottom plate, bracket, electric pushrod, mounting plate, first straight line sliding rail and first are sliding
The fixing end of block, the electric pushrod is fixed on bracket, and the bracket is fixed on bottom plate, and the electric pushrod stretches
End is fixedly connected with mounting plate, and first driving section and the second driving section are fixed on mounting plate, and the first straight line is sliding
Rail is fixed on bottom plate, and first sliding block is movably disposed on first straight line sliding rail, and the mounting plate is fixed with sliding rail
Connection, to drive extending and retracting for clamp arm component, is tied using the back-and-forth motion of the flexible drive mounting plate of electric pushrod
Structure is simple, at low cost.
Preferably, the front end side of the electric pushrod is equipped with second close to switch, the rear end side of the electric pushrod
It is fixed on bottom plate close to switch, described second close to switch and third close to switch equipped with third, described second is close
Switch and third are fixed on bottom plate close to switch, by the second close switch and third close to switch to the maximum of clamp arm
Safety signal is arranged in minimum telescopic location, prevents from transfiniting, and guarantees the running safety for holding mechanism.
Preferably, it there are two the travel switch on the clamp arm component is set, is respectively arranged under lower pallet rear and front end
Two travel switches are respectively set to prevent the non-parallel relation between truck and clamp arm in side, each clamp arm, i.e., if clamp arm with
When being relative tilt between truck, can avoid occurring clamp arm contact and travel switch not in contact with the case where, to ensure clamp arm in place
Stop.
Preferably, the front end side of the electric pushrod is equipped with second close to switch, the rear end side of the electric pushrod
It is fixed on bottom plate close to switch, described second close to switch and third close to switch equipped with third, it is close by second
Safety signal is arranged in the minimax telescopic location of switch and third close to switch to clamp arm, prevents from transfiniting, guarantee holds mechanism
Running safety.
The present invention also provides a kind of interconnection methods with the above-mentioned AGV for holding mechanism, wherein holds mechanism with above-mentioned
AGV further include control module, the control module is for controlling the clamp arm component, to the fortune of connected components and telescopic component
It is dynamic, the interconnection method the following steps are included:
A. it is driven to after there is the AGV for holding mechanism to receive docking transport task and docks website with truck, hold mechanism
On control module control lifter pin stretch out, extend into the lifter pin guide holder of truck, lifter pin stretch out in place signal trigger；
B. electric pushrod in mechanism is held to work, driving telescopic component drives clamp arm component to stretch out, and two groups of clamp arm component
Clamp arm component protrudes into truck area, until the second stopping movement close to after inductive switching；
C. two driving motors respectively drive that two clamp arm are close to truck two sides, when the stroke being arranged in two clamp arm is opened
When pass is triggered respectively, corresponding clamp arm stopping movement, and keep contacting with truck, it realizes and is carried out at left and right sides of truck
It clamps；
After d.AGV is by holding mechanism band material mover walking to designated place, clamp arm component resets, and telescopic component resets,
Cancel the constraint relationship held between mechanism and truck, release docking, AGV is waited docks transport task next time.
Compared with prior art, the interconnection method with the AGV for holding mechanism provided by the invention, it is traversing using two
Transmission device individually controls clamping of two groups of clamp arm components to truck, is fed on the left and right directions of vehicle driving direction and increases
It while constraint, can prevent in truck and the not be overlapped center line of AGV, hold that stroke is inconsistent to lead needed for truck two sides
The appearance for causing diastema, avoids shaking in truck driving process, allows truck is high-precision AGV is followed to walk, and
Truck can have determining pose when parking.
Detailed description of the invention
Fig. 1 is the schematic diagram before AGV of the present invention is docked with truck；
Fig. 2 is the schematic diagram for (removing cover) before AGV of the present invention is docked with truck；
Fig. 3 is the schematic diagram that the present invention holds mechanism；
Fig. 4 is the schematic diagram that the present invention holds mechanism (removing bracket)；
Fig. 5 is that the present invention holds mechanism and the schematic diagram one to connected components assembly；
Fig. 6 is that the present invention holds mechanism and the schematic diagram two to connected components assembly；
Fig. 7 is the schematic diagram of clamp arm component of the present invention；
Fig. 8 is the sectional view of transverse transmission device of the present invention；
Fig. 9 is that AGV of the present invention docks the schematic top plan view clamped with truck；
Figure 10 is that AGV of the present invention docks the rough schematic clamped with truck.
Specific embodiment
Below in conjunction with a kind of Detailed description of the invention preferred embodiment of the invention.
It is a kind of with the AGV for holding mechanism referring to Fig. 1 to Figure 10 comprising AGV ontology 1001, to 1002 and of connected components
Mechanism 1004 is held, it is described that connected components 1002 are used to dock with the docking mechanism on truck 1003, it is described to hold mechanism 1004
It is arranged on the AGV ontology 1001, the mechanism 1004 that holds includes telescopic component 2 and two groups of clamp arm components 1, described flexible
Component 2 is arranged on the AGV ontology 1001, and the clamp arm component 1 is set on telescopic component 2, as the AGV and truck 1003
When docking, two groups of clamp arm components 1 are stretched out with the telescopic component 2 to 1003 two sides of truck, for described in limitation
The amplitude of fluctuation of 1003 left and right directions of truck；Wherein, the mechanism 1004 that holds further includes two groups of transverse transmission devices 3, described
Transverse transmission device 3 is arranged on the telescopic component 2, and the clamp arm component 1 is connect with the transverse transmission device 3.
Compared with prior art, provided by the invention that there is the AGV for holding mechanism 1004, increase on AGV ontology 1001
If holding mechanism 1004, the contacts of two clamp arm components 1 and truck 1003 are individually controlled by two groups of traversing transmission dresses,
To realize that the complete clamping to truck 1003 can while to constraint is increased on the left and right directions of 1003 driving direction of truck
It prevents in truck 1003 and the not be overlapped center line of AGV, the inconsistent caused diastema of stroke is held needed for 1003 two sides of truck
Appearance, avoid shaking in 1003 driving process of truck, allow truck 1003 is high-precision AGV is followed to walk.
Referring to Fig. 8, preferably, the transverse transmission device 3 includes driver 31, driving motor 32, driving wire
Thick stick 33, feed screw nut 34, guide rail 35 and the first connecting plate 36 being slidably arranged on the guide rail 35, the driver 31 drive
Motor 32 acts, and the driving motor 32 is sequentially connected with the turn-screw 33, and feed screw nut 34 is threaded in driving wire
On thick stick 33, in 36 lower end surface of the first connecting plate, the clamp arm component 1 is arranged described first for the setting of feed screw nut 34
The upper surface of connecting plate 36, first connecting plate 36 is connect by the first sliding block 37 with guide rail 35, simple and reliable for structure.In
In the present embodiment, there are two the guide rail 35 of each transverse transmission device 3 is all provided with, it is respectively arranged on 36 lower end surface of the first connecting plate
Two sides.
Referring to Fig. 7, preferably, clamp arm component 1 includes upper pallet 11 and lower pallet 12, and the upper pallet 11 is under
Supporting plate 12 is connected by the second connecting plate 13, and 11 downside of upper pallet is fixedly connected with feed screw nut 34, the upper pallet 11
Several bearing wheels 14 are equipped between lower pallet 12, the bearing wheel 14 plays the role of limit to truck 1003, meanwhile,
When AGV and 1003 front-rear direction of truck switch because to connected components 1002 and 1003 docking mechanism reserved margin of truck
Relationship, truck 1003 and clamp arm have a changing of the relative positions, and the bearing wheel 14 can perfect prevention 1003 surface scratches of truck.At this
In embodiment, the upper pallet 11, lower pallet 12 and the second connecting plate 13 are structure as a whole.
Referring to fig. 4 and Fig. 7 is preferably equipped with travel switch 15, the row on two groups of clamp arm components 1
Cheng Kaiguan 15 is fixed at 12 downside of lower pallet, and the end of the upper pallet 11 is fixed with first close to switch 111, utilizes row
Cheng Kaiguan 15, which can detect after clamp arm component 1 clamps truck 1003, stops movement, utilizes first close 111 pairs of clamp arm components 1 of switch
Position-limiting action is played, guarantees that clamp arm component 1 returns to initial position when retracting respectively.
Referring to fig. 4 and Fig. 7, preferably, there are two the travel switch 15 on the clamp arm component 1 is set, difference
Set on the downside of 12 rear and front end of lower pallet, two travel switches 15 are respectively set to prevent truck 1003 in each clamp arm component 1
With the non-parallel relation between clamp arm component 1, i.e., if when being relative tilt between clamp arm component 1 and truck 1003, can avoid
Occur clamp arm contact and travel switch 15 not in contact with the case where, to ensure that clamp arm component 1 stops in place.
It should be noted that since the contact portion of clamp arm and truck 1003 is usually the front end of clamp arm component 1, it can
By the Design of length of the lower pallet 12 in clamp arm component 1 at the length for being less than upper pallet 11, one side can save bearing wheel 14
Quantity, save cost, on the other hand can ensure that two opposite distances of travel switch 15 on clamp arm component 1 are smaller, enhance
The induction of contact between clamp arm component 1 and truck 1003.
Referring to Fig. 3 to Fig. 6, preferably, the telescopic component 2 include bottom plate 21, bracket 22, electric pushrod 23,
Mounting plate 24, first straight line sliding rail 25 and the second sliding block 26, the fixing end of the electric pushrod 23 are fixed on bracket 22, institute
It states bracket 22 to be fixed on bottom plate 21, the telescopic end of the electric pushrod 23 connects by the way that strip plate component 29 and mounting plate 24 are fixed
It connects, the transverse transmission device 3 is fixed on mounting plate 24, and the first straight line sliding rail 25 is fixed on bottom plate 21, institute
It states the second sliding block 26 to be movably disposed on first straight line sliding rail 25, the mounting plate 24 and the fixed company of first straight line sliding rail 25
It connects, using the back-and-forth motion of the flexible drive mounting plate 24 of electric pushrod 23, so that extending and retracting for clamp arm component 1 is driven,
Its structure is simple, at low cost.In the present embodiment, the first straight line sliding rail 25 is equipped with two, is respectively arranged on electric pushrod
23 two sides are all provided on every first straight line sliding rail 25 there are two the second sliding block 26, and the bracket 22 passes through L-square 28 and bottom
Plate 21 is fixedly connected, to enhance the stability of bracket 22.Described two 3 branches of transverse transmission device pass through two third connecting plates
27 are fixedly connected with mounting plate 24, and the turn-screw 33 and guide rail 35 are fixed on third connecting plate 27.
Referring to fig. 4, preferably, the front end side of the electric pushrod 23 is equipped with the second close switch 231, described
The rear end side of electric pushrod 23 is equipped with third close to switch 232, the described second close switch 231 and the close switch 232 of third
It is fixed on bottom plate 21, described second is fixed on bottom plate 21 close to switch 231 and third close to switch 232, leads to
The second minimax telescopic location setting safety signal close to switch 231 and third close to switch 232 to clamp arm is crossed, prevents from surpassing
Limit guarantees the running safety for holding mechanism 1004
Referring to Fig. 1, preferably, for dustproof and waterproof, further includes cover 5, be set in and hold outside mechanism 1004
Side is simultaneously fixedly connected with the bracket 22.
Referring to Fig. 5, preferably, described be set to connected components 1002 includes lifter pin 1021 and third motor
1022, the third motor 1022 drives lifter pin 1021 to dock cooperation with the lifter pin guide holder 6 on truck 1003, is implementing
In example, it is described connected components 1002 are set there are two, pass through third connecting plate 1023 is fixed at the bracket 22 two respectively
It is fixedly connected on the upside of side, the third connecting plate 1023 and bracket 22.
Referring to fig. 4, preferably, in order to enable the work for holding mechanism 1004 is more reliable and more stable, at the bottom
It is equipped with weight device 4 positioned at the rear end of clamp arm component 1 on plate 21, is used to balance the weight for holding mechanism 1004.
Referring to Fig. 1 to Figure 10, the present invention also provides a kind of interconnection method with the above-mentioned AGV for holding mechanism 1004,
In, have the above-mentioned AGV for holding mechanism 1004 further include control module, the control module for control the clamp arm component 1,
Movement to connected components 1002 and telescopic component 2, the interconnection method the following steps are included:
A. it is driven to after there is the AGV for holding mechanism 1004 to receive docking transport task and docks website with truck 1003,
The control module control lifter pin held in mechanism 1004 stretches out, and extend into the lifter pin guide holder of truck 1003
In, lifter pin, which stretches out signal in place, to be triggered；
B. it holds electric pushrod 23 in mechanism 1004 to work, driving telescopic component 2 drives clamp arm component 1 to stretch out, clamp arm group
Two groups of clamp arm components 1 of part 1 protrude into 1003rd area of truck, and stopping acts after incuding until second close to switch 231；
C. it is close to 1003 two sides of truck to respectively drive two clamp arm for two driving motors 32, when being arranged in two clamp arm
When travel switch 15 is triggered respectively, corresponding clamp arm stopping movement, and keep contacting with truck 1003, it realizes to truck
1003 left and right sides are clamped；
D.AGV by holding mechanism 1004 with the walking of material mover 1003 to behind designated place, two transverse transmission devices 3
Motor driven turn-screw 33 drives two groups of clamp arm components 1 to bounce back to 1003 direction of truck is unclamped respectively, connects until two first
Stopping acts after nearly switch 111 incudes；
E. it after two groups of retractions of clamp arm component 1 stop, holding electric pushrod 23 in mechanism 1004 and acts, drive two groups of clamp arm groups
Part 1 retracts, and stopping acts after third incudes close to switch 232, so that clamp arm component 1 returns to initial position；
F. after 23 stopping of electric pushrod movement, control module controls lifter pin 1021 and stretches out retraction, and cancellation holds mechanism
The constraint relationship between 1004 and truck 1003 releases docking, and AGV is waited docks transport task next time.
Compared with prior art, compared with prior art, the docking with the AGV for holding mechanism 1004 provided by the invention
Method individually controls clamping of two groups of clamp arm components 1 to truck 1003 using two transverse transmission devices 3, gives truck
While increasing constraint on the left and right directions of 1003 driving directions, it can prevent not be overlapped in truck 1003 and the center line of AGV
When, the inconsistent appearance for leading to diastema of stroke is held needed for 1003 two sides of truck, avoids occurring in 1003 driving process of truck
It shakes, allows truck 1003 is high-precision AGV is followed to walk, and truck 1003 can have determining pose in parking.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (10)
1. a kind of with the AGV for holding mechanism comprising AGV ontology and to connected components, it is described connected components to be used for and truck
Docking mechanism docking, with for truck provide tractive force, it is characterised in that: further include holding mechanism, it is described to hold mechanism
It is arranged on the AGV ontology, the mechanism that holds includes telescopic component and two groups of clamp arm components, and the telescopic component setting exists
On the AGV ontology, the clamp arm component is set on telescopic component, when the AGV is docked with truck, two groups of clamp arm groups
Part is stretched out with the telescopic component to the truck two sides, for the amplitude of fluctuation for limiting the truck left and right directions.
2. according to claim 1 have the AGV for holding mechanism, it is characterised in that: the mechanism that holds further includes traversing
Transmission device, the transverse transmission device are arranged on the telescopic component, two groups of clamp arm components and the traversing transmission
Device connection, the transverse transmission device can be such that two groups of clamp arm components move synchronously along the two sides of truck.
3. according to claim 1 have the AGV for holding mechanism, it is characterised in that: the mechanism that holds further includes two groups
Transverse transmission device, the transverse transmission device are arranged on the telescopic component, the clamp arm component and the traversing transmission
Device connection.
4. it is according to claim 2 or 3 have hold the AGV of mechanism, it is characterised in that: the transverse transmission device includes
Driving motor, turn-screw, feed screw nut, guide rail and the first connecting plate being slidably arranged on the guide rail, the driving electricity
Machine and the turn-screw are sequentially connected, and thick stick nut thread is connected on turn-screw, and feed screw nut's setting is described the
The upper surface of first connecting plate is arranged in one connecting plate lower end face, the clamp arm component.
5. according to claim 4 have the AGV for holding mechanism, it is characterised in that: clamp arm component includes upper pallet under
Supporting plate, the upper pallet are connect with lower pallet by the second connecting plate, are fixedly connected on the downside of the upper pallet with feed screw nut, institute
It states and is equipped with several bearing wheels between upper pallet and lower pallet.
6. according to claim 5 have the AGV for holding mechanism, it is characterised in that: be all provided on two groups of clamp arm components
There is a travel switch, the travel switch is fixed on the downside of lower pallet, and the end of the upper pallet is fixed with first close to opening
It closes.
7. according to claim 6 have the AGV for holding mechanism, it is characterised in that: the telescopic component includes bottom plate, branch
Frame, electric pushrod, mounting plate, first straight line sliding rail and the first sliding block, the fixing end of the electric pushrod are fixed on bracket,
The bracket is fixed on bottom plate, and the telescopic end of the electric pushrod is fixedly connected with mounting plate, and the transverse transmission device is solid
Surely it is set on mounting plate, the first straight line sliding rail is fixed on bottom plate, and it is straight that first sliding block is movably disposed in first
On line sliding rail, the mounting plate is fixedly connected with sliding rail.
8. according to claim 7 have the AGV for holding mechanism, it is characterised in that: the front end side of the electric pushrod
Equipped with second close to switch, the rear end side of the electric pushrod is equipped with third close to switch, and described second close to switch and the
Three are fixed on bottom plate close to switch.
9. according to claim 6 have the AGV for holding mechanism, it is characterised in that: the stroke on the clamp arm component is opened
There are two pass is set, it is respectively arranged on the downside of lower pallet rear and front end.
10. a kind of utilize the interconnection method with the AGV for holding mechanism according to any one of claims 8, it is characterised in that: further include control
Molding block, the control module is for controlling the clamp arm component, the movement to connected components and telescopic component comprising following step
It is rapid:
A. it is driven to after there is the AGV for holding mechanism to receive docking transport task and docks website with truck, held in mechanism
Control module controls lifter pin and stretches out, and extend into the lifter pin guide holder of truck, and lifter pin, which stretches out signal in place, to be triggered；
B. it holds electric pushrod in mechanism to work, driving telescopic component drives clamp arm component to stretch out, two groups of clamp arm of clamp arm component
Component protrudes into truck area, until the second stopping movement close to after inductive switching；
C. two driving motors respectively drive that two clamp arm are close to truck two sides, when the travel switch being arranged in two clamp arm point
When not being triggered, corresponding clamp arm stopping movement, and keep contacting with truck, it realizes and the truck left and right sides is pressed from both sides
Tightly；
After d.AGV is by holding mechanism band material mover walking to designated place, clamp arm component resets, and telescopic component resets, and cancels
The constraint relationship between mechanism and truck is held, docking is released, AGV is waited docks transport task next time.
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| CN201910693831.4A CN110395079A (en) | 2019-07-30 | 2019-07-30 | It is a kind of with the AGV and its interconnection method that hold mechanism |
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| CN201910693831.4A CN110395079A (en) | 2019-07-30 | 2019-07-30 | It is a kind of with the AGV and its interconnection method that hold mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021259161A1 (en) * | 2020-06-23 | 2021-12-30 | 京东科技信息技术有限公司 | Towing robot and transportation system and control method thereof |
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