CN110920332B - AGV traction device - Google Patents
AGV traction device Download PDFInfo
- Publication number
- CN110920332B CN110920332B CN201911394757.2A CN201911394757A CN110920332B CN 110920332 B CN110920332 B CN 110920332B CN 201911394757 A CN201911394757 A CN 201911394757A CN 110920332 B CN110920332 B CN 110920332B
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- China
- Prior art keywords
- traction
- goods shelf
- longitudinal
- trolley body
- electric cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000003287 optical effect Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
- B60D1/04—Hook or hook-and-hasp couplings
-
- 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
- B60D1/246—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for actuating the hitch by powered means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
Abstract
The invention provides an AGV traction device, wherein a traction mechanism is hinged on a trolley body, return cylinders are symmetrically arranged on two sides of the traction mechanism respectively, the traction mechanism comprises a traction support, the traction support is longitudinally hinged on the trolley body, the return cylinders are respectively connected on two sides of the traction support, and the traction support and a transverse electric cylinder are respectively connected on the traction support. The automatic AGV traction device is reasonable in structural design, the connection between the automatic AGV traction device and the goods shelves at the rear in the transverse direction and the longitudinal direction is achieved, the connection is stable, the automatic AGV traction device can be driven to advance by the trolley body, meanwhile, the trolley body is hinged to the traction mechanism, the traction mechanism is adjusted to be hinged to the traction mechanism through the air cylinders at the two sides, the traction mechanism can be conveniently and timely reset during turning, and the overall trafficability of the AGV traction device is improved.
Description
Technical Field
The invention relates to the technical field of wheeled mobile robots, in particular to an AGV traction device.
Background
An Automatic Guided Vehicle (AGV) is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and belongs to the category of wheeled mobile robots. In industrial applications, a vehicle without a driver uses a rechargeable battery as its power source, and generally uses a computer to control its travel route and behavior, or uses an electromagnetic track to set up its travel route.
In actual use, the AGV trolley can be used as traction power to drive the goods shelf to move, so that automatic transfer of the goods shelf is realized. However, when using the AGV dolly, how to control the AGV dolly and the firm connection of goods shelves and pull becomes the problem that must solve in the use.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to enable the AGV trolley to be well and firmly connected with a goods shelf and effectively pulled, the invention provides the AGV traction device which is reasonable in structural design, simple and stable in connection process and stable and reasonable in traction motion.
The technical scheme adopted for solving the technical problems is as follows: an AGV traction device is used for firmly connecting a trolley body and a goods shelf, wherein the bottom of the goods shelf is rotationally connected with idler wheels, a traction mechanism is hinged on the trolley body, return cylinders are symmetrically arranged on two sides of the traction mechanism respectively, one end of each return cylinder is connected with the trolley body, and the other end of each return cylinder is connected with the traction mechanism; the traction mechanism comprises a traction support, the traction support is longitudinally hinged to the trolley body, the return cylinders are respectively connected to two sides of the traction support, the longitudinal section of the traction support is I-shaped, the traction support is hinged to the trolley body corresponding to the left I-shaped opening, and an optical axis is fixed in the traction support corresponding to the right I-shaped opening in the vertical direction; the traction bracket is also fixedly provided with a longitudinal electric cylinder, the output end of the longitudinal electric cylinder is lifted in the vertical direction, the output end of the longitudinal electric cylinder is fixedly provided with a longitudinal supporting plate which is arranged in a plane along the horizontal direction, the longitudinal supporting plate is provided with a hole matched with the optical axis, the longitudinal supporting plate is lifted up and down along the optical axis under the action of the longitudinal electric cylinder, and the longitudinal supporting plate is provided with a clamping mechanism which is clamped and fixed with the upper bracket of the goods shelf corresponding to the goods shelf; the upper surface of the longitudinal supporting plate is fixedly provided with a transverse electric cylinder, and the output end of the transverse electric cylinder is provided with a transverse hook which is driven by the transverse electric cylinder and is clamped with the goods shelf.
In the scheme, the transverse electric cylinder and the longitudinal electric cylinder are ingeniously designed, the transverse hanging hook is driven to displace in the horizontal direction through the transverse electric cylinder, and the transverse hanging hook and the clamping mechanism are driven to displace in the vertical direction through the longitudinal electric cylinder. The two electric cylinders can be matched to lock the transverse hook and the clamping mechanism with the bottom of the goods shelf in the backward and upward movement process, so that the connection between the trolley body and the goods shelf is completed, and the traction is convenient to advance. Meanwhile, two correcting cylinders are skillfully and symmetrically designed, and in the process that the trolley body drives the goods shelf to turn, the trolley body and the traction support are hinged to rotate, and the correcting operation of the traction support is realized through the cooperation of the two cylinders.
In order to facilitate connection of the trolley body and the traction support, the tail end of the trolley body is fixedly provided with a fixing block, and an I-shaped left opening of the traction support is hinged with the fixing seat. The fixed block can be preferably arranged at the middle position of the rear end of the trolley body.
In order to facilitate the connection of the transverse hook and the goods shelf, the bottom of the front end of the goods shelf is rotationally connected with a U-shaped rotating support, and the transverse hook and the U-shaped rotating support are hooked in a matched mode.
Further, in order to facilitate connection and fixation of the clamping mechanism and the goods shelf, the bottom of the front end of the goods shelf is provided with a convex strip protruding downwards, the clamping mechanism is two upper protruding blocks protruding on the longitudinal hook, a caulking groove is formed between the two upper protruding blocks, and the caulking groove is embedded and matched with the convex strip after being supported on the longitudinal supporting plate.
In order to limit the goods shelf above the bottom of the goods shelf and avoid excessive lifting of the longitudinal supporting plate, a pressing plate is further fixed at the opening of the right side of the traction support corresponding to the I shape, and the lower end face of the pressing plate is in pressure connection with the upper end face of the bottom of the goods shelf.
The AGV traction device has the beneficial effects that the AGV traction device is reasonable in structural design, adopts the two electric cylinders which are transversely arranged and longitudinally arranged, achieves connection with a rear goods shelf in the transverse direction and the longitudinal direction respectively, can be driven by the trolley body to advance after being firmly connected, is hinged with the traction mechanism, and can adjust the hinged steering of the traction mechanism through the cylinders at the two sides, so that the traction mechanism can be corrected in time during turning, and the integral trafficability of the AGV traction device is improved.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a front view of a preferred embodiment of the present invention.
Fig. 2 is a front view of the car body and traction mechanism in a preferred embodiment of the present invention.
Fig. 3 is a perspective view of the car body and traction mechanism in a preferred embodiment of the present invention.
Fig. 4 is a bottom view of the preferred embodiment of the present invention.
In the figure, 1, a trolley body 2, a return cylinder 3, a longitudinal electric cylinder 4, an optical axis 5, a pressing plate 6, a traction bracket 7, a longitudinal supporting plate 8, an upper lug 9, a transverse hook 10, a fixed seat 11, a U-shaped rotating bracket 12, a convex strip 13 and a goods shelf.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
An AGV traction device as shown in FIGS. 1 to 4 is a preferred embodiment of the present invention for firmly connecting the carriage body 1 and the pallet 13. The bottom of the goods shelf 13 is rotatably connected with rollers. When the trolley body 1 and the goods shelf 13 are stably pulled, the trolley body 1 can drive the goods shelf 13 to move.
The trolley body 1 is hinged with a traction mechanism, two sides of the traction mechanism are symmetrically provided with a return cylinder 2 respectively, one end of the return cylinder 2 is connected with the trolley body 1, and the other end of the return cylinder is connected with the traction mechanism. The two return cylinders 2 are hinged with the traction support 6 for rotation in the process that the trolley body 1 drives the goods shelf 13 to turn, and the return operation of the traction support 6 is realized through the cooperation of the two cylinders.
The traction mechanism comprises a traction support 6, the traction support 6 is longitudinally hinged to the trolley body 1, the return cylinders 2 are respectively connected to two sides of the traction support 6, the longitudinal section of the traction support 6 is I-shaped, the traction support 6 is hinged to the trolley body 1 corresponding to an I-shaped left opening, and an optical axis 4 is fixed in the traction support 6 corresponding to an I-shaped right opening in the vertical direction.
In order to facilitate the connection of the trolley body 1 and the traction support 6, the tail end of the trolley body 1 is fixed with a fixed block, and the I-shaped left opening of the traction support 6 is hinged with the fixed seat 10. The fixed block may be preferably provided at a middle position of the rear end of the dolly body 1.
The traction support 6 on still be fixed with vertical electronic jar 3, vertical electronic jar 3 output lift along vertical direction, and vertical electronic jar 3 output be fixed with along the vertical layer board 7 of horizontal direction plane setting, have on the vertical layer board 7 with optical axis 4 complex hole, vertical layer board 7 goes up and down along optical axis 4 under the effect of vertical electronic jar 3.
The longitudinal supporting plate 7 is provided with a clamping mechanism corresponding to the goods shelf 13 and fixedly clamped with the upper support of the goods shelf 13. In order to facilitate the connection and fixation of the clamping mechanism and the goods shelf 13, the bottom of the front end of the goods shelf 13 is provided with a convex strip 12 protruding downwards, the clamping mechanism is two upper convex blocks 8 protruding on the longitudinal hook, a caulking groove is formed between the two upper convex blocks 8, and the caulking groove is embedded and matched with the convex strip 12 after being supported on the longitudinal supporting plate 7.
The upper surface of the longitudinal supporting plate 7 is fixedly provided with a transverse electric cylinder, and the output end of the transverse electric cylinder is provided with a transverse hook 9 which is driven by the transverse electric cylinder and is clamped with a goods shelf 13. In order to facilitate the hooking connection of the transverse hooks 9 to the goods shelf 13, the bottom of the front end of the goods shelf 13 is rotationally connected with a U-shaped rotating bracket 11, and the transverse hooks 9 are hooked with the U-shaped rotating bracket 11 in a matched manner.
In actual design, in order to limit the goods shelf 13 above the bottom of the goods shelf 13 and avoid excessive lifting of the longitudinal supporting plate 7, the opening of the right side of the traction bracket 6 corresponding to the I shape is also fixed with a pressing plate 5, and the lower end surface of the pressing plate 5 is in pressure connection with the upper end surface of the bottom of the goods shelf 13. The pressing plate 5 is fixed on the traction bracket 6. In the process of completing the traction of the trolley body 1 and the goods shelf 13, the traction trolley retreats to realize the compression joint of the pressing plate 5 and the bottom of the goods shelf 13. Thus, when the longitudinal electric cylinder 3 drives the longitudinal supporting plate 7 to move up and down in the vertical direction, the pressing plate 5 can be stably pressed on the goods shelf 13, provide pressure for the goods shelf 13, provide limit for the upward movement of the longitudinal electric cylinder 3, and avoid the situation that the goods shelf 13 is lifted up due to excessive lifting of the longitudinal supporting plate 7.
The traction working process comprises the following steps:
in the initial state, the trolley body 1 is separated from the shelf 13. The trolley body 1 is retracted with the traction mechanism aligned with the goods shelf 13, and the pressing plate 5 of the traction mechanism is contacted with the upper end face of the bottom of the goods shelf 13 corresponding to the upper end face of the bottom of the goods shelf 13 during the retraction. After the pressing plate 5 is in place, the transverse electric cylinder acts to drive the transverse hook 9 to extend backwards to correspond to the position of the U-shaped rotating bracket 11, and then the longitudinal electric cylinder 3 acts to drive the longitudinal supporting plate 7 to lift up, and the longitudinal supporting plate 7 stably moves upwards under the limiting action of the optical axis 4. At this time, when the longitudinal supporting plate 7 moves upwards, the transverse electric cylinder and the transverse hook 9 are also driven to move upwards together, the transverse hook 9 is hooked on the U-shaped rotating bracket 11 in the upward moving process, and after the hooking, the transverse electric cylinder can control the recovery of the transverse hanging hooks, so that the hooking connection of the transverse hook 9 to the goods shelf 13 is completed. The longitudinal electric cylinder 3 continues to move upwards until the embedding groove on the longitudinal supporting plate 7 is firmly embedded and matched with the convex strip 12 of the goods shelf 13, and the connection of the longitudinal clamping mechanism and the goods shelf 13 is completed. The trolley body 1 can then be moved forward, pulling the pallet 13 forward. When the trolley body 1 turns, the traction mechanism carries the goods shelf 13 to hinge with the trolley body 1, and when the trolley turns and continues to straighten, the traction mechanism is under the action of the return cylinders 2 on two sides, the traction bracket 6 returns to the right, and the goods shelf 13 is driven to return to the right and move normally. After the goods shelf 13 moves in place, the pulling operation is reversed, and the separation of the trolley body 1 and the goods shelf 13 can be completed.
The AGV traction device designed in this way is reasonable in structural design, and ingenious in design is provided with a transverse electric cylinder and a longitudinal electric cylinder 3, the transverse hanging hook 9 is driven to displace in the horizontal direction through the transverse electric cylinder, and the transverse hanging hook 9 and the clamping mechanism are driven to displace in the vertical direction through the longitudinal electric cylinder 3. The two electric cylinders can be matched to lock the transverse hook 9 and the clamping mechanism with the bottom of the goods shelf 13 in the backward and upward movement process, so that the connection between the trolley body 1 and the goods shelf 13 is completed, and the traction is convenient to advance. Meanwhile, the trolley body 1 is hinged with the traction mechanism and turns through the hinged connection of the traction mechanism regulated by the cylinders at two sides, so that the traction mechanism can be timely corrected during turning, and the overall trafficability of the AGV traction device is improved.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (4)
1. An AGV draw gear for firm connection dolly body (1) and goods shelves (13), goods shelves (13) bottom rotate and be connected with gyro wheel, its characterized in that: the trolley body (1) is hinged with a traction mechanism, two sides of the traction mechanism are symmetrically provided with a return air cylinder (2) respectively, one end of the return air cylinder (2) is connected with the trolley body (1), and the other end of the return air cylinder is connected with the traction mechanism;
the traction mechanism comprises a traction support (6), the traction support (6) is longitudinally hinged to the trolley body (1), the aligning air cylinders (2) are respectively connected to two sides of the traction support (6), the longitudinal section of the traction support (6) is I-shaped, the traction support (6) is hinged to the trolley body (1) corresponding to an I-shaped left opening, and an optical axis (4) is fixed in the traction support (6) corresponding to an I-shaped right opening along the vertical direction;
the traction bracket (6) is also fixedly provided with a longitudinal electric cylinder (3), the output end of the longitudinal electric cylinder (3) is lifted along the vertical direction, the output end of the longitudinal electric cylinder (3) is fixedly provided with a longitudinal supporting plate (7) which is arranged along the plane of the horizontal direction, the longitudinal supporting plate (7) is provided with a hole matched with the optical axis (4), the longitudinal supporting plate (7) is lifted up and down along the optical axis (4) under the action of the longitudinal electric cylinder (3), and the longitudinal supporting plate (7) is provided with a clamping mechanism which is clamped and fixed with the upper bracket of the goods shelf (13) corresponding to the goods shelf (13);
the upper surface of the longitudinal supporting plate (7) is fixedly provided with a transverse electric cylinder, and the output end of the transverse electric cylinder is provided with a transverse hook (9) which is driven by the transverse electric cylinder and is clamped with a goods shelf (13);
the traction support (6) is also fixed with a pressing plate (5) at the opening corresponding to the right side of the I shape, and the lower end surface of the pressing plate (5) is in pressure connection with the upper end surface of the bottom of the goods shelf (13).
2. The AGV traction device as set forth in claim 1 wherein: the tail end of the trolley body (1) is fixed with a fixed block, and the I-shaped left opening is hinged with the fixed seat (10).
3. The AGV traction device as set forth in claim 1 wherein: the bottom of the front end of the goods shelf (13) is rotationally connected with a U-shaped rotating bracket (11), and the transverse hook (9) is hooked with the U-shaped rotating bracket (11) in a matched mode.
4. The AGV traction device as set forth in claim 1 wherein: the bottom of the front end of the goods shelf (13) is provided with a convex strip (12) protruding downwards, the clamping mechanism is two upper convex blocks (8) protruding on the longitudinal hook, a caulking groove is formed between the two upper convex blocks (8), and the caulking groove is matched with the convex strip (12) in an embedded mode after the longitudinal supporting plate (7) is supported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911394757.2A CN110920332B (en) | 2019-12-30 | 2019-12-30 | AGV traction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911394757.2A CN110920332B (en) | 2019-12-30 | 2019-12-30 | AGV traction device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110920332A CN110920332A (en) | 2020-03-27 |
| CN110920332B true CN110920332B (en) | 2024-03-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911394757.2A Active CN110920332B (en) | 2019-12-30 | 2019-12-30 | AGV traction device |
Country Status (1)
| Country | Link |
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| CN (1) | CN110920332B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI752506B (en) * | 2020-05-22 | 2022-01-11 | 新加坡商可褒可企業有限公司 | Carrier attachment structure for towing mobile devices |
| CN114619945B (en) * | 2022-03-29 | 2022-10-21 | 南京苏立机器人科技有限公司 | Connecting and clamping device for fixing goods at front end of traction type AGV (automatic guided vehicle) transport vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044418A (en) * | 2014-06-16 | 2014-09-17 | 苏州工业园区艾吉威自动化设备有限公司 | Automatic unhooking and hooking mechanism for traction at tail of AGV (Automatic Guided Vehicle) |
| CN208164684U (en) * | 2018-03-21 | 2018-11-30 | 长泰县华晟光电科技有限公司 | A kind of tractor for agricultural mechanical work |
| CN109080393A (en) * | 2018-10-11 | 2018-12-25 | 广州汽车集团乘用车有限公司 | A kind of AGV and the automatic serial mechanism of truck |
| CN208452719U (en) * | 2018-06-11 | 2019-02-01 | 广东嘉腾机器人自动化有限公司 | Vacuum traction device and unmanned floor truck |
| CN109436134A (en) * | 2018-12-10 | 2019-03-08 | 江苏凯宫机械股份有限公司 | Item bucket intelligence AGV carrying mechanism |
| CN209426494U (en) * | 2019-01-24 | 2019-09-24 | 湖北双威科技有限公司 | A kind of tail end trailed model AGV |
| CN211493557U (en) * | 2019-12-30 | 2020-09-15 | 金石机器人常州股份有限公司 | AGV traction device |
-
2019
- 2019-12-30 CN CN201911394757.2A patent/CN110920332B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044418A (en) * | 2014-06-16 | 2014-09-17 | 苏州工业园区艾吉威自动化设备有限公司 | Automatic unhooking and hooking mechanism for traction at tail of AGV (Automatic Guided Vehicle) |
| CN208164684U (en) * | 2018-03-21 | 2018-11-30 | 长泰县华晟光电科技有限公司 | A kind of tractor for agricultural mechanical work |
| CN208452719U (en) * | 2018-06-11 | 2019-02-01 | 广东嘉腾机器人自动化有限公司 | Vacuum traction device and unmanned floor truck |
| CN109080393A (en) * | 2018-10-11 | 2018-12-25 | 广州汽车集团乘用车有限公司 | A kind of AGV and the automatic serial mechanism of truck |
| CN109436134A (en) * | 2018-12-10 | 2019-03-08 | 江苏凯宫机械股份有限公司 | Item bucket intelligence AGV carrying mechanism |
| CN209426494U (en) * | 2019-01-24 | 2019-09-24 | 湖北双威科技有限公司 | A kind of tail end trailed model AGV |
| CN211493557U (en) * | 2019-12-30 | 2020-09-15 | 金石机器人常州股份有限公司 | AGV traction device |
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| CN110920332A (en) | 2020-03-27 |
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