CN110589414A - H-Frame automatic line supply system for component transportation - Google Patents

Abstract

The invention belongs to the technical field of component transportation, and particularly relates to an H-Frame automatic line supply system for component transportation, which comprises a line edge platform, a tray and an H-Frame automatic connecting rod transfer cart, wherein the line edge platform is fixed on the ground, the H-Frame automatic connecting rod transfer cart comprises a main body Frame, a supporting and guiding mechanism, a taking and feeding mechanism, a same-rail connecting rod mechanism and an electric control assembly, the supporting and guiding mechanism is used for supporting and guiding the tray, the taking and feeding mechanism is used for taking the tray off from the line edge platform or feeding the tray onto the line edge platform, and the same-rail connecting rod mechanism is used for controlling the movement track of the H-Frame automatic connecting rod transfer cart. The invention uses a traction type AGV (or a trailer) to carry H-Frame automatic line supply connecting rods to transfer the vehicle line supply, the whole line supply does not need to be operated by personnel, the H-Frame can automatically take/send trays, the automatic line supply has no fatigue, the system can work for 24 hours, and meanwhile, the price of the system is much lower than that of the AGV, the maintenance is convenient, the compatibility reliability is high, the productivity efficiency is high, and the like.

Description

H-Frame automatic line supply system for component transportation

Technical Field

The invention belongs to the technical field of component transportation, and particularly relates to an H-Frame automatic line supply system for component transportation.

Background

When the components are transported on line, the bins, components, etc. are typically placed on a trolley. The trolley is a material rack with wheels, has various forms, and needs to consider the material characteristics and the material box characteristics, traction (pushing) and other aspects when selecting or designing the trolley. The transportation power of the trolley mainly comprises three forms of manpower pushing (short distance), trailer traction and AGV (automatic Guided Vehicle). Trailers and AGVs are typically capable of towing multiple dollies. Adopt AGV to pull, still need set up guidance methods such as electromagnetism, let AGV along established route automatic transportation. In addition, the management of the line side library is important, and in order to manage the line side library, the improvement of the material online mode is also important except for paying attention to the line side library.

The existing part transportation form mainly has the following defects:

1) when the conventional automobile part loading device uses a trolley for supplying wires, the trolleys with different sizes cannot be simultaneously pulled by a trailer and are inconvenient to manage;

2) when a conventional trailer carries a supply line, the trolley needs to be unloaded from the trailer manually, the trolley has high mass, high fatigue strength of personnel operation and low productivity efficiency;

3) when the traction type AGV is used for traction of the trolley, the trolley needs to be unloaded manually, the labor and productivity efficiencies are low, one AGV can generally pull 1-2 trolleys, and the manufacturing cost of the AGV is high.

Disclosure of Invention

In order to solve the technical problems, the invention provides an H-Frame automatic line supply system for component transportation, which can select three modes of manual operation, semi-automatic operation and full-automatic operation, wherein under the full-automatic mode, a traction type AGV (or a trailer) and an H-Frame automatic connecting rod turnover vehicle line supply are used, the whole line supply does not need to be operated by personnel, the H-Frame can automatically take/send trays (material components and the like), the automatic line supply has no fatigue, can work for 24 hours, and has the advantages of lower price than the AGV, high compatibility reliability, high productivity efficiency and the like.

The invention is realized in such a way, and provides an H-Frame automatic line supply system for component transportation, which comprises a line edge platform, a tray and an H-Frame automatic connecting rod turnover vehicle, wherein the line edge platform is fixed on the ground, the tray is used for containing components, the H-Frame automatic connecting rod turnover vehicle comprises a main body Frame, a supporting and guiding mechanism, a taking and feeding mechanism and a co-orbit connecting rod mechanism, the supporting and guiding mechanism is used for supporting and guiding the tray on the H-Frame automatic connecting rod turnover vehicle, the taking and feeding mechanism is used for taking the tray off the line edge platform or feeding the tray onto the line edge platform, and the co-orbit connecting rod mechanism is used for controlling the motion track of the H-Frame automatic connecting rod turnover vehicle.

Furthermore, the taking and delivering mechanism of the H-Frame automatic connecting rod turnover vehicle comprises a driving assembly, a lower fork, a middle fork, an upper fork, a lock pin seat, a lock pin and a lock pin lifting driving assembly, wherein the lower fork and the middle fork are connected in a telescopic sliding manner through a bearing, the middle fork and the upper fork are connected in a telescopic sliding manner through a bearing, a driven gear set A and a rack A are arranged on the lower fork, a rack B meshed with the driven gear set A and a driven gear set B meshed with the rack A are arranged on the middle fork, a rack C meshed with the driven gear set B is arranged on the upper fork, the driving assembly drives the driven gear set A to rotate, therefore, synchronous extension or retraction of the middle fork and the upper fork is realized, the lock pin seat is arranged on the upper fork, the two lock pins can be arranged at the two ends of the lock pin seat in a penetrating way through a spring in an ejecting/retracting way, and the lock pin lifting driving assembly drives the lock pins to eject/retract.

Further, the line edge platform comprises two rows of unpowered rollers A which are arranged on two sides of the line edge platform, and the supporting and guiding mechanism comprises two rows of unpowered rollers B which are arranged on two sides of the main body frame.

Further, the line limit platform still includes base, upper fixing frame, leading wheel A and cushion, and the base is two parallel arrangement's bar bottom plate, and upper fixing frame height-adjustable installs on the base, and leading wheel A installs the front end at upper fixing frame for the direction with correct the position of tray, two rows unpowered cylinder A installs on upper fixing frame, and the cushion is installed on the upper fixing frame of unpowered cylinder A afterbody.

Furthermore, the supporting and guiding mechanism further comprises 4 guide wheels B and wear-resistant strips, the guide wheels B are respectively arranged on the main body frames corresponding to the head ends and the tail ends of the two rows of unpowered rollers B, and the wear-resistant strips are arranged on the main body frames at the upper ends of the two rows of unpowered rollers B.

Furthermore, the same-rail connecting rod mechanism comprises a traction assembly and a caster assembly, the traction assembly comprises a traction connector, a traction lock pin, a traction base and a traction limit, the traction connector is connected with the traction pin shaft and the traction base is connected with the main body Frame through a bearing, the traction limit is fixed on a Frame on the lower side of the main body Frame, the caster assembly comprises 4 groups of left front wheel assemblies, right front wheel assemblies, left rear wheel assemblies and right rear wheel assemblies, the traction base is connected with the 4 groups of caster assemblies respectively, and the motion track of the H-Frame automatic connecting rod turnover vehicle is controlled.

Further, the left front wheel component comprises a left front connecting rod, a left front pull sheet, a left front caster bracket and a left front caster, the right front wheel component comprises a right front connecting rod, a right front pull piece, a right front caster bracket and a right front caster, the left rear wheel component comprises a left rear connecting rod, a left rear pulling piece, a left rear caster bracket and a left rear caster, the right rear wheel component comprises a right rear connecting rod, a right rear pulling piece, a right rear caster bracket and a right rear caster, the traction base is respectively connected with a left front connecting rod and a right front connecting rod through pin shafts, the left front connecting rod is connected with a left front pulling piece through pin shafts, the left front pulling piece is in threaded connection with a left front caster wheel, the left front caster wheel is fixed on a left front caster wheel bracket with the turntable function, the right front connecting rod is connected with a right front pulling piece through pin shafts, the right front pulling piece is in threaded connection with a right front caster wheel, the right front caster wheel is fixed on a right front caster wheel bracket with the turntable function, differential angle rotation of the left front caster wheel and the right front caster wheel can be realized through the swinging of the traction connector;

the on-rail connecting rod mechanism further comprises a transition connecting rod, a tail hook base and a tail hook, wherein the tail hook base is installed on the lower side of the rear end of the main body frame through a pin shaft, two ends of the transition connecting rod are respectively connected with a traction base and a tail hook base through pin shafts, the tail hook base is respectively connected with a left rear connecting rod and a right rear connecting rod through pin shafts, the left rear connecting rod is connected with a left rear pull sheet through pin shafts, the left rear pull sheet is in threaded connection with a left rear caster, the left rear caster is fixed on a left rear caster bracket with a turntable function, the right rear connecting rod is connected with a right rear pull sheet through pin shafts, the right rear pull sheet is in threaded connection with a right rear caster, and the right; the tail hook is connected to the main body Frame through a bolt, and a traction connector of the subsequent H-Frame automatic connecting rod turnover vehicle is connected with a tail hook pin shaft of the previous H-Frame automatic connecting rod turnover vehicle.

The tray comprises a tray body, a bottom supporting seat, a positioning sleeve, two positioning seats and movable handle sleeves, wherein the tray body is divided into two parts, three surfaces of the tray body of each part are welded with wrap angles, the two parts of the tray body are connected together through at least two connecting cross beams, the two bottom supporting seats are respectively welded below the two parts of the tray body and are used for being in butt joint with two rows of unpowered rollers A of the line edge platform and two rows of unpowered rollers B of the supporting and guiding mechanism, the two positioning seats are fixed on the connecting cross beams, a positioning hole is formed in the middle of each positioning seat, the positioning sleeve is arranged on each positioning hole, and when the tray is located on the H-Frame automatic connecting rod turnover vehicle, the two locking pins can penetrate through the positioning sleeves after being bounced to clamp the tray, and the movable handle sleeves are welded on the tray body and are used for being connected with the movable handles in an inserting mode.

Furthermore, the driving assembly comprises a direct current servo motor, a planetary reducer, a main shaft and a driving gear which are sequentially connected, and the driving gear is meshed with the driven gear set A to drive the driven gear set A to rotate;

the lock pin lifting driving assembly comprises an electric cylinder driving assembly and a pedal driving assembly, the electric cylinder driving assembly comprises an electric cylinder and a connecting rod B, the electric cylinder is fixed on the upper fork through an electric cylinder tailstock and an electric cylinder middle seat, an electric cylinder headstock is mounted on an electric cylinder rod of the electric cylinder, the connecting rod B is of a clamp type, two ends of the connecting rod B are respectively connected with the lower end of the lock pin, the electric cylinder headstock extends out to push the connecting rod B, the connecting rod B pulls the lock pin to move downwards, the electric cylinder headstock retracts to be away from the connecting rod B, the connecting rod B returns under the action of gravity, and the lock pin extends out; the electric cylinder driving assembly further comprises a roller and a wire collector, a power line and a signal line of the electric cylinder are led in from the roller and collected into the wire collector, so that when the upper fork does linear telescopic motion, a lead of the electric cylinder can also extend out and retract along with the upper fork; the pedal driving assembly comprises a release pedal A, a connecting rod C and a release pedal B, the release pedal A is matched with a connecting rod A pin shaft, the connecting rod A is matched with a connecting rod B pin shaft, the release pedal A is treaded, the connecting rod A is dragged, the connecting rod B is dragged, the lock pin is downwards, otherwise, the release pedal B is matched with the connecting rod C pin shaft, the connecting rod C is matched with the connecting rod B pin shaft, the release pedal C is treaded or separated, and the lock pin is in lifting motion.

The automatic H-Frame connecting rod turnover vehicle further comprises an electrical control assembly, wherein the electrical control assembly comprises a four-pin plug B and a four-pin plug A which are respectively arranged at the front end and the rear end of the H-Frame automatic connecting rod turnover vehicle, a driver, a voltage reduction module, an intermediate relay, a first photoelectric switch, a second photoelectric switch, a third photoelectric switch, a fourth photoelectric switch, a fifth photoelectric switch, a sixth photoelectric switch, a seventh photoelectric switch, an eighth photoelectric switch, a proximity switch, a plug group and a PLC (programmable logic controller), the AGV or an ordinary trailer is connected with the four-pin plug B of the first H-Frame automatic connecting rod turnover vehicle through a lead, 2 pins of the four-pin plug B are power output, the power output is divided into two paths, one path is provided for the driver, the driver is connected with the driving assembly to drive the driven gear set A to rotate, the other path is connected with the voltage reduction module, and the voltage reduction module is respectively connected with the intermediate relay, The locking pin lifting driving assembly, each photoelectric switch, the proximity switch and the PLC are connected, 8 photoelectric switches and the proximity switches are connected with the plug group, the other 2 pins of the four-pin plug B are signal lines and are communicated with the PLC, the driver, the intermediate relay, the plug group and the four-pin plug A are connected with the PLC, and the four-pin plug A is connected with the four-pin plug B of the next H-Frame automatic connecting rod turnover vehicle;

the front end of the upper fixing frame is respectively provided with a reflector, the first photoelectric switch and the fourth photoelectric switch are respectively arranged at two ends of one side of the main body frame, the fifth photoelectric switch and the eighth photoelectric switch are respectively arranged at two ends of the other side of the main body frame, the two groups of photoelectric switches are used for receiving signals transmitted by the reflector, the signals are transmitted to the PLC through the plug group and then transmitted to the AGV to realize speed reduction and parking;

the second photoelectric switch and the seventh photoelectric switch are used for detecting whether the tray exists on the H-Frame automatic connecting rod transfer car or not, and signals are transmitted to the PLC and then transmitted to the AGV;

the third photoelectric switch and the sixth photoelectric switch are used for detecting whether a person stands in front when the upper fork extends out, if the person stands in front, a signal is transmitted to the PLC, and the PLC controls the driving assembly to do an emergency stop action;

the proximity switch is used for providing an original position, and the original position is conveniently found after power failure.

Compared with the prior art, the invention has the advantages that:

1. butt joint structure: the unpowered roller and the guide wheel are adopted for butt joint, the rolling friction energy consumption is low, the safety coefficient is high, the bearing strength is high, the tray adopts a double-layer structure, the flexibility is high, and the tray can adapt to appliances of different sizes;

2. same-rail connecting rod structure: the turning radius is small, the tracks are the same, the channel occupation ratio is greatly reduced, the safety risk is reduced, and the line supply efficiency is improved;

the H-Frame automatic transfer vehicle can complete self goods taking/delivering instructions, can realize manual/semi-automatic/full-automatic control, and can also cooperate with the AGV to fight, and the AGV only needs to provide stopping/walking, taking/delivering, and a plurality of simple instructions, so that the stability is good, and the maintenance is convenient.

Drawings

FIG. 1 is a schematic view of a line-edge platform structure according to the present invention;

FIG. 2 is a schematic view of a tray structure according to the present invention;

FIG. 3 is a schematic view of the overall structure of the H-Frame automated link transfer cart of the present invention;

FIG. 4 is a structural diagram illustrating a positional relationship between a support and guide mechanism and a main Frame of the H-Frame automated link transfer cart according to the present invention;

FIG. 5 is a schematic structural view of a pick-up and delivery mechanism of the H-Frame automated link transfer cart of the present invention;

FIG. 6 is an enlarged view of a portion of the electric cylinder driving assembly of the pick-and-place mechanism;

FIG. 7 is an enlarged view of a portion of the pedal drive assembly of the pick-and-place mechanism;

FIG. 8 is a schematic structural diagram of a same-track link mechanism of the H-Frame automated link transfer cart according to the present invention;

FIG. 9 is a schematic view showing the connection relationship between the components of the electrical control assembly of the H-Frame automated link transfer cart according to the present invention;

FIG. 10 is a schematic diagram showing the positional relationship of the components of the electrical control assembly on the H-Frame automated link transfer cart of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to improve the transportation efficiency of parts and overcome the defects of the existing part transportation, the invention provides an H-Frame automatic line supply system for part transportation, which can select three modes of manual operation, semi-automatic operation and full-automatic operation, uses a traction type AGV and an H-Frame automatic line supply connecting rod turnover vehicle line supply under the full-automatic mode, does not need personnel operation in the whole line supply process, can automatically take/send trays by the H-Frame, has no fatigue in the automatic line supply, can work for 24 hours, and has much lower price than the AGV, high compatibility reliability, high productivity efficiency and the like.

Referring to fig. 1, 2 and 3, an H-Frame automatic line supply system for component transportation is provided, which comprises a line edge platform 1, a tray 2 and an H-Frame automatic connecting rod turnover vehicle, wherein the line edge platform 1 is arranged at a component transportation starting point and a transportation end point and comprises a base 101, an upper fixing Frame 102, a guide wheel a103, two rows of unpowered rollers a104 and a buffer cushion 106, the base 101 is two strip-shaped bottom plates which are arranged in parallel and are connected to the ground by using expansion bolts, each strip-shaped bottom plate is provided with a plurality of hole sites for conveniently adjusting the installation positions of other components of the line edge platform 1, the upper fixing Frame 102 is installed on the base 101 in an adjustable height manner by bolts, the guide wheel a103 is installed at the front end of the upper fixing Frame 102 and is used for guiding and correcting the position of the tray 2, the unpowered rollers a104 are installed on the upper fixing Frame 102 at two sides of the line edge platform 1, and the front ends of the unpowered rollers a104 are in a gentle slope manner, to facilitate the guiding and insertion of the pallet 2, a cushion 106 is mounted on the upper mount 102 at the rear of the unpowered roller a104 for defining the position of the pallet 2 and absorbing the kinetic energy of the pallet 2.

Referring to fig. 2, the pallet 2 comprises a pallet body 201, a bottom support base 202, a positioning sleeve 203, a positioning base 204 and a movable handle glove 205, the pallet body 201 is divided into two parts, the two parts are formed by welding section bars, the three surfaces of the pallet body 201 of each part are welded with wrap angles to facilitate the guiding and limiting of component devices, the two parts of the pallet body 201 are connected together through at least two connecting beams, the two bottom support bases 202 are respectively welded under the two parts of the pallet body 201, the two ends of the bottom support base 202 are in a slope type and are used for being butted with two rows of unpowered rollers a104 of a line edge platform 1 and two rows of unpowered rollers B401 of a supporting and guiding mechanism 4 to better introduce the pallet 2, the two positioning bases 204 are fixed on the connecting beams, a positioning hole is formed in the middle of the positioning base 204 and is connected with the positioning sleeve 203 for inserting a positioning device on an H-Frame automated connecting rod turnover vehicle, the tray 2 is positioned, the positioning seat 204 and the positioning sleeve 203 both have an inclined plane guide function, the two movable handle sleeves 205 are welded on the two parts of the tray body 201, and the two movable handle sleeves 205 are used for being inserted with the movable handles, so that the tray 2 can be taken out or sent in a manual mode conveniently.

Referring to fig. 3, the H-Frame automated link transfer cart includes a main body Frame 3, a supporting and guiding mechanism 4, a taking and delivering mechanism 5, and an in-orbit link mechanism 6:

referring to fig. 4, the main body Frame 3 is formed by welding sectional materials, has high strength and strong bearing capacity, the supporting and guiding mechanism 4 is used for supporting and guiding the tray 2 on the H-Frame automated connecting rod turnover vehicle, and includes two rows of unpowered rollers B401 installed on both sides of the main body Frame 3, and the front ends of the two rows of unpowered rollers B401 are in a gentle slope type, so as to facilitate guiding and introducing of the tray 2, the supporting and guiding mechanism 4 further includes guide wheels B402 and wear-resistant strips 403, the guide wheels B402 are provided with 4 guide wheels, and are respectively installed on the main body Frame 3 corresponding to the head ends and the tail ends of the two rows of unpowered rollers B401, so as to facilitate guiding and correcting the tray positions for butt joint, and the wear-resistant strips 403 are installed on the main body Frame 3 at the upper ends of the two rows of rollers B401, so as to facilitate.

Referring to fig. 5, the picking and delivering mechanism 5 is used for picking up a pallet from the platform 1 or delivering the pallet to the platform 1, the picking and delivering mechanism 5 comprises a driving assembly, i.e. a dc servo motor 501, a planetary reducer 502, a main shaft 503 and a driving gear 504 which are connected in sequence, the dc servo motor 501 is connected with the planetary reducer 502 in an expanding way, the planetary reducer 502 is connected with the main shaft 503 through a key connection to transmit torque, the main shaft 503 is connected with the driving gear 504 in a key connection, the picking and delivering mechanism 5 further comprises a lower fork 506, a middle fork 527, an upper fork 526, a locking pin holder 523, a locking pin 524 and a locking pin lifting driving assembly, the lower fork 506 and the middle fork 527 are telescopically and slidably connected through a wear-resistant block 510 and a bearing 511, the wear-resistant block 510 is used for preventing excessive wear between the lower fork 506 and the middle fork 527, the middle fork 527 and the upper fork 526 are also telescopically and slidably connected through a bearing 511 and a wear-resistant block 510, the lower fork 506, a rack B528 meshed with the driven gear set A505 and a driven gear set B512 meshed with the rack A507 are arranged on the middle fork 527, a rack C515 meshed with the driven gear set B512 is arranged on the upper fork 526, the driving gear 504 is meshed with the driven gear set A505 to drive the driven gear set A505 to rotate, so that the middle fork 527 and the upper fork 526 synchronously extend or retract, a lock pin seat 523 is arranged on the upper fork 526, two lock pins 524 are arranged at two ends of the lock pin seat 523 in a pop-up/retraction manner through springs 525, and a lock pin lifting driving assembly drives the lock pins 524 to pop up/retract;

referring to fig. 6 and 7, the locking pin lifting driving assembly includes an electric cylinder driving assembly and a pedal driving assembly, the electric cylinder driving assembly includes an electric cylinder 521 and a connecting rod B516, the electric cylinder 521 is fixed on the upper fork 526 through an electric cylinder tailstock 519 and an electric cylinder middle seat 520, an electric cylinder headstock 522 is mounted on an electric cylinder rod of the electric cylinder 521, the connecting rod B516 is of a clamp type, two ends of the connecting rod B516 are respectively connected with the lower end of the locking pin 524, the electric cylinder headstock 522 extends to push the connecting rod B516, the connecting rod B516 pulls the locking pin 524 to move downwards, the electric cylinder headstock 522 retracts away from the connecting rod B516, the connecting rod B516 returns under the action of gravity, the locking pin 524 extends, the electric cylinder driving assembly further includes a roller 508 and a wire winder 509, a power line and a signal line of the electric cylinder 521 are led in from the roller 508 and the winder 509, so that when the upper fork 526 makes a linear telescopic motion, a cylinder wire 521 can also extend; the pedal driving assembly comprises a release pedal A513, a connecting rod A514, a connecting rod C517 and a release pedal B518, the release pedal A513 is matched with a connecting rod A514 pin, the connecting rod A514 is matched with a connecting rod B516 pin, the release pedal A513 is treaded, the connecting rod A514 is dragged, the connecting rod A514 drags the connecting rod B516, the connecting rod B516 drags a lock pin 524 downwards, otherwise, the release pedal B518 is matched with the connecting rod C517 pin, the connecting rod C517 is matched with the connecting rod B516 pin, and the release pedal C518 is treaded or separated, and the lock pin 524 performs lifting motion.

Referring to fig. 8, the in-orbit linkage 6 is used to control the motion trajectory of the H-Frame automated link transfer cart. The same-rail connecting rod mechanism 6 comprises a traction assembly and a caster assembly, the traction assembly comprises a traction connector 601, a traction 602, a traction lock pin 603, a traction base 605 and a traction limit 606, the traction connector 601 is in pin connection with the traction 602, the traction 602 is in pin connection with the traction base 605, the traction base 605 is connected to the main body Frame 3 through a bearing, the traction limit 606 is fixed on a Frame on the lower side of the main body Frame 3, the traction lock pin 603 is arranged on the traction 602 and can limit the traction 602 at a right angle to reduce storage space, the caster assembly comprises 4 groups of left front wheel assemblies, right front wheel assemblies, left rear wheel assemblies and right rear wheel assemblies, the traction base 605 is respectively connected with the 4 groups of caster assemblies, and the motion track of the H-Frame automatic connecting rod turnover vehicle is controlled.

The left front wheel assembly comprises a left front connecting rod 610, a left front pull tab 609, a left front caster bracket 607 and a left front caster 608, the right front wheel assembly comprises a right front connecting rod 620, a right front pull tab 621, a right front caster bracket 623 and a right front caster 622, the left rear wheel assembly comprises a left rear connecting rod 613, a left rear pull tab 614, a left rear caster bracket 624 and a left rear caster 615, the right rear wheel assembly comprises a right rear connecting rod 619, a right rear pull tab 618, a right rear caster bracket 625 and a right rear caster 617, the traction base 605 is respectively in pin connection with the left front connecting rod 610 and the right front connecting rod 620, the left front connecting rod 610 is in pin connection with the left front pull tab 609, the left front caster 609 is in bolt connection with the left front caster bracket 607 with the front caster turntable function, the left front connecting rod 620 is in pin connection with the right front pull tab 621, the right front caster tab 621 is in bolt connection with the right front caster bracket 623 with the front caster turntable function, differential angular rotation of the left front caster 608 and the right front caster 622 is achieved by the swinging of the traction connector 601;

the same-rail link mechanism 6 further comprises a transition connecting rod 611, a tail hook base 612 and a tail hook 616, the tail hook base 612 is mounted on the lower side of the rear end of the main body frame 3 through a pin shaft, two ends of the transition connecting rod 611 are respectively in pin connection with the traction base 605 and the tail hook base 612, the tail hook base 612 is respectively in pin connection with a left rear connecting rod 613 and a right rear connecting rod 619, the left rear connecting rod 613 is in pin connection with a left rear pull tab 614, the left rear pull tab 614 is in bolt connection with the left rear caster 615, the left rear caster 615 is fixed on a left rear caster bracket 607 with a turntable function, the right rear connecting rod 619 is in pin connection with a right rear pull tab 618, the right rear pull tab 618 is in bolt connection with a right rear caster 617, and the right rear caster 617 is fixed on a right rear; the tail hook 606 is connected to the main Frame 3 through a bolt, and the traction connector 601 of the next H-Frame automatic connecting rod turnover vehicle is connected with the tail hook 616 of the previous H-Frame automatic connecting rod turnover vehicle through a pin shaft. To dampen the forward force leaning and impact kinetic energy of the traction 60) while parked, the traction assembly further includes a shock pad 604, the shock pad 604 being disposed at the connection of the traction 602 and the traction base 605.

The traction connector 601 can solve the problems that the traction 602 is stuck and the caster is not grounded due to uneven ground, the left front caster 608 and the left rear caster 615 and the right front caster 622 and the right rear caster 617 perform mirror image motion through the swing of the traction 602, the turning track positions of the left front caster 608 and the left rear caster 615 are the same, the turning track positions of the right front caster 622 and the right rear caster 617 are the same, the swing angle of the traction base 605 is limited by the traction limiting position 606, the synchronous turning function is achieved, the turning radius is reduced, the mechanism is smaller than the turning radius of two directional wheels and a universal wheel trolley, the turning track is the same, the occupied channel size is small, and the channel collision risk is reduced to the maximum extent.

In order to ensure the full automation, referring to fig. 9 and 10, the automatic H-Frame link transfer vehicle further comprises an electrical control assembly 7, wherein the electrical control assembly 7 comprises a four-pin plug B717 and a four-pin plug a716 respectively installed at the front end and the rear end of the H-Frame automatic link transfer vehicle, a driver 709, a voltage reduction module 710, an intermediate relay 707, a first photoelectric switch 701, a second photoelectric switch 702, a third photoelectric switch 703, a fourth photoelectric switch 704, a fifth photoelectric switch 711, a sixth photoelectric switch 712, a seventh photoelectric switch 714, an eighth photoelectric switch 715, a proximity switch 713, a plug group 705 and a PLC706, the AGV or the common trailer is connected with the four-pin plug B717 of the first H-Frame automatic link transfer vehicle through a wire, 2 of the four-pin plug B717 is a power output, the power output is output, one is provided to the driver 709, the driver 709 is connected with the driving assembly to drive the driven gear set a505 to rotate, the other path of the voltage reduction module 710 is connected with a voltage reduction module 710, the voltage reduction module 710 is respectively connected with an intermediate relay 707, the locking pin lifting driving assembly, each photoelectric switch, a proximity switch 713 and a PLC706, 8 photoelectric switches and proximity switches are connected with a plug group 705, the other 2 pins of a four-pin plug B717 are signal lines and are communicated with the PLC706, a driver 709, the intermediate relay 707, the plug group 705 and a four-pin plug A716 are all connected with the PLC706, and the four-pin plug A716 is connected with the four-pin plug B717 of the next H-Frame automatic connecting rod turnover vehicle;

the front end of the upper fixing frame 102 is respectively provided with a reflector 105, the first photoelectric switch 701 and the fourth photoelectric switch 704 are respectively arranged at two ends of one side of the main body frame 3, the fifth photoelectric switch 711 and the eighth photoelectric switch 715 are respectively arranged at two ends of the other side of the main body frame 3, the two groups of photoelectric switches are used for receiving signals transmitted by the reflector 105, the signals are transmitted to the PLC706 through the plug group 705, and then are transmitted to the AGV to realize speed reduction and parking. When a first light reflecting plate on the upper fixing Frame 102 is butted with a first photoelectric switch on the H-Frame automatic connecting rod turnover vehicle, the AGV starts to decelerate, a second light reflecting plate is butted with the first photoelectric switch on the H-Frame automatic connecting rod turnover vehicle, and when the first light reflecting plate is butted with the second photoelectric switch on the H-Frame automatic connecting rod turnover vehicle at the same time, the H-Frame automatic connecting rod turnover vehicle stops;

the second photoelectric switch 702 and the seventh photoelectric switch 714 are mounted on the main body Frame 3 and used for detecting whether the tray 2 exists on the H-Frame automatic connecting rod transfer cart or not, signals are transmitted to the PLC706 and then transmitted to the AGV, only goods delivery can be performed when the tray exists, and goods taking action can be performed when the tray does not exist;

the third photoelectric switch 703 and the sixth photoelectric switch 712 are mounted on the lower fork 506 and used for detecting whether a person stands in front when the upper fork 526 extends out, if so, a signal is transmitted to the PLC, and the PLC controls the driving assembly to do an emergency stop action;

the proximity switch 713 is mounted on the lower fork 506 and the moving track of the middle fork 527 provides a blocking signal for providing the home position, which is convenient for re-finding the home position after power failure. The home position is a position where both the middle fork 527 and the upper fork 526 are retracted, in this state, the proximity switch 713 is shielded 1/3-2/3, and when an unexpected power failure occurs, the middle fork 527 and the upper fork 526 are not located at the home position, and the proximity switch 713 is completely shielded, and after power is turned on again, the drive unit 526 is controlled to return the middle fork 527 and the upper fork 526 to the home position by the sensing of the proximity switch 713 by using a program set in the PLC.

One end of a driver 709 is connected with the direct current servo motor 501 and provides power and rotating speed, the other end of the driver is connected with the PLC706 for communication, a pulse instruction is given by a PLC program to determine the rotating speed and the position of the motor, the PLC706 controls the electric cylinder 521 to extend out and retract through an intermediate relay 707, and through PLC706 logic programming, the H-Frame automatic turnover vehicle can complete self goods taking/sending instructions, semi-automatic/full-automatic control can be realized, meanwhile, the AGV can also cooperate with the AGV, and the AGV only needs to provide stopping/walking and taking/sending instructions.

During manual operation, when the H-Frame automatic connecting rod is dragged to rotate manually (without a trailer) or with a trailer or an AGV (automatic guided vehicle), a person can step on a release pedal by feet and simultaneously push a tray to a line side platform or to the H-Frame, so that the function of manually taking and delivering goods can be realized;

during semi-automatic operation, the H-Frame automatic connecting rod turnover vehicle is manually dragged or pulled by a trailer, the taking and sending mechanism 5 of the H-Frame automatic connecting rod turnover vehicle can be connected with a control box or a remote controller through wireless communication or a communication line and is arranged on the trailer, and the H-Frame automatic connecting rod turnover vehicle can automatically complete the goods taking and sending actions only by pulling the H-Frame automatic connecting rod turnover vehicle to the line side platform and pressing the taking/sending button by the trailer.

Claims (10)

1. An H-Frame automatic line supply system for component transportation is characterized in that: the H-Frame automatic connecting rod turnover vehicle comprises a line edge platform (1), a tray (2) and an H-Frame automatic connecting rod turnover vehicle, wherein the line edge platform (1) is fixed on the ground, the tray (2) is used for containing components, the H-Frame automatic connecting rod turnover vehicle comprises a main body Frame (3), a supporting and guiding mechanism (4), a taking and sending mechanism (5) and a co-orbit connecting rod mechanism (6), the supporting and guiding mechanism (4) is used for supporting and guiding the tray on the H-Frame automatic connecting rod turnover vehicle, the taking and sending mechanism (5) is used for taking the tray off from the line edge platform (1) or sending the tray onto the line edge platform (1), and the co-orbit connecting rod mechanism (6) is used for controlling the movement track of the H-Frame automatic connecting rod turnover vehicle.

2. The H-Frame automated line feeding system for component transportation according to claim 1, wherein the pick-and-place mechanism (5) of the H-Frame automated link transfer cart comprises a driving assembly, a lower fork (506), a middle fork (527), an upper fork (526), a locking pin holder (523), a locking pin (524) and a locking pin lifting driving assembly, the lower fork (506) and the middle fork (527) are telescopically and slidably connected through a bearing, the middle fork (527) and the upper fork (526) are telescopically and slidably connected through a bearing, a driven gear set A (505) and a rack A (507) are arranged on the lower fork (506), a rack B (528) meshed with the driven gear set A (505) and a driven gear set B (512) meshed with the rack A (507) are arranged on the middle fork (527), a rack C (515) meshed with the driven gear set B (512) is arranged on the upper fork (526), the driving assembly drives the driven gear set A (505) to rotate, so that the middle fork (527) and the upper fork (526) are synchronously extended or retracted, the lock pin seat (523) is arranged on the upper fork (526), the two lock pins (524) can be ejected/retracted through the two ends of the lock pin seat (523) through the spring (525), and the lock pin lifting driving assembly drives the lock pins (524) to eject/retract.

3. The H-Frame automated line feeding system for component transportation according to claim 2, wherein the line edge platform (1) comprises two rows of unpowered rollers a (104) mounted on both sides of the line edge platform (1), and the supporting and guiding mechanism (4) comprises two rows of unpowered rollers B (401) mounted on both sides of the main body Frame (3).

4. The H-Frame automated line supply system for component transportation according to claim 3, wherein the line edge platform (1) further comprises a base (101), an upper fixing Frame (102), a guide wheel A (103) and a cushion pad (106), the base (101) is two parallel strip-shaped bottom plates, the upper fixing Frame (102) is mounted on the base (101) in a height-adjustable manner, the guide wheel A (103) is mounted at the front end of the upper fixing Frame (102) and used for guiding and correcting the position of the tray (2), two rows of unpowered rollers A (104) are mounted on the upper fixing Frame (102), and the cushion pad (106) is mounted on the upper fixing Frame (102) at the tail part of the unpowered rollers A (104).

5. The H-Frame automated line supply system for component transportation according to claim 3, wherein the supporting and guiding mechanism (4) further comprises 4 guide wheels B (402) and wear resistant strips (403), the 4 guide wheels B (402) are respectively mounted on the main body Frame (3) corresponding to the head end and the tail end of the two rows of unpowered rollers B (401), and the wear resistant strips (403) are mounted on the main body Frame (3) at the upper ends of the two rows of unpowered rollers B (401).

6. The H-Frame automated supply line system for component transport of claim 2, the automatic H-Frame connecting rod turnover vehicle is characterized in that the same-rail connecting rod mechanism (6) comprises a traction assembly and a caster assembly, the traction assembly comprises a traction connector (601), a traction base (602), a traction lock pin (603), a traction base (605) and a traction limit (606), the traction connector (601) is in pin connection with the traction base (602), the traction base (602) is in pin connection with the traction base (605), the traction base (605) is connected to the main body Frame (3) through a bearing, the traction limit (606) is fixed on a Frame on the lower side of the main body Frame (3), the caster assembly comprises 4 groups, namely a left front wheel assembly, a right front wheel assembly, a left rear wheel assembly and a right rear wheel assembly, the traction base (605) is respectively connected with the 4 groups of caster assemblies, and the motion track of the H-Frame automatic connecting rod turnover vehicle is controlled.

7. The H-Frame automated line supply system for component transportation of claim 6, wherein the left front wheel assembly comprises a left front link (610), a left front pull tab (609), a left front caster bracket (607), and a left front caster (608), the right front wheel assembly comprises a right front link (620), a right front pull tab (621), a right front caster bracket (623), and a right front caster (622), the left rear wheel assembly comprises a left rear link (613), a left rear pull tab (614), a left rear caster bracket (624), and a left rear caster (615), the right rear wheel assembly comprises a right rear link (619), a right rear pull tab (618), a right rear caster bracket (625), and a right rear caster (617), the traction base (605) is respectively pin-jointed to the left front link (610) and the right front link (620), the left front link (610) is pin-jointed to the left front pull tab (609), the left front pull piece (609) is in threaded connection with a left front caster (608), the left front caster (608) is fixed on a left front caster wheel support (607) with a turntable function, a right front connecting rod (620) is in pin connection with a right front pull piece (621), the right front pull piece (621) is in threaded connection with a right front caster wheel (622), the right front caster wheel (622) is fixed on a right front caster wheel support (623) with a turntable function, and differential angle rotation of the left front caster wheel (608) and the right front caster wheel (622) can be realized through swinging of the traction connector (601);

the same-rail connecting rod mechanism (6) further comprises a transition connecting rod (611), a tail hook base (612) and a tail hook (616), the tail hook base (612) is installed on the lower side of the rear end of the main body frame (3) through a pin shaft, two ends of the transition connecting rod (611) are respectively in pin shaft connection with the traction base (605) and the tail hook base (612), the tail hook base (612) is respectively in pin shaft connection with the left rear connecting rod (613), the left rear connecting rod (619) is in pin connection, the left rear connecting rod (613) is in pin connection with the left rear pulling-on piece (614), the left rear pulling-on piece (614) is in bolt connection with the left rear caster (615), the left rear caster (615) is fixed on a left rear caster bracket (607) with a turntable function, the right rear connecting rod (619) is in pin connection with a right rear pulling-on piece (618), the right rear pulling-on piece (618) is in bolt connection with a right rear caster (617), and the right rear caster (617) is fixed on a right rear caster bracket (625) with a turntable function; the tail hook (606) is connected to the main body Frame (3) through a bolt, and the traction connector (601) of the next H-Frame automatic connecting rod turnover vehicle is connected with the tail hook (616) of the previous H-Frame automatic connecting rod turnover vehicle through a pin shaft.

8. The H-Frame automated line supply system for component transportation according to claim 3, wherein the tray (2) comprises a tray body (201), a bottom support (202), a positioning sleeve (203), two positioning seats (204) and a movable handle glove (205), the tray body (201) is divided into two parts, each part of the tray body (201) is welded with wrap angles on three sides, the two parts of the tray body (201) are connected together through at least two connecting beams, the bottom support (202) is provided with two positioning seats (204) which are respectively welded below the two parts of the tray body (201) and are used for being butted with the two rows of unpowered rollers A (104) of the line edge platform (1) and the two rows of unpowered rollers B (401) of the supporting and guiding mechanism (4), the two positioning seats (204) are fixed on the connecting beams, and a positioning hole is formed in the middle of the positioning seat (204), and a positioning sleeve (203) is set on the positioning hole, when the tray (2) is positioned on the H-Frame automatic connecting rod transfer car, the two locking pins (524) can penetrate through the positioning sleeve (203) after being bounced up to clamp the tray (2), and the movable handle sleeve (205) is welded on the tray body (201) and is used for being inserted with a movable handle.

9. The H-Frame automated line supply system for component transportation according to claim 2, wherein the driving assembly comprises a DC servo motor (501), a planetary reducer (502), a main shaft (503) and a driving gear (504) which are connected in sequence, and the driving gear (504) is meshed with the driven gear set A (505) to drive the driven gear set A (505) to rotate;

the lock pin lifting driving assembly comprises an electric cylinder driving assembly and a pedal driving assembly, the electric cylinder driving assembly comprises an electric cylinder (521) and a connecting rod B (516), the electric cylinder (521) is fixed on the upper fork (526) through an electric cylinder tail seat (519) and an electric cylinder middle seat (520), an electric cylinder head seat (522) is installed on a cylinder rod of the electric cylinder (521), the connecting rod B (516) is of a clamp type, two ends of the connecting rod B (516) are respectively connected with the lower end of the lock pin (524), the electric cylinder head seat (522) extends out to push the connecting rod B (516), the connecting rod B (516) rotates to drive the lock pin (524) to move downwards, the electric cylinder head seat (522) retracts to be far away from the connecting rod B (516), the connecting rod B (516) returns under the action of gravity, and the lock pin (524; the electric cylinder driving assembly further comprises a roller (508) and a wire collector (509), a power line and a signal line of the electric cylinder (521) are led in from the roller (508) and collected into the wire collector (509), so that when the upper fork (526) does linear telescopic motion, a lead of the electric cylinder (521) can also extend out and retract along with the upper fork; the pedal driving assembly comprises a release pedal A (513), a connecting rod A (514), a connecting rod C (517) and a release pedal B (518), the release pedal A (513) is matched with a connecting rod A (514) pin shaft, the connecting rod A (514) is matched with a connecting rod B (516) pin shaft, the release pedal A (513) is treaded down, the connecting rod A (514) is dragged, the connecting rod A (514) drags the connecting rod B (516), the connecting rod B (516) drags the lock pin (524) downwards, on the contrary, the release pedal B (518) is matched with a connecting rod C (517) pin shaft, the connecting rod C (517) is matched with a connecting rod B (516) pin shaft, the release pedal C (518) is treaded down or separated, and the lock pin (524) does lifting movement.

10. The H-Frame automated wire supply system for component transportation according to claim 4, further comprising an electrical control assembly (7), wherein the electrical control assembly (7) comprises a four-pin plug B (717) and a four-pin plug A (716) respectively installed at the front end and the rear end of the H-Frame automated link turnover vehicle, a driver (709), a voltage reduction module (710), an intermediate relay (707), a first photoelectric switch (701), a second photoelectric switch (702), a third photoelectric switch (703), a fourth photoelectric switch (704), a fifth photoelectric switch (711), a sixth photoelectric switch (712), a seventh photoelectric switch (714), an eighth photoelectric switch (715), a proximity switch (713), a plug group (705) and a PLC (706), or a common trailer is connected with the four-pin plug B (717) of the first H-Frame automated link turnover vehicle through a wire, the four-pin plug B (717), wherein 2 pins are power output, the power output is divided into two paths, one path is provided for a driver (709), the driver (709) is connected with the driving component to drive the driven gear set A (505) to rotate, the other path is connected with a voltage reduction module (710), the voltage reduction module (710) is respectively connected with an intermediate relay (707), the locking pin lifting driving component, each photoelectric switch, a proximity switch (713) and a PLC (706), 8 photoelectric switches and proximity switches are connected with a plug group (705), the other 2 pins of the four-pin plug B (717) are signal lines, the device is communicated with a PLC (706), a driver (709), an intermediate relay (707), a plug group (705) and a four-pin plug A (716) are all connected with the PLC (706), and the four-pin plug A (716) is connected with a four-pin plug B (717) of the next H-Frame automatic connecting rod turnover vehicle;

the front end of the upper fixing frame (102) is respectively provided with a reflector (105), the first photoelectric switch (701) and the fourth photoelectric switch (704) are respectively arranged at two ends of one side of the main body frame (3), the fifth photoelectric switch (711) and the eighth photoelectric switch (715) are respectively arranged at two ends of the other side of the main body frame (3), the two groups of photoelectric switches are used for receiving signals transmitted by the reflector (105), and the signals are transmitted to the PLC (706) through the plug group (705) and then transmitted to the AGV to realize speed reduction and parking;

the second photoelectric switch (702) and the seventh photoelectric switch (714) are used for detecting whether the tray (2) is on the H-Frame automatic connecting rod transfer car or not, and signals are transmitted to the PLC (706) and then transmitted to the AGV;

the third photoelectric switch (703) and the sixth photoelectric switch (712) are used for detecting whether a person stands in front when the upper fork (526) extends out, if so, a signal is transmitted to the PLC, and the PLC controls the driving assembly to do an emergency stop action;

the proximity switch (713) is used for providing an origin position, and the origin position is convenient to find after power failure.