CN207173776U - Can way moving trailer and bidirectional-movement trailer handling system - Google Patents
Can way moving trailer and bidirectional-movement trailer handling system Download PDFInfo
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- CN207173776U CN207173776U CN201721272636.7U CN201721272636U CN207173776U CN 207173776 U CN207173776 U CN 207173776U CN 201721272636 U CN201721272636 U CN 201721272636U CN 207173776 U CN207173776 U CN 207173776U
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- trailer
- handling system
- magnetic stripe
- bidirectional
- agv
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Abstract
The utility model disclose can way moving trailer and bidirectional-movement trailer handling system, wherein bidirectional-movement trailer handling system includes AGV tractors and at least one trailer for being connected thereto and being driven by it advancing or retreating, and the magnetic stripe sensor of the signal for detecting the magnetic stripe for forming guidance path is provided with the trailer and for driving the steering mechanism that two trailing wheels on trailer are synchronous and turn in the same direction according to the signal of magnetic stripe sensor.This patent deft design, change the habitual thinking that existing trailer towing system is only capable of unidirectionally being advanced, when normal advance, power and control direction of advance are used as by AGV tractors, and in negative line feed, power is used as using AGV tractors, magnetic stripe is detected with magnetic stripe sensor to confirm the direct of travel of trailer, and trailer is controlled to be advanced according to default direction by transfer, provide a kind of trailer handling system of brand-new way moving so that the application of trailer handling system is more preferably flexible, controllable.
Description
Technical field
The utility model is related to AGV fields, especially can way moving trailer and bidirectional-movement trailer handling system.
Background technology
AGV is also commonly referred to as AGV dollies, refers to magnetically or optically wait homing guidance device equipped with electricity, can be along defined
Guide path travels, and has the transport vehicle of safeguard protection and various transfer functions, the carrying of driver is not required in commercial Application
Car, using chargeable battery as its power resources.
With the development of AGV dolly technologies, its application in tractor field also turns into imperative trend, existing
AGV tractors, it is on the basis of existing tractor, increases homing guidance device, can be automatically along the line of setting
Road drives trailer to advance, and so as to realize the conveying of material, but it is only the automation of transportation.
But existing AGV tractors are with trailer after being connected in place, because the connection between them is to be flexibly connected, because
This AGV tractors car can only often drive trailer to advance, and can not drive itself it is anticipated that circuit retreat, also can not just meet
The carrying requirement that some needs retreat, the flexibility of application are restricted, also, if driving trailer to retreat by force, it is not easily-controllable
Direct of travel processed, easily causes accident, potential safety hazard be present.
Meanwhile existing AGV tractors are moved to behind trailer relevant position, it is necessary to manually by trailer and AGV tractors
Connector links together, and can just make the driving trailer walking of AGV tractors, and due to being often stacked with material on trailer, weight is big,
Therefore working strength is big, and automaticity is low, and, it is necessary to there is staff's field operation to be just attached, adds
Human cost.
Utility model content
The purpose of this utility model is exactly to solve the above-mentioned problems in the prior art, there is provided can way moving
Trailer and bidirectional-movement trailer handling system.
The purpose of this utility model is achieved through the following technical solutions：
Can way moving trailer, including vehicle frame, be provided with the magnetic stripe that guidance path is formed for detecting on the trailer
Signal magnetic stripe sensor and for being driven two trailing wheels on trailer synchronous according to the signal of magnetic stripe sensor and in the same direction
The steering mechanism of steering.
Preferably, it is described can way moving trailer, wherein：The steering mechanism is included among the afterbody of trailer
The pivot connector of position, one end of the pivotally connected support bar of pivot connector, central part is provided with the support bar,
One end of the pivotally connected two isometric drive links of central part, the other end of two drive links distinguish pivotally connected trailer
Universal wheel installed part after one, universal wheel installed part distribution triangular in shape after the central part and two, the afterbody of the trailer
It is additionally provided with the drive device for driving the support bar to rotate.
Preferably, it is described can way moving trailer, wherein：The drive device is the pivotally connected branch of telescopic shaft
The oil cylinder of strut.
Preferably, it is described can way moving trailer, wherein：The pivot connection point position of the oil cylinder and the support bar
Between the central part and pivot connector
Preferably, it is described can way moving trailer, wherein：The magnetic stripe sensor it is synchronous with described two trailing wheels and
Rotate in same direction, it is fixed on is connected and the end of vertical cross bar with the support bar, the cross bar and plane-parallel.
Bidirectional-movement trailer handling system, it is characterised in that：Including AGV tractors and at least one above-mentioned trailer,
The trailer is attached or separated by Automatic Link Establishment with the AGV tractors, and in connected state by the AGV
Tractor driving is advanced or retreated.
Preferably, described bidirectional-movement trailer handling system, wherein：The AGV tractors are that laser guiding AGV is led
Draw car or magnetic stripe guiding type AGV tractors.
Preferably, described bidirectional-movement trailer handling system, wherein：The AGV tractors pass through certainly with the trailer
Dynamic attachment means are attached or separated.
Preferably, described bidirectional-movement trailer handling system, wherein：The Automatic Link Establishment is led including the AGV
Draw the aft mounted housing piece of the car body of car, the housing piece comprises at least parallel upper plate and middle plate, and they, which are formed, is used for
Housing trailer hitch has the accepting groove of part of connecting hole, and being provided with the upper plate can move up and down with respect to it and can run through
The metal bolt of the middle plate, the metal bolt are and extensible or the insertion trailer hitch by magnetic force and weight-driven
Connecting hole, the housing piece also include gap setting and set in the middle plate lower section and lower plate in parallel, the lower plate
There is the first proximity switch, first proximity switch connects AGV vehicle control syetems.
Preferably, described bidirectional-movement trailer handling system, wherein：The top gap setting of the housing piece has driving
The electromagnet that the metal bolt moves up, the electromagnet connect power-supplying circuit, described in the power-supplying circuit connection
Vehicle control syetem.
Preferably, described bidirectional-movement trailer handling system, wherein：The afterbody of the car body and also set positioned at its both sides
It is equipped with the proximity transducer being connected with the vehicle control syetem.
Preferably, described bidirectional-movement trailer handling system, wherein：The side of the housing piece and it is located at the electromagnetism
Position between iron and housing piece is provided with second proximity switch on the head for sensing the metal bolt, and described second connects
Nearly switch connects the vehicle control syetem.
The advantages of technical solutions of the utility model, is mainly reflected in：
This patent deft design, it is simple in construction, change existing trailer towing system be only capable of unidirectionally being advanced it is used
Chang Siwei, when normal advance, power and control direction of advance are used as by AGV tractors, and in negative line feed, with
AGV tractors detect magnetic stripe to confirm the direct of travel of trailer, and control by transfer as power with magnetic stripe sensor
Trailer processed is advanced according to default direction, there is provided a kind of trailer handling system of brand-new way moving so that trailer
Handling system application is more preferably flexible, controllable.
When needing to be connected with trailer hitch, metal bolt is adsorbed by lifting by the magnetic force of electromagnet, so that trailer
Whether hook can be positioned in accepting groove, also, by increasing proximity switch, can accurately determine trailer hitch positioned at receipts
In the accepting groove for holding part so that accurate connection control is easily realized, then electromagnet is unclamped metal bolt by power-off,
And be connected using metal bolt self gravitation with trailer hitch, so as to realize the automatic connection of AGV tractors and trailer, and energy
Enough determine whether metal bolt is connected in place with the connector on trailer by proximity switch, it is not necessary to manual intervention, reduce
Cost of labor, automaticity is high, and accuracy is high, and efficiency is greatly lifted.
It can automatically confirm that AGV tractors move into place with trailer by two proximity transducers, can be accurately quick
AGV tractors is approached with trailer, be easy to the efficient connection of housing piece and trailer hitch.
Because vehicle control syetem can communicate with intelligent terminals such as smart mobile phones, therefore AGV tractors can be carried out
Remote and monitoring.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of Automatic Link Establishment in the utility model patent.
Embodiment
The purpose of this utility model, advantage and feature, figure will be carried out by the non-limitative illustration of preferred embodiment below
Show and explain.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent substitution or wait
Effect conversion and formed technical scheme, all fall within the requires of the utility model protection within the scope of.
The utility model discloses bidirectional-movement trailer handling system, as shown in Figure 1, including AGV tractors 1 and with
Its at least one trailer 2 for connecting and being driven by it advancing or retreating, wherein, the AGV tractors 1 are preferably laser guiding
AGV tractors or magnetic stripe guiding type AGV tractors.
Also, as shown in Figure 2, the AGV tractors 1 and the trailer 2 be attached by Automatic Link Establishment or
Separation.
Specifically, as shown in Figure 2, the afterbody of the car body 11 of the AGV tractors 1 is provided with housing piece 12, described
Housing piece 12 includes the connecting plate 125 being connected with the car body 11, is formed with from top to bottom and protects on the connecting plate 125
Hold the upper plate 121, middle plate 122 and lower plate 124 in gap, the upper plate 121, middle plate 122 and lower plate 124 be parallel to each other and with level
Face is parallel.
The upper plate 121 and middle plate 122 form the accepting groove 123 for having the part of connecting hole for housing trailer hitch,
Also, in order to ensure that the connection hole portions of the trailer hitch are accurately located in the accepting groove 123, in the lower plate 124
The first proximity switch 16 is provided with, specifically, first proximity switch 16 is located at the lower section of the lower plate 124, under described
The through hole matched with the induction region of first proximity switch 16 is provided with plate 124, first proximity switch 16 connects
Vehicle control syetem（Not shown in figure）, the vehicle control syetem passes through wireless communication module and smart mobile phone or PAD（In figure
It is not shown）Connection communication, so as to which user can be with remote monitoring and control AGV tractor work.
The metal bolt 13 that can be moved up and down with respect to it and the middle plate 122 can be run through, institute are provided with the upper plate 121
Metal bolt 13 is stated by magnetic force and weight-driven, and extensible or the insertion trailer hitch connecting hole, during specific implementation, led to
The top gap setting crossed in the housing piece 12 has the electromagnet 15 for driving the metal bolt 13 to move up, the electromagnet 15
Connect power-supplying circuit（Not shown in figure）, the power-supplying circuit connection vehicle control syetem.
Further, since when actually connecting, the position of the connecting hole of the trailer hitch is possible to and the metal bolt
13 are mismatched, and now they can not just be connected, therefore to confirm whether they are connected to control AGV tractors to start, corresponding,
The side of the housing piece 12 and the position between the electromagnet 15 and housing piece 12 are provided with for sensing the gold
Belong to second proximity switch 17 on the head 131 of latch 13, second proximity switch 17 connects the vehicle control syetem.
Further, in order to which that realizes AGV tractors 1 and trailer 2 fast and accurately reaches link position, the car body 11
Afterbody and be additionally provided with the proximity transducer 14 being connected with vehicle control syetem positioned at its both sides.
During work, when that need not connect trailer 2, the electromagnet 14 powers off, and the metal bolt 13 runs through the middle plate
122, if any traction requirements, quickly tractor is moved into place with trailer by proximity transducer 14, also, the electromagnetism of big suction
Tie Tong electricity, produce suction and pull up metal bolt 13, then allow trailer hitch to enter in the accepting groove 123 and company thereon
It is corresponding with metal bolt to connect hole, the first proximity switch detects that hook sends signal in place, vehicle control syetem control afterwards in place
Electromagnet powers off, and metal bolt 13 falls under self gravitation effect and is connected with trailer hitch, and the second proximity switch 17 detects
The head of metal bolt 13 shows latch connection in place, and subsequent signal starts tractor to vehicle control syetem.
Further, as shown in Figure 1, active connection state is in when being connected due to trailer 2 with AGV tractors 1, when
When AGV tractors 1 are moved backward, the direct of travel of trailer 2 can not be controlled accurately, therefore lead to not reversely be carried, therefore,
Realize reverse carrying, it is necessary to trailer 2 is accurately determined direct of travel and is adjusted when direction is deviateed.
Corresponding, as shown in Figure 1, on the ground or other are carried region and are provided with the guidance path formed by magnetic stripe,
The afterbody of the trailer 2 is provided with the magnetic stripe sensor 4 of the signal for detecting magnetic stripe 3 and for according to magnetic stripe sensor 4
Signal driving trailer 2 on two trailing wheels 21（Trailing wheel herein refers to when AGV tractors are in front of trailer direct of travel,
The universal wheel being located behind on the trailer 2）Steering mechanism 5 that is synchronous and turning in the same direction, the magnetic stripe sensor 4 and turning machine
Drive device in structure 5 is all connected with trailer control system, trailer control system and navigation system connection communication.
Specifically, the steering mechanism 5 includes the pivot connector 51 positioned at the afterbody centre position of trailer 2, described
Pivot connector 51 is located at the bottom of frame of the trailer 2, and one end of the pivotally connected support bar 52 of the pivot connector 51,
The other end of the support bar 52 is extended to outside the vehicle frame of the trailer, and the support bar 52 can be around itself and affiliated pivot connector
One end of 51 connections horizontally rotates, and the upper surface of the support bar 52 is provided with central part 53, the pivot of the central part 53
Connect one end of two isometric drive links 54, the other ends of two drive links 54 distinguish one of pivotally connected trailer 2 after ten thousand
To wheel installed part 22,22 distribution triangular in shape of universal wheel installed part after the central part 53 and two, when two trailing wheels 21 and institute
State support bar 52 it is parallel when, two speculars of drive link 54.
The afterbody of the trailer is additionally provided with the drive device for driving the support bar 52 to rotate, it is preferable that the driving dress
Put be the pivotally connected support bar 52 of telescopic shaft oil cylinder 55, the oil cylinder 55 controls by trailer control system, the oil cylinder
55 and the support bar 52 pivot connection point between the central part 53 and pivot connector 51 and with the central part
53 press close to, such to be provided with the significantly adjustment for realizing support bar 52 in less flexible stroke beneficial to oil cylinder 55.
Certainly in other embodiments, the drive device can also be other feasible structures, e.g. rotary shaft
Drive mechanism that the motor or rotary cylinder or motor being connected with the support bar 52 are formed with gear etc., will not be repeated here.
Also, the magnetic stripe sensor 4 is synchronous with described two trailing wheels 21 and rotates in same direction, and it is fixed on the end of cross bar 6
End, the cross bar 6 are fixed on the end of the support bar 52, its and plane-parallel vertical with the support bar 52, meanwhile,
Region of the magnetic stripe sensor 4 between the central part 53 and rear universal wheel installed part 22.
During the way moving trailer handling system work of this patent, its process is as follows：
When forward direction is advanced, controlled using the AGV tractors as power source and travel direction, now, the magnetic on trailer
Bar sensor and transfer do not work；
When negative line feed, the signal of the magnetic stripe sensor moment detection magnetic stripe, and opened according to the requirement of default
Dynamic steering mechanism 5 carries out the direction controlling of trailing wheel 21.
Shown in accompanying drawing, when the telescopic shaft of the oil cylinder 55 stretches out, the oil cylinder 55 promotes the support bar 52 to turn right
Dynamic, now the support bar 52 drives the central part 53 to move right, and then central part 53 promotes the drive link 54 on right side, together
Drive link 54 on the left of Shi Ladong, final two trailing wheels of driving are synchronous mobile to the left or to the right, and specific moving direction is according to institute
The link position for stating drive link and the rear universal wheel installed part 22 determines.
When needing to turn to opposite side, the oil cylinder is retracted, and each part counter motion, which is realized, to be turned to, no longer superfluous herein
State.
In addition, when there is more trailers, the afterbody of each trailer is provided with above-mentioned magnetic stripe sensor 4 and steering mechanism,
And the control device from itself with navigation system with being controlled.
The utility model still has numerous embodiments, all technologies formed using equivalents or equivalent transformation
Scheme, all fall within the scope of protection of the utility model.
Claims (11)
1. can way moving trailer, including vehicle frame, it is characterised in that：It is provided with the vehicle frame and forms navigation road for detecting
The magnetic stripe in footpath（3）Signal magnetic stripe sensor（4）And for according to magnetic stripe sensor（4）Signal driving trailer（2）On
Two trailing wheels（21）Steering mechanism that is synchronous and turning in the same direction（5）.
2. it is according to claim 1 can way moving trailer, it is characterised in that：The steering mechanism（5）Including positioned at
The pivot connector in the afterbody centre position of trailer（51）, the pivot connector（51）Pivotally connected support bar（52）One
End, the support bar（52）On be provided with central part（53）, the central part（53）Pivotally connected two isometric drive links
（54）One end, two drive links（54）The other end distinguish one of pivotally connected trailer after universal wheel installed part（22）, institute
State central part（53）With two after universal wheel installed part（22）Distribution triangular in shape, the afterbody of the trailer are additionally provided with driving institute
State support bar（52）The drive device of rotation.
3. it is according to claim 2 can way moving trailer, it is characterised in that：The drive device is telescopic shaft pivot
Connect the support bar（52）Oil cylinder（55）.
4. it is according to claim 3 can way moving trailer, it is characterised in that：The oil cylinder（55）With the support bar
（52）Pivot connection point be located at the central part（53）And pivot connector（51）Between.
5. according to claim 2-4 it is any it is described can way moving trailer, it is characterised in that：The magnetic stripe sensor（4）
With described two trailing wheels（21）Synchronization and rotate in same direction, it is fixed on and the support bar（52）Connection and vertical cross bar（6）
End, the cross bar（6）With plane-parallel.
6. bidirectional-movement trailer handling system, it is characterised in that：Including AGV tractors（1）And at least one claim 1-5
Any described trailer（2）, the trailer（2）With the AGV tractors（1）It is attached or is divided by Automatic Link Establishment
From, and in connected state by the AGV tractors（1）Driving is advanced or retreated.
7. bidirectional-movement trailer handling system according to claim 6, it is characterised in that：The AGV tractors are laser
Guiding type AGV tractors or magnetic stripe guiding type AGV tractors.
8. bidirectional-movement trailer handling system according to claim 6, it is characterised in that：The Automatic Link Establishment includes
The AGV tractors（1）Car body（11）Aft mounted housing piece（12）, the housing piece（12）Including at least parallel
Upper plate（121）And middle plate（122）, they form the accepting groove for having the part of connecting hole for housing trailer hitch（123）, institute
State upper plate（121）On be provided with the middle plate can be moved up and down and can run through with respect to it（122）Metal bolt（13）, the gold
Belong to latch（13）By magnetic force and weight-driven, and extensible or the insertion trailer hitch connecting hole, the housing piece（12）
Also include gap setting in the middle plate（122）Lower section and lower plate in parallel（124）, first, which is provided with, in the lower plate connects
Nearly switch（16）, first proximity switch（16）Connect AGV vehicle control syetems.
9. bidirectional-movement trailer handling system according to claim 8, it is characterised in that：The housing piece（12）Top
Gap setting has the driving metal bolt（13）The electromagnet moved up（15）, the electromagnet（15）Connect power supply control electricity
Road, the power-supplying circuit connect the vehicle control syetem.
10. bidirectional-movement trailer handling system according to claim 8, it is characterised in that：The car body（11）Afterbody
And it is additionally provided with the proximity transducer being connected with the vehicle control syetem positioned at its both sides（14）.
11. bidirectional-movement trailer handling system according to claim 9, it is characterised in that：The housing piece（12）One
Side and it is located at the electromagnet（15）And housing piece（12）Between position be provided with for sensing the metal bolt（13）'s
Head（131）The second proximity switch（17）, second proximity switch（17）Connect the vehicle control syetem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721272636.7U CN207173776U (en) | 2017-09-29 | 2017-09-29 | Can way moving trailer and bidirectional-movement trailer handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721272636.7U CN207173776U (en) | 2017-09-29 | 2017-09-29 | Can way moving trailer and bidirectional-movement trailer handling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207173776U true CN207173776U (en) | 2018-04-03 |
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ID=61749871
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721272636.7U Active CN207173776U (en) | 2017-09-29 | 2017-09-29 | Can way moving trailer and bidirectional-movement trailer handling system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554646A (en) * | 2017-09-29 | 2018-01-09 | 苏州罗伯特木牛流马物流技术有限公司 | Can way moving trailer and bidirectional-movement trailer handling system |
| CN110884893A (en) * | 2019-11-19 | 2020-03-17 | 北京邮电大学 | Automatic adsorption and traction device of transfer robot |
| CN112622538A (en) * | 2020-12-29 | 2021-04-09 | 苏州挚途科技有限公司 | Automatic plugging and unplugging system for wiring harness connector between tractor and trailer and vehicle |
-
2017
- 2017-09-29 CN CN201721272636.7U patent/CN207173776U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554646A (en) * | 2017-09-29 | 2018-01-09 | 苏州罗伯特木牛流马物流技术有限公司 | Can way moving trailer and bidirectional-movement trailer handling system |
| CN110884893A (en) * | 2019-11-19 | 2020-03-17 | 北京邮电大学 | Automatic adsorption and traction device of transfer robot |
| CN112622538A (en) * | 2020-12-29 | 2021-04-09 | 苏州挚途科技有限公司 | Automatic plugging and unplugging system for wiring harness connector between tractor and trailer and vehicle |
| CN112622538B (en) * | 2020-12-29 | 2022-08-02 | 苏州挚途科技有限公司 | Automatic plugging and unplugging system for wiring harness connector between tractor and trailer and vehicle |
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