CN112622539A - Unhooking device and unhooking method for AGV heavy-load traction - Google Patents
Unhooking device and unhooking method for AGV heavy-load traction Download PDFInfo
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- CN112622539A CN112622539A CN202011591332.3A CN202011591332A CN112622539A CN 112622539 A CN112622539 A CN 112622539A CN 202011591332 A CN202011591332 A CN 202011591332A CN 112622539 A CN112622539 A CN 112622539A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims abstract description 86
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 14
- 239000002184 metal Substances 0.000 claims description 12
- 238000010009 beating Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000002265 prevention Effects 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 241001286345 Cervaria rivini Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—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
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Abstract
The invention discloses a unhooking device and a unhooking method for heavy-load traction of an AGV (automatic guided vehicle), belonging to the technical field of logistics transportation, wherein the unhooking device comprises a mounting seat, a traction claw, an unhooking prevention device and a driving mechanism, wherein the mounting seat is mounted at the tail end of the AGV, the upper part of the mounting seat is rotationally connected with the unhooking prevention device, the middle part of the mounting seat is rotationally connected with the traction claw, the traction claw is in inserted fit with a perforated connector on a flat car, and the bottom of the mounting seat is fixedly provided with the driving mechanism which enables the traction claw to be clamped or separated from the unhooking prevention device.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a unhooking device and a unhooking method for AGV heavy-load traction.
Background
The AGV is provided with an automatic navigation system, so that the AGV can automatically travel along a preset route without manual guidance, and goods or materials are automatically transported to a destination from a starting point. However, the AGV is not convenient for load too much goods, compares the AGV, and the flatbed can carry more goods, consequently, among the present cargo handling process, articulates AGV and flatbed usually, then utilizes the AGV to carry the flatbed.
The existing connection method mainly comprises the following two methods: one is that the coupling is usually accomplished by manually moving the connectors with holes on the AGV and the flatbed to a position close to the concentric position and then inserting the latch into the concentric hole. Although the mode is simple and the manufacturing cost is low, when heavy-load goods are loaded on the flat car, the manual moving of the AGV or the flat car makes the connectors with holes at the two ends concentric extremely inconvenient, the physical power is consumed, the working efficiency is low, and the labor cost is higher and higher at present. The other is that, set up a guide post structure that can rise automatically at AGV rear end, need install a uide bushing of taking the round hole on the flatbed that is hauled in addition usually and be used for cooperating with the guide post, after the guide post structure is close to the round hole on the flatbed, the straight line lift of drive guide post along perpendicular ground direction comes the card to advance or breaks away from the round hole and realizes taking off and articulate.
In order to improve the towing efficiency, the second connection method is mainly adopted at present, but the second connection structure has the following problems in the use process: 1. the guide post structure is not suitable for a heavy-load traction environment, because in use, due to the fact that the butt joint action of the hooking and releasing and the actions of starting and stopping of the AGV car can generate collision, the surface of the guide post structure can be scratched, even pits are formed, or the friction resistance is increased when the guide post is lifted due to serious deformation, the hooking can not be effectively completed, and in order to continue to be used, the guide post and the guide sleeve matched with the guide post need to be replaced usually. 2. The guide post usually requires a high-quality material and a complicated surface treatment due to high requirements for surface hardness, resulting in high cost and relatively low economy.
Therefore, it is urgently needed to design a unhooking device which is suitable for heavy-load traction, reliable in connection and smooth in unhooking and connecting actions to solve the problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides a unhooking device for heavy-load traction of an AGV, which can realize automatic unhooking action between the AGV and a flat car and also can avoid the problem of unsmooth dragging and hooking actions caused by factors such as collision and the like in the use environments of heavy-load dragging and the like.
In order to achieve the purpose, the technical scheme adopted by the invention for solving the technical problems is as follows: AGV heavy load is pull with taking off couple device, include the mount pad, pull claw, mousing-hook and actuating mechanism, the mount pad is installed at AGV rear of a vehicle end, the upper portion of mount pad with mousing-hook rotates and links to each other, the middle part of mount pad with pull the claw and rotate and link to each other, pull foraminiferous connector grafting cooperation on claw and the flatbed, the bottom of mount pad is fixed to be made pull the claw with mousing-hook joint or the actuating mechanism who breaks away from.
Further, the mount pad includes mounting panel I and deflector, install at the AGV rear end in one side of mounting panel I, the upper portion bilateral symmetry of the opposite side of mounting panel I is provided with the deflector, upper portion between two deflectors with the mousing-hook rotates and links to each other, lower part between two deflectors with the traction claw rotates and links to each other.
Furthermore, the mounting base further comprises a positioning plate I and a positioning plate II, wherein the positioning plate I and the positioning plate II are respectively fixed at the upper part and the lower part between the two guide plates, the positioning plate I is internally connected with the unhooking prevention device in a rotating manner, one end of the positioning plate I is connected with one end of the unhooking prevention device through a spring I, the positioning plate II is internally connected with the traction claw in a rotating manner, and one end of the positioning plate II is connected with one end of the traction claw through a spring II.
Furthermore, a guide groove I which enables the unhooking prevention hook to rotate and extend out downwards is formed in the positioning plate I, and a guide groove II which enables the traction claw to rotate and penetrate out upwards is formed in the positioning plate II; the end of the guide plate is provided with a flaring section.
Further, two still be provided with mounting panel II in the deflector, II parallel arrangement of mounting panel I and mounting panel, be provided with between mounting panel I and the mounting panel II and remove trigger unit, remove trigger unit pass through PLC the control unit with actuating mechanism electricity is connected.
Further, it includes proximity switch I and elasticity direction subassembly to remove the trigger unit, proximity switch I is fixed in the inboard of one of them deflector, elasticity direction subassembly sets up middle part between mounting panel I and the mounting panel II, the one end of elasticity direction subassembly is stretched out mounting panel II gets into draw the joint district between claw and the mousing-hook, be provided with on the elasticity direction subassembly along the length direction removal of deflector and trigger the detection piece of I action of proximity switch.
Further, elasticity direction subassembly still includes linear bearing, spacing panel beating, guide post and spring III, linear bearing installs on mounting panel II, spacing panel beating is installed on mounting panel I, between linear bearing and the spacing panel beating with guide post sliding connection, the one end of guide post is stretched out mounting panel II, the middle part of guide post is fixed detect the piece, detect the piece with cup joint on the guide post between the spacing panel beating spring III.
Further, actuating mechanism includes motor, belt drive part, mount and moving part, one side of mount pad is fixed the motor, the opposite side of mount pad is fixed the mount, the output shaft of motor passes through belt drive part with the outer end of mount links to each other, be provided with the guide rail on the mount, sliding connection on the guide rail moving part, moving part with belt drive part's transmission band is fixed continuous, moving part's top sets up the claw that pulls.
Furthermore, the moving part comprises a connecting sheet metal and a moving block, a transmission belt of the belt transmission part is a toothed belt, one side of the connecting sheet metal extends out to be meshed with the transmission belt, and one end of the connecting sheet metal is fixedly connected with the moving block; a proximity switch II and a proximity switch III for detecting the movement position of the moving part are respectively arranged at two ends of the fixing frame, and the proximity switch II and the proximity switch III are connected with the motor through a PLC control unit; the device is still including installing the unhook button on the AGV car, the unhook button passes through PLC the control unit and is connected with the motor electricity.
The unhooking method for heavy-load traction, which applies the unhooking device, comprises the following steps:
1) moving the AGV to the flat car, and leading the end parts of the two guide plates on the AGV to be close to the perforated connectors of the flat car for guiding;
2) continuously moving the AGV to enable the connecting head with the hole to collide with the guide post, and enabling the detection block on the guide post to move until the detection block approaches and triggers the proximity switch I;
3) the motor rotates, the transmission belt drives the moving part to slide on the guide rail, the upper end of the moving part abuts against the traction claw to enable the moving part to rotate upwards, when the moving part moves to the position close to the switch III, the motor stops acting, the traction claw is inserted into the connector with the hole, and the traction claw is clamped with the unhooking prevention hook, so that the connection between the AGV and the flat car is realized;
4) after the AGV car drives the flat car with the goods to be transported in place, when unhooking is needed, the unhooking key is pressed down, the motor rotates reversely, the transmission belt drives the moving part to slide reversely on the guide rail, the upper end of the moving part is separated from the traction claw, the traction claw rotates downwards under the action of self gravity and the tension of the spring II, and when the moving part moves to the position of the proximity switch II, the motor stops moving, the traction claw is separated from the connector with the hole, and the unhooking of the flat car is realized.
Compared with the prior art, the invention has the beneficial effects that:
1. the traction claw is driven by the driving mechanism to rotate to be in plug fit with the perforated connector of the flat car, the connection between the AGV car and the flat car is realized through the clamping of the traction claw and the anti-unhooking hook, wherein the traction claw replaces the conventional guide post, the lifting of the traction claw is completed in the rotating process, the traction claw moves along the horizontal direction while lifting, the traction claw is not always in contact with the perforated connector, but in contact from point to surface and separated from surface to point, the generated friction force is small, the phenomenon that the matching effect of the traction claw and the perforated connector is influenced by the factors such as collision deformation or surface pits and the like under heavy-load traction is avoided, the unhooking effect is ensured, a guide sleeve is not required to be matched with the traction claw for use, the requirement on the manufacturing precision is not high, and the manufacturing cost is reduced.
2. According to the automatic positioning and hanging device, the mobile trigger unit is arranged between the mounting plate I and the mounting plate II, when the porous connector is inserted between the traction claw and the anti-unhooking hook, the porous connector touches the guide post, the guide post moves along the linear bearing until the detection block on the guide post is opposite to the proximity switch I to trigger the proximity switch I, and after the proximity switch I transmits a signal to the PLC control unit, the PLC control unit controls the motor and the transmission belt to move, so that the mobile part moves to enable the traction claw to rotate upwards, and then the mobile part is inserted into the porous connector to be clamped with the anti-unhooking hook, so that the automatic positioning and hanging between an AGV car and a flat car are realized, and the positioning is more; when the unhooking is needed, the unhooking key is directly pressed to enable the motor to rotate reversely, the moving part moves reversely under the driving of the transmission belt, the moving part is separated from one end of the traction claw, the traction claw is separated from the connector with the hole due to dead weight, the automatic unhooking of the flat car is achieved, and the operation is more convenient and faster.
3. According to the invention, the proximity switches II and III are arranged at the two ends of the fixing frame, so that the moving position of the moving part can be detected, the stop of the motor is controlled by the PLC control unit, the hooking of the traction claw is more stable, and the perforated connector can be smoothly separated after unhooking.
In conclusion, the unhooking device designed by the invention has low requirement on manufacturing precision, low manufacturing cost and strong universality, realizes automatic unhooking action between the AGV and the flat car, and avoids the problem of unsmooth dragging and connecting action caused by factors such as heavy load dragging and the like.
Drawings
The contents of the expressions in the various figures of the present specification and the labels in the figures are briefly described as follows:
fig. 1 is an isometric view of one perspective of the unhooking device of the present invention;
FIG. 2 is an isometric view of the unhooking device of the present invention from another perspective;
FIG. 3 is a control schematic of the present invention;
the labels in the above figures are: 1. the automatic detection device comprises a mounting base, 11, a mounting plate I, 12, a guide plate, 121, a flaring section, 13, a positioning plate I, 131, a guide groove I, 14, a positioning plate II, 141, a guide groove II, 15, a mounting plate II, 2, a traction claw, 3, an anti-unhooking hook, 4, a driving mechanism, 41, a motor, 42, a belt transmission part, 43, a fixing frame, 44, a moving part, 441, a connecting plate metal, 442, a moving block, 45, a guide rail, 5, a moving trigger unit, 51, a proximity switch I, 52, a detection block, 53, a linear bearing, 54, a limiting metal plate, 55, a guide column, 56, a spring III, 6, a proximity switch II, 7 and a proximity switch III.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The specific implementation scheme of the invention is as follows: as shown in fig. 1, 2 and 3, the unhooking device for heavy-load traction of the AGV comprises an installation seat 1, traction claws 2, an anti-unhooking mechanism 3 and a driving mechanism 4, wherein the installation seat 1 is installed at the tail end of the AGV, the upper part of the installation seat 1 is rotatably connected with the anti-unhooking mechanism 3, the middle part of the installation seat 1 is rotatably connected with the traction claws 2, the traction claws 2 are in plug-in fit with a connector with holes on a flat car, and the bottom of the installation seat 1 is fixed with the driving mechanism 4 which enables the traction claws 2 to be connected with or separated from the anti-unhooking mechanism 3 in. The invention drives the traction claw 2 to rotate through the driving mechanism 4 to be matched with the perforated connector of the flat car in an inserting way, the connection between the AGV and the flat car is realized through the clamping connection between the traction claw 2 and the anti-drop hook 3, wherein the traction claw 2 replaces the prior guide post, the lifting of the traction claw 2 is completed in the rotating process, and the traction claw 2 moves along the horizontal direction while lifting, so that the traction claw 2 is not always contacted with a round hole in the perforated connector, but contacted from point to surface and separated from surface to point, the generated friction force is very small, the matching effect of the traction claw 2 and the perforated connector under heavy load traction is avoided due to the collision deformation or surface pit and other factors, the off-hanging effect is ensured, and the traction claw can be used without a guide sleeve in matching with the traction claw as long as the traction claw can be inserted, the universality is strong, and the requirement on the manufacturing precision is not high, the manufacturing cost is reduced.
Specifically, mount pad 1 wherein includes mounting panel I11 and deflector 12, install at the AGV rear end in one side of mounting panel I11, the upper portion bilateral symmetry of the opposite side of mounting panel I11 is provided with deflector 12, the tip of two deflectors 12 all is provided with flaring section 121, two deflectors 12 have played the effect of leading to the inserting of band hole connector, the setting of flaring section 121 has prevented that the just beginning of inserting of band hole connector from taking place the spacing problem of rigid collision with deflector 12, upper portion between two deflectors 12 rotates with mousing-hook 3 and links to each other, lower part between two deflectors 12 rotates with traction claw 2 and links to each other.
The mounting base 1 further comprises a positioning plate I13 and a positioning plate II 14, the positioning plate I13 and the positioning plate II 14 are respectively fixed at the upper part and the lower part between the two guide plates 12, the positioning plate I13 is rotatably connected with the unhooking prevention 3 through a rotating pin, a guide groove I131 which enables the unhooking prevention 3 to rotate and extend downwards is arranged in the positioning plate I13, the guide groove I131 plays a role in positioning the rotation of the unhooking prevention 3, one end of the positioning plate I13 is connected with one end of the unhooking prevention 3 through a spring I, the positioning plate II 14 is rotatably connected with the traction claw 2 through the rotating pin, a guide groove II 141 which enables the traction claw 2 to rotate and penetrate upwards is arranged in the positioning plate II 14, the guide groove II 141 plays a role in positioning the rotation of the traction claw 2, one end of the positioning plate II 14 is connected with one end of the traction claw 2 through the spring II, the unhooking prevention 3 and the traction claw 2 can be stably clamped with the traction, under the effect of spring I and spring II, but make mousing-hook 3 and draw claw 2 separately after the joint that resets automatically, make the anticreep effect better.
Still be provided with mounting panel II 15 in two of them deflector 12, mounting panel I11 and II 15 parallel arrangement of mounting panel are provided with between mounting panel I11 and the mounting panel II 15 and move trigger unit 5, should move trigger unit 5 and be connected with actuating mechanism 4 electricity through the PLC control unit. Specifically, the mobile trigger unit 5 comprises a proximity switch I51 and an elastic guide assembly, wherein the proximity switch I51 is fixed on the inner side of one guide plate 12, the elastic guide assembly is arranged in the middle between a mounting plate I11 and a mounting plate II 15, one end of the elastic guide assembly extends out of the mounting plate II 15 to enter a clamping area between the traction claw 2 and the anti-disengaging hook 3, a detection block 52 which moves along the length direction of the guide plate 12 and triggers the proximity switch I51 to act is arranged on the elastic guide assembly, when the apertured coupler collides with the extended end of the resilient guide assembly, the resilient guide assembly moves to drive the detecting block 52 to move until the apertured coupler is inserted in place, the detection block 52 is close to the proximity switch I51, so that the proximity switch I51 transmits a position signal to the PLC control unit, the PLC control unit controls the driving mechanism 4 to act, and the traction claw 2 is rotatably inserted into the connector with the hole to realize connection.
The elastic guide assembly further comprises a linear bearing 53, a limiting metal plate 54, a guide post 55 and a spring III 56, the linear bearing 53 is installed on the mounting plate II 15, the limiting metal plate 54 is installed on the mounting plate I11, the linear bearing 53 is in sliding connection with the guide post 55 between the limiting metal plate 54, one end of the guide post 55 stretches out of the mounting plate II 15, a middle part of the guide post 55 is fixedly provided with a detection block 52, and the guide post 55 between the detection block 52 and the limiting metal plate 54 is sleeved with the spring III 56. In a free state, the detection block 52 is abutted against the linear bearing 53, when the holed connector collides with the extending end of the guide post 55, the guide post 55 moves in the linear bearing 53, the detection block 52 moves, the detection block 52 approaches the proximity switch I51, the proximity switch I51 transmits a position signal to the PLC control unit, the PLC control unit controls the driving mechanism 4 to act, so that the traction claw 2 is rotatably inserted into the holed connector to realize connection, and when the holed connector is separated from the traction claw 2, the guide post 55 and the detection block 52 are reset under the action of the spring III 56 so as to perform next trigger detection.
Specifically, the driving mechanism 4 includes a motor 41, a belt transmission component 42, a fixed frame 43 and a moving component 44, the motor 41 is fixed on one side of the mounting base 1, the fixed frame 43 is fixed on the other side of the mounting base 1, an output shaft of the motor 41 is connected with an outer end of the fixed frame 43 through the belt transmission component 42, a guide rail 45 is arranged on the fixed frame 43, the moving component 44 is slidably connected on the guide rail 45, the moving component 44 is fixedly connected with a transmission belt of the belt transmission component 42, the traction claw 2 is arranged above the moving component 44, and the motor 41 drives the moving component 44 to slide back and forth on the guide rail 45 through the belt transmission component 42, so that the upper end of the moving component 44 is abutted against one end of the bottom of the traction claw 2 to realize hooking, or the upper end of the moving component 44 is separated from one.
The moving member 44 includes a connecting plate 441 and a moving block 442, the transmission belt of the belt transmission member 42 is a toothed belt, one side of the connecting plate 441 extends out to be connected with the transmission belt in a meshing manner, the connecting plate 441 can be configured into a detachable shell structure for convenient installation and detachment, one end of the connecting plate 441 is fixedly connected with the moving block 442, and the connecting plate 441 and the moving block 442 can be synchronously moved by the transmission of the transmission belt. In addition, in order to prevent the moving member 44 from sliding out of the guide rail 45 due to inertia, a stopper is installed at the outer end of the fixed frame 43.
The two ends of the fixing frame 43 are respectively provided with a proximity switch II 6 and a proximity switch III 7 for detecting the movement position of the moving part 44, the proximity switch II 6 and the proximity switch III 7 are connected with the motor 41 through the PLC control unit, and the moving position of the moving part 44 can be detected through the proximity switch II 6 and the proximity switch III 7, so that the motor 41 is controlled to stop through the PLC control unit, the hooking of the traction claw 2 is more stable, and the perforated connector can be smoothly separated after unhooking.
The device is still including installing the unhook button on the AGV car, and the unhook button passes through PLC the control unit and is connected with motor 41 electricity, through pressing the unhook button, makes motor 41 reversal through PLC the control unit, makes moving part 44 reverse movement under the drive of transmission band, makes moving part 44 break away from the one end of pulling claw 2, pulls claw 2 because the dead weight breaks away from foraminiferous connector, has realized the automation unhook of flatbed, makes the operation convenient and fast more.
The unhooking method for heavy-load traction, which applies the unhooking device, comprises the following steps:
1) moving the AGV to the flat car, and leading the end parts of two guide plates 12 on the AGV to be close to the perforated connectors of the flat car for guiding;
2) continuously moving the AGV to enable the connecting head with the hole to collide with the guide post 55, and enabling the detection block 52 on the guide post 55 to move until the detection block 52 approaches and triggers the proximity switch I51;
3) the proximity switch I51 transmits the in-place signal to the PLC control unit, the PLC control unit controls the motor 41 to rotate, the transmission belt drives the moving part 44 to slide on the guide rail 45, the upper end of the moving part 44 abuts against the traction claw 2 to enable the moving part to rotate upwards, when the moving part 44 moves to the position of the proximity switch III 7, the proximity switch III 7 transmits the in-place signal to the PLC control unit, the PLC control unit controls the motor 41 to stop acting, the traction claw 2 is inserted into the connector with the hole, and the traction claw 2 is clamped with the anti-disengaging hook 3, so that the connection between the AGV and the flat car is realized;
4) after the AGV car drives the flat car with the goods to be transported in place, when unhooking is needed, a unhooking key is pressed, the PLC control unit controls the motor 41 to rotate reversely, the transmission belt drives the moving part 44 to slide reversely on the guide rail 45, the upper end of the moving part 44 is separated from one end of the traction claw 2, the traction claw 2 rotates downwards under the action of self gravity and the tension of the spring II, when the moving part 44 moves to the position close to the switch II 6, the motor 41 stops acting, and the traction claw 2 is separated from the connector with the hole, so that the unhooking of the flat car is realized.
In addition, the unhooking device designed by the invention can also be applied to other logistics transport vehicles, is not limited to the hooking of an AGV and a flat car, and only needs to be provided with the hooking holes on the towed vehicle.
In conclusion, the unhooking device designed by the invention has low requirement on manufacturing precision, low manufacturing cost and strong universality, realizes automatic unhooking action between the AGV and the flat car, and avoids the problem of unsmooth dragging and connecting action caused by factors such as heavy load dragging and the like.
While the foregoing is directed to the principles of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. The utility model provides a AGV heavy load is hauled and is taken off couple device, a serial communication port, including mount pad (1), draw claw (2), mousing-hook (3) and actuating mechanism (4), install at AGV rear end in mount pad (1), the upper portion of mount pad (1) with mousing-hook (3) rotate and link to each other, the middle part of mount pad (1) with draw claw (2) and rotate and link to each other, draw foraminiferous connector grafting cooperation on claw (2) and the flatbed, the bottom of mount pad (1) is fixed makes draw claw (2) with mousing-hook (3) joint or actuating mechanism (4) that break away from.
2. The unhooking device for AGV heavy load traction according to claim 1, wherein: mount pad (1) includes mounting panel I (11) and deflector (12), install at AGV rear of a vehicle end in one side of mounting panel I (11), the upper portion bilateral symmetry of the opposite side of mounting panel I (11) is provided with deflector (12), upper portion between two deflectors (12) with mousing-hook (3) rotate and link to each other, lower part between two deflectors (12) with draw claw (2) and rotate and link to each other.
3. The AGV heavy load traction unhooking device of claim 2, wherein: mount pad (1) still includes locating plate I (13) and locating plate II (14), upper and lower position between two deflector (12) is fixed respectively in locating plate I (13) and locating plate II (14), in locating plate I (13) with mousing-hook (3) rotate and link to each other, the one end of locating plate I (13) pass through spring I with the one end of mousing-hook (3) links to each other, in locating plate II (14) with draw claw (2) and rotate and link to each other, the one end of locating plate II (14) pass through spring II with the one end of drawing claw (2) links to each other.
4. The unhooking device for AGV heavy load traction according to claim 3, wherein: a guide groove I (131) which enables the anti-disengaging hook (3) to rotate and extend downwards is formed in the positioning plate I (13), and a guide groove II (141) which enables the traction claw (2) to rotate and penetrate upwards is formed in the positioning plate II (14); the end of the guide plate (12) is provided with a flared section (121).
5. The AGV heavy load traction unhooking device of claim 2, wherein: two still be provided with mounting panel II (15) in deflector (12), mounting panel I (11) and mounting panel II (15) parallel arrangement, be provided with between mounting panel I (11) and mounting panel II (15) and remove trigger unit (5), remove trigger unit (5) through PLC the control unit with actuating mechanism (4) electricity is connected.
6. The AGV heavy load traction unhooking device of claim 5, wherein: remove trigger element (5) including proximity switch I (51) and elasticity direction subassembly, the inboard at one of them deflector (12) is fixed in proximity switch I (51), the setting of elasticity direction subassembly is in middle part between mounting panel I (11) and mounting panel II (15), the one end of elasticity direction subassembly is stretched out mounting panel II (15) get into draw joint district between claw (2) and the mousing-hook (3), be provided with on the elasticity direction subassembly along the length direction removal of deflector (12) and trigger detection piece (52) of proximity switch I (51) action.
7. The unhooking device for AGV heavy load traction according to claim 6, wherein: elasticity direction subassembly still includes linear bearing (53), spacing panel beating (54), guide post (55) and spring III (56), linear bearing (53) are installed on mounting panel II (15), install spacing panel beating (54) on mounting panel I (11), between linear bearing (53) and spacing panel beating (54) with guide post (55) sliding connection, the one end of guide post (55) is stretched out mounting panel II (15), the middle part of guide post (55) is fixed detect piece (52), detect piece (52) with cup joint on guide post (55) between spacing panel beating (54) spring III (56).
8. The AGV heavy load traction unhooking device according to any one of claims 1 to 7, wherein: actuating mechanism (4) are including motor (41), belt drive part (42), mount (43) and moving part (44), one side of mount pad (1) is fixed motor (41), the opposite side of mount pad (1) is fixed mount (43), the output shaft of motor (41) passes through belt drive part (42) with the outer end of mount (43) links to each other, be provided with guide rail (45) on mount (43), sliding connection is gone up in guide rail (45) moving part (44), moving part (44) with the transmission band of belt drive part (42) is fixed continuous, the top of moving part (44) sets up traction claw (2).
9. The AGV heavy load traction unhooking device of claim 8, wherein: the moving part (44) comprises a connecting sheet metal (441) and a moving block (442), a transmission belt of the belt transmission part (42) is a toothed belt, one side of the connecting sheet metal (441) extends out to be meshed with the transmission belt, and one end of the connecting sheet metal (441) is fixedly connected with the moving block (442); a proximity switch II (6) and a proximity switch III (7) for detecting the movement position of the moving part (44) are respectively arranged at two ends of the fixing frame (43), and the proximity switch II (6) and the proximity switch III (7) are connected with the motor (41) through a PLC control unit; the device is still including installing the unhook button on the AGV car, the unhook button passes through PLC the control unit and is connected with motor (41) electricity.
10. A method for releasing a hitch according to any one of claims 1 to 9, which is used for heavy-duty towing, comprising: the method comprises the following steps:
1) moving the AGV to the flat car, and leading the end parts of two guide plates (12) on the AGV to be close to the perforated connectors of the flat car for guiding;
2) continuously moving the AGV to enable the connecting head with the hole to collide with the guide column (55), and enabling the detection block (52) on the guide column (55) to move until the detection block (52) approaches and triggers the proximity switch I (51);
3) the motor (41) rotates, the transmission belt drives the moving part (44) to slide on the guide rail (45), the upper end of the moving part (44) abuts against the traction claw (2) to enable the moving part to rotate upwards, when the moving part (44) moves to the position close to the switch III (7), the motor (41) stops acting, the traction claw (2) is inserted into the connector with the hole, and the traction claw (2) is clamped with the anti-disengaging hook (3), so that the connection between the AGV and the flat car is realized;
4) after the AGV car drives the flat car with the goods to be transported in place, when unhooking is needed, a unhooking key is pressed down, a motor (41) is enabled to rotate reversely, a transmission belt drives a moving part (44) to slide reversely on a guide rail (45), the upper end of the moving part (44) is enabled to be separated from one end of a traction claw (2), the traction claw (2) is enabled to rotate downwards under the action of self gravity and the pull force of a spring II, when the moving part (44) moves to the position close to a switch II (6), the motor (41) stops acting, the traction claw (2) is separated from a connector with a hole, and unhooking of the flat car is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011591332.3A CN112622539A (en) | 2020-12-29 | 2020-12-29 | Unhooking device and unhooking method for AGV heavy-load traction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011591332.3A CN112622539A (en) | 2020-12-29 | 2020-12-29 | Unhooking device and unhooking method for AGV heavy-load traction |
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| CN112622539A true CN112622539A (en) | 2021-04-09 |
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| CN202011591332.3A Pending CN112622539A (en) | 2020-12-29 | 2020-12-29 | Unhooking device and unhooking method for AGV heavy-load traction |
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| CN115071775A (en) * | 2022-04-29 | 2022-09-20 | 贵州明创慧远技术有限公司 | Be used for mine rail locomotive unmanned coupling automatic coupling unhooking device |
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