CN207207648U - One kind mounting relocation mechanism - Google Patents

Abstract

The invention of the utility model provides a kind of hook floating mechanism, which includes the upper frame and the lower frame fixed to each other, the traction rod and the lifting drive unit; the middle position of the rear side plate of the lower frame protrudes backward, and the inner side There is a contact sensing device; the traction bar passes through the top and bottom plates of the lower frame vertically and is located directly in front of the protruding part of the rear side plate; the lifting drive unit is fixed on the upper frame and connected with the upper end of the traction bar; the lower frame A first sensor is provided at the position directly below the traction bar on the bottom surface of the bottom plate; the lifting drive unit, the contact sensing device and the first sensor are all connected to the control system. The articulated floating mechanism created by the utility model has the advantages of high degree of automation, high precision of docking positioning, and no need for manual intervention.

Description

A hanging floating mechanism

technical field

The invention belongs to the field of automatic vehicle hitch equipment, and in particular relates to a hitch floating mechanism suitable for automatically pulling and docking trolleys at the rear of an AGV.

Background technique

At present, although there are many types of coupling mechanisms that realize the docking of AGV material carts and trolleys, such coupling mechanisms are complex in structure, inconvenient to use, and inaccurate in connection. In order to ensure the success of coupling or decoupling operations, Manual intervention is required, the degree of automation is not high, the workload is large, the work efficiency is low, and it cannot meet the actual production needs.

Contents of the invention

In view of this, the present invention aims to propose an articulation floating mechanism with high degree of automation, simple and reasonable structure, high docking positioning accuracy and no manual intervention, so as to solve the above problems.

In order to achieve the above object, the technical solution created by the present invention is achieved in this way:

A articulated floating mechanism, comprising an upper frame and a lower frame fixed to each other, a draw bar and a lifting drive unit; the lower frame includes a top plate, a bottom plate and a rear side plate connecting the two, the rear side plate The middle position protrudes backward, and the inner side of the protruding part is provided with a contact sensing device; the traction rod vertically passes through the top plate and the bottom plate of the lower frame and is located directly in front of the protruding part of the rear side plate; the lifting drive The unit is fixed on the upper frame and connected with the upper end of the traction rod to control the up and down movement of the traction rod; the lower end of the bottom plate of the lower frame is located directly below the traction rod with a first Sensors; the lifting drive unit, the contact sensing device and the first sensor are all connected to a control system.

Further, the touch sensing device includes a contact baffle connected to the inner side of the rear side plate through a compression spring and a guide column, and a second sensor fixed on the rear side of the contact baffle on the rear side plate , the second sensor is connected to the control system.

Further, the articulated floating mechanism is connected to the horizontal slide rail fixed at the tail of the AGV through sliders arranged at both ends of the outer wall of the rear side plate; horizontal springs are also fixed at the left and right ends of the outer wall of the rear side plate, One end protruding outward of the spring is fixed to the shell of the AGV tail.

Further, buffer blocks are provided at the left and right ends of the rear side plate, and the buffer blocks are arranged laterally with the contacts facing outward.

Further, the two ends of the protruding part of the rear side plate are respectively connected with left and right guide plates, and the other ends of the left and right guide plates respectively extend to the front left and the front right to the unconnected sides of the two ends of the rear side plate. Protrusion connection.

Further, the insides of the left and right guide plates are provided with wear-resistant guide baffles; the front sides of the unprotruded parts at both ends of the rear side plate are provided with second contact baffles.

Further, the lifting drive unit includes a motor fixed laterally on the outer end of the side wall of the upper frame and the output shaft passes through the side wall plate of the upper frame, a rotating disk and an eccentric device sleeved on the output shaft of the motor. The cam follower connected to the rotating disk; the top of the cam follower is covered with a traction plate, the traction plate is a special-shaped plate, and its other end is fixed on the upper end of the traction bar.

Further, a cavity is provided inside the draw rod, and a guide rod in the vertical direction is arranged above it; the lower end of the guide rod is inserted into the cavity of the draw rod, and the top end is fixed on the top of the upper frame. top plate.

Further, a vertical guide column is fixed on the upper frame, and the upper and lower ends of the guide column are respectively fixed to the top plate and the bottom plate of the upper frame; one end of the traction plate is sleeved on the guide on the column and can move up and down along the guide column.

Compared with the prior art, the invention has the following advantages of the articulated floating mechanism:

(1) The articulated floating mechanism of the present invention can realize high-precision positioning and docking, and has a high degree of automation. The AGV material vehicle fixed with the articulated floating mechanism moves backwards to connect with the trolley hook, and when the trolley hook hits the lower machine When the contact sensing device in the frame, the AGV stops backing up, the lifting drive unit receives the signal, drives the traction rod to move downward and inserts it into the hook of the trolley, the traction rod continues to move until the first sensor detects the traction rod, the traction rod stops moving, and is hooked Completed, the whole process has precise positioning, automatic identification of the hooking direction, accurate control of the hooking, without manual intervention, and higher work efficiency; the contact sensing device is set on the inner side of the rear side protruding part, and the traction bar is set on the protruding part Right in front, which ensures the accuracy of the position between the hook of the trolley and the traction bar when it touches the contact sensing device during the docking process, further improving the positioning and docking accuracy;

(2) The articulated floating mechanism of the present invention also has the function of automatically adjusting the articulated position when there is a deviation in the docking, and has a wider application range. At this time, the trolley hook fails to directly hit the contact sensing device (that is, the contact baffle) but has a deviation and contacts the wear-resistant guide baffle or the second contact baffle. At this time, as the AGV trolley retreats, the hook The slider of the floating mechanism moves left and right on the slide rail at the tail of the AGV, and adjusts its position to achieve the correspondence between the trolley hook and the contact baffle position, thereby realizing accurate coupling;

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is the structural representation of the articulated floating mechanism described in the present invention;

Fig. 2 is a structural diagram of another angle of the articulated floating mechanism described in the invention;

Fig. 3 is the front view of the articulated floating mechanism described in the invention;

Fig. 4 is a sectional view of plane A-A of Fig. 3 .

Explanation of reference signs:

1-upper frame; 2-lower frame; 3-drawing bar; 4-lift drive unit; 5-rear side panel; 6-contact sensing device; 7-first sensor; 8-slider; 9-spring; 10-buffer block; 11-wear-resistant guide baffle; 12-second contact baffle; 13-guide rod; 14-guide column; 41-motor; 42-rotary disc; 43-cam follower; 44-traction plate; 61-compression spring; 62-contact baffle; 63-second sensor.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention Creation and simplification of description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

The invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figures 1 to 4, a articulated floating mechanism includes an upper frame 1 and a lower frame 2 fixed to each other, a draw bar 3 and a lifting drive unit 4 that controls the up and down movement of the draw bar 3;

Wherein, lower frame 2 comprises top plate, bottom plate and the rear side plate 5 that connects the two, the middle position of rear side plate 5 protrudes backward, and the two ends of rear side plate 5 protruding parts are respectively connected with left and right guide plate, left 1. The other end of the right guide plate extends to the left front and the right front respectively to connect with the unprotruded parts at both ends of the rear side plate 5;

The inner side of the protruding part is provided with a touch sensing device 6, the touch sensing device 6 includes a contact baffle 62 connected to the inside of the rear side plate 5 through a compression spring 61 and a guide column, and is fixed on the back side of the contact baffle 62 on the rear side plate. The second sensor 63 on the 5, the second sensor is a contact distance sensor; the inside of the left and right guide plates is provided with a wear-resistant guide baffle 11; Two contact baffles 12;

The two ends of the outer wall of the rear side plate 5 are provided with sliders 8 adapted to the horizontal slide rails at the tail of the AGV, that is, the hooked floating mechanism realizes the connection with the AGV through the sliders of the slide rails; the left and right ends of the outer walls of the rear side plate 5 are also A horizontal spring 9 is fixed, and one end of the spring 9 protruding outward is fixed to the shell of the AGV tail; the left and right ends of the rear side plate 5 are also provided with buffer blocks 10, and the buffer block 10 is arranged horizontally and the contacts are outward;

The draw bar 3 vertically passes through the top plate and the bottom plate of the lower frame 2 and is located directly in front of the protruding part of the rear side plate 5; , the first sensor is a contact distance sensor; the traction bar 3 is provided with a cavity, and above it is provided with a guide rod 13 in the vertical direction; the lower end of the guide rod 13 is inserted into the cavity of the draw bar 3, and the top end is fixed On the top plate of the upper frame 1.

The lifting drive unit 4 includes a motor 41 that is horizontally fixed on the outer end of the side wall of the upper frame 1 and the output shaft passes through the side wall plate of the upper frame 1, a rotating disk 42 that is sleeved on the output shaft of the motor 41, and is eccentrically attached to the rotating disc. The cam follower 43 on the disc 42; the top of the cam follower 43 is covered with a traction plate 44, the traction plate 44 is a special-shaped plate, and its other end is fixed on the upper end of the traction rod 3;

The upper frame 1 is fixed with a vertical guide column 14, and the upper and lower ends of the guide column 14 are respectively fixed with the top plate and the bottom plate of the upper frame 1; Move up and down under the drive;

The motor 41, the first sensor 7 and the second sensor 63 are all connected to a control system.

The work process that the present invention creates is as follows:

This articulated floating mechanism realizes the connection of the two through the slide rail at the end of the slide block 8 and the AGV, and the outwardly protruding end of the spring 9 at the two ends of the rear side plate 5 is fixed with the shell at the end of the AGV;

When the hook of the trolley corresponds to the floating mechanism accurately, the AGV backs up and docks with the hook of the trolley, the hook of the trolley hits the contact baffle 62, and the contact baffle 62 moves backward to press the compression spring 61 to the detection position of the second sensor 63, and the second The sensor 63 sends a signal, the AGV stops backing up, and sends a signal to the motor 41, the motor 41 starts, drives the rotating disk 42 to rotate, and then drives the cam follower 43 to move, and the cam follower 43 drives the traction plate 44 to move vertically, and the corresponding traction bar 3 Move along the guide rod 13 to the detection position of the first sensor 7 below, that is, to realize the hooking;

When there is a deviation between the docking of the trolley hook and the articulated floating mechanism, the AGV reverses and docks the trolley hook, and the trolley hook hits the wear-resistant guide plate 11 or partially contacts the second contact baffle 12. Since the trolley is fixed, the articulated floating mechanism It will move left and right relative to the trolley as the AGV reverses, that is, the slider 8 moves left and right on the slide rail, and the spring 9 is compressed to achieve the purpose of adjusting the position. When the floating mechanism moves to the exact corresponding position with the trolley hook , the trolley hook hits the contact baffle 62, the contact baffle 62 moves backwards and presses the compression spring 61 to the detection position of the second sensor 63, the second sensor 63 sends a signal, the AGV stops moving backwards, and a signal is given to the motor 41, and the motor 41 starts to drive The rotating disk 42 rotates, and then drives the cam follower 43 to move, and the cam follower 43 drives the traction plate 44 to move vertically, and the corresponding traction bar 3 moves along the guide rod 13 to the detection position of the first sensor 7 below, that is, the hooking is realized. .

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the Within the scope of protection of the present invention.

Claims (9)

1. one kind mounting relocation mechanism, it is characterised in that：Including the upper spider (1) and lower bearing bracket (2), drawing bar to interfix And elevation driving unit (4) (3)；The lower bearing bracket (2) includes top plate, bottom plate and back side panel connecting the two (5), the rear side The centre position of plate (5) protrudes backward, and the inner side of ledge is provided with touch induction device (6)；The drawing bar (3) is worn vertically Cross top plate and bottom plate and the front for being located at the back side panel (5) ledge of the lower bearing bracket (2)；The lifting driving is single First (4) are fixed on the upper spider (1) and are connected with the drawing bar (3) upper end, control the fortune up and down of the drawing bar (3) It is dynamic；The bottom plate lower surface of the lower bearing bracket (2), which is located at the drawing bar (3) location directly below, is provided with first sensor (7)； The elevation driving unit (4), the touch induction device (6) and the first sensor (7) are connected with control system.

A kind of 2. mounting relocation mechanism according to claim 1, it is characterised in that：The touch induction device (6) includes One by compression spring (61) and lead with the contact baffle plate (62) of connection on the inside of the back side panel (5) and located at the contact The second sensor (63) being fixed on rear side of baffle plate (62) on the back side panel (5), the second sensor (63) are with control System connection.

A kind of 3. mounting relocation mechanism according to claim 2, it is characterised in that：It is described mounting relocation mechanism by located at The sliding block (8) at back side panel (5) the outer wall both ends is connected with being fixed on the horizontal slide rail of AGV afterbodys；The back side panel (5) is outside Wall left and right ends are further fixed on horizontal spring (9), and the outwardly directed one end of the spring (9) and the shell of AGV afterbodys are fixed.

A kind of 4. mounting relocation mechanism according to claim 3, it is characterised in that：Back side panel (5) left and right ends are also Provided with buffer stopper (10), the buffer stopper (10) laterally sets and contact is outside.

A kind of 5. mounting relocation mechanism according to claim 4, it is characterised in that：Back side panel (5) ledge Both ends are connected to left and right guide plate, the other end of the left and right guide plate respectively to left front and right front extend to The non-ledge connection at back side panel (5) both ends.

A kind of 6. mounting relocation mechanism according to claim 5, it is characterised in that：It is provided with the inside of the left and right guide plate Wear-resistant guiding baffle plate (11)；The second contact baffle plate (12) is equipped with front side of the non-ledge in back side panel (5) both ends.

A kind of 7. mounting relocation mechanism according to any one of claim 1 to 6, it is characterised in that：The lifting driving is single First (4) include being fastened transversely to upper spider (1) side wall outer end and output shaft passes through the motor of the upper spider (1) sidewall paneling (41) rotating disk (42) and bias that, are socketed on the motor (41) output shaft are secured to the cam in the rotating disk (42) Follower (43)；Towing plate (44) is covered with the top of the Cam Follower (43)；The towing plate (44) is sketch plate, its The other end is fixed on the upper end of the drawing bar (3).

A kind of 8. mounting relocation mechanism according to claim 7, it is characterised in that：Cavity is provided with the drawing bar (3), Its top is provided with the guide rod (13) on vertical direction；The cavity of the drawing bar (3) is inserted in the lower end of the guide rod (13) Interior, top is fixed on the top plate of the upper spider (1).

A kind of 9. mounting relocation mechanism according to claim 7, it is characterised in that：It is fixed with the upper spider (1) perpendicular The lead (14) directly set, the top plate and bottom plate of the upper and lower ends of the lead (14) respectively with the upper spider (1) are consolidated It is fixed；Described towing plate (44) one end is socketed on the lead (14) and can moved up and down along the lead (14).