CN207310997U - Automatically de- hooking device - Google Patents
Automatically de- hooking device Download PDFInfo
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- CN207310997U CN207310997U CN201721332033.1U CN201721332033U CN207310997U CN 207310997 U CN207310997 U CN 207310997U CN 201721332033 U CN201721332033 U CN 201721332033U CN 207310997 U CN207310997 U CN 207310997U
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- latch hook
- hooking device
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Abstract
The utility model provides a kind of automatically de- hooking device, and for automatic guided vehicle, taking off hooking device automatically includes guide part, latch hook, actuator and proximity sensor.The side of guide part is provided with guide groove.The middle part of latch hook is connected over the guide by shaft, and the front end of two latch hooks can surround sealed space with guide groove.Actuator drives the rearward end of latch hook, to realize the opening of the front end of latch hook and sealed.Proximity sensor is installed on the inside of guide groove, for controlling the movement of actuator according to the position of draw bar.Automatically the de- hooking device of the utility model can realize automatic coupling under the conditions of widely, and hooking process is more convenient, and is connected reliably in distraction procedure, will not be because jolting and accidental release, and automatically-unhooked after arriving at, whole process improves efficiency without manual intervention.
Description
Technical field
It the utility model is related to automatic guided vehicle technical field, and in particular to pull hook device automatically.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to magnetically or optically wait certainly equipped with electricity
Dynamic guiding device, can travel along defined guide path, have the transport vehicle of safeguard protection and various transfer functions.
Often dispatching of the truck equipped with parts from warehouse to production line side is drawn on production line using AGV.It is existing
It is in common method：Unhook, the hook of connection between AGV and truck are drawn, is required for manual hand manipulation, labor intensity
Greatly, efficiency is low, high labor cost.
Also disclose that in the prior art some automation tripping gears, as CN104228498A disclose driving platform truck into
Enter truck guiding mechanism, when by unhook skewback, unhook skewback stirs towing pin rising so that truck above with below
Truck take off hook.But the technical solution that is related to of the patent document can only be realized automatically-unhooked, automatic extension can not be realized
Hook.
In addition, CN 106347046A disclose a kind of towed AGV Intelligent unattendeds carrier carry device, hook portion
It is made of rotational hook, ratchet, connecting rod A, connecting rod B, torsional spring, fixed plate, connecting rod C, gravity pendulum, Universal caster, connecting rod case；Hang
Carry box part to be made of slope A, slope B, slope shape baffle, hook portion is caught in extension by the Universal caster of rotational hook front end
Space between the slope A and slope B of load box part, when the hook on AGV automatic guided vehicle cars passes through the ramp type on carry case
When baffle enters carry case, its towed cargo car realizes stable automatic carry under the collective effect of tractive force and torsional spring
Effect；When AGV trolleies retreat fixed range, link up with and be rotated up under Universal caster effect by slope, hook, in torsional spring
Effect is lower to be twisted by carry case ramp type baffle, so that hook successfully departs from carry case.But the patent document
The more demanding alignment precision of technical solution could realize successful hook, and since junction is that hook is hung up, hold
Easily break off relations in transportational process due to jolting, it is less reliable.
Utility model content
The technical problems to be solved in the utility model is to overcome prior art automatic coupling tripping gear alignment precision
A kind of the defects of more demanding and less reliable, there is provided automatically de- hooking device.
The utility model is to solve above-mentioned technical problem by following technical proposals：
A kind of automatically de- hooking device, for automatic guided vehicle, its feature is, the automatically de- hooking device includes：
Guide part, the side of the guide part are provided with guide groove, and the width of the guide groove is from the side of guide part to leading
It is sequentially reduced to the inside of part；
Latch hook, the latch hook are set for two and opposing mirror image, and the latch hook includes front end, middle part and rearward end, institute
The middle part for stating latch hook is connected on the guide part by shaft, and the front end of two latch hooks can be enclosed with the guide groove
Into sealed space；
Actuator, the actuator drive the rearward end of the latch hook, with realize the opening of the front end of the latch hook and
It is sealed；
Proximity sensor, the proximity sensor are installed on the inside of the guide groove, for being controlled according to the position of draw bar
The movement of actuator processed.
Automatic de- hooking device can be when close to the draw bar of rack, the automatic position for detecting draw bar, so that automatically
It is locked together on draw bar, after rack is drawn to destination, disengages draw bar automatically.Guide part can guide draw bar to enter and lead
To groove, draw bar is locked together in sealed space by latch hook, prevents draw bar accidental release.Actuator is used for the fortune for driving latch hook
It is dynamic.Proximity sensor can detect the position of draw bar, instruct AGV trolleies to be moved to correct position so that draw bar enters
Guide groove, and after completely into guide groove, send instruction to actuator so that draw bar is locked together in sealed space by latch hook
In.
It is preferred that the automatically de- hooking device further includes two rocking bar hinges and an active hinge, shaken described in two
Bar hinge is articulated and connected with the rearward end of two latch hooks respectively, and the both ends of the active hinge are hinged with two rocking bar hinges respectively
Connection, the actuator drive the active hinge movement.
Two rocking bar hinges and an active hinge coordinate the synchronism that together, can ensure two latch hook movements, and
It can keep the stability of latch hook.Rocking bar hinge can also be significantly reduced the movement travel of actuator, so as to save actuating
The space of device.
It is preferred that when two latch hooks are sealed, the rocking bar hinge and the end to end alinement of active hinge,
And perpendicular to the direction of motion of the actuator.
When two rocking bar hinges and an active hinge are arranged in a line, the rearward end of support latch hook is played
Effect so that the front end of latch hook is not easy to open, so as to add the sealed reliability of latch hook.
It is preferred that the automatically de- hooking device further includes limit guide rail, the limit guide rail is fixed on the guide part
On, the active hinge can be slided along the arranged direction of the limit guide rail.
Limit guide rail can ensure that active hinge is moved along the direction of setting, further increase the synchronization of latch hook movement
Property and stability.
It is preferred that the automatically de- hooking device further includes sliding block, the sliding block be slidably arranged in the limit guide rail it
Between, the active hinge is fixed on the sliding block.
Sliding block can be formed with limit guide rail it is more reliable be slidably matched, make the movement of latch hook more smooth, further increase
Synchronism, the reliability and stability of latch hook movement.
It is preferred that the most inner side of the guide groove has arc groove, the proximity sensor is close to the arc groove.
Arc groove can accommodate draw bar, and reliably draw bar is limited in arc groove.Proximity sensor is in circular arc
Whether monitoring draw bar completely into arc groove beside groove, once draw bar is detected completely into arc groove, then to actuating
Device sends instruction, makes latch hook sealed.
It is preferred that the front end of the latch hook has the arc-shaped side towards the arc groove, the arc-shaped side and the circle
Arc groove surrounds the sealed space jointly.The arc-shaped side of latch hook front end can make the shape in sealed space adapt to the shape of draw bar
Shape, so as to reduce the abrasion between latch hook and draw bar.
It is preferred that when the latch hook opens, the front end of the latch hook can fall back on completely the border of the guide groove with
Outside.
Latch hook does not interfere with the normal effect of guide groove in open mode so that Boundary Moving of the draw bar along guide groove
Shi Buhui is hindered be subject to latch hook.
It is preferred that gasket is installed between the latch hook and the guide part, for reducing the latch hook and the guiding
The friction of part.
Gasket can protect latch hook and guide part, make the relative motion between latch hook and guide part more smooth.
It is preferred that the sealed space is waist type groove.Waist type groove can accommodate draw bar just, and be left for draw bar
Certain activity space, simplifies sealed positioning requirements.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can be combined, up to the utility model respectively compared with
Good example.
The positive effect of the utility model is：Automatically the de- hooking device of the utility model can be wider
Under the conditions of realize automatic coupling, hooking process is more convenient, and connect in distraction procedure it is reliable, will not because jolting unexpected pine
De- and automatically-unhooked after arriving at, whole process improves efficiency without manual intervention.
Brief description of the drawings
Fig. 1 is the main structure diagram under the automatic de- hooking device locked state of the utility model preferred embodiment.
Fig. 2 is the dimensional structure diagram under the automatic de- hooking device open configuration of the utility model preferred embodiment.
Description of reference numerals：
Guide part 1
Guide groove 11
Arc groove 12
Latch hook 2
Front end 21
Middle part 22
Rearward end 23
Arc-shaped side 24
Sealed space 25
Actuator 3
Proximity sensor 4
Rocking bar hinge 5
Active hinge 6
Limit guide rail 7
Guide runner 8
Embodiment
Name preferred embodiment, and become apparent from intactly illustrating the utility model with reference to attached drawing.
Automatically the de- hooking device of the present embodiment, for automatic guided vehicle, as depicted in figs. 1 and 2, takes off hooking device automatically
Including guide part 1, latch hook 2, actuator 3 and proximity sensor 4.The side of guide part 1 is provided with guide groove 11, the width of guide groove 11
Degree is sequentially reduced from the side of guide part 1 to the inside of guide part 1.Latch hook 2 is set for two and opposing mirror image, and latch hook 2 includes
Front end 21, middle part 22 and rearward end 23, the middle part 22 of latch hook 2 are connected on guide part 1 by shaft, before two latch hooks 2
End 21 can surround sealed space 25 with guide groove 11.Actuator 3 drives the rearward end 23 of latch hook 2, before realizing latch hook 2
The opening of end 21 and sealed.Proximity sensor 4 is installed on the inner side of guide groove 11, is activated for being controlled according to the position of draw bar
The movement of device 3.
The automatic guided vehicle of the present embodiment can be in the case of without manual intervention, automatic coupling traction rack, and
Arrive at rear automatically-unhooked.Automatic de- hooking device can detect draw bar automatically when close to the draw bar of rack
Position, so that automatic locking on draw bar, after rack is drawn to destination, disengages draw bar automatically.Guide part 1 can draw
Lead draw bar and enter guide groove 11, draw bar is locked together in sealed space 25 by latch hook 2, prevents draw bar accidental release.Actuating
Device 3 is used for the movement for driving latch hook 2.Proximity sensor 4 can detect the position of draw bar, instruct AGV trolleies to be moved to correctly
Position so that draw bar enters guide groove 11, and after completely into guide groove 11, instruction is sent to actuator 3 so that
Draw bar is locked together in sealed space 25 by latch hook 2.
Actuator 3 can be the electric pushrod of electric cylinders driving, and electric cylinders are installed on electric cylinders free bearing.One end of guide plate is provided with
Guide groove 11, other end both sides are parallel to be fixed with side plate, and guide plate end is fixed in fixed plate.On guide plate, biside plate
Between be fixed with the electric cylinders free bearing installing plate parallel with fixed plate.Automatically de- hooking device is fixed on AGV trolleies by fixed plate
Afterbody.
Between proximity sensor 4 is installed on two latch hooks 2 by sensor stand, and the guide groove 11 on guide plate
Near.The AGV tailstock is equipped with optoelectronic switch, and rack front end is equipped with reflective sheeting with the corresponding position of AGV tailstock optoelectronic switches.It is oriented to
The most inner side of groove 11 has arc groove 12, and proximity sensor 4 is close to arc groove 12.Arc groove 12 can accommodate draw bar, and can
Draw bar is limited in arc groove 12 by ground.Proximity sensor 4 the side of arc groove 12 monitoring draw bar whether completely into
Arc groove 12, once detecting that draw bar completely into arc groove 12, then sends instruction to actuator 3, makes latch hook 2 sealed.
Further, for ease of driving the movement of latch hook 2, de- hooking device further includes two rocking bar hinges 5 and one automatically
A active hinge 6, two rocking bar hinges 5 are articulated and connected with the rearward end 23 of two latch hooks 2 respectively, the both ends point of active hinge 6
It is not articulated and connected with two rocking bar hinges 5, actuator 3 drives active hinge 6 to move.Two rocking bar hinges 5 and an active are cut with scissors
Chain 6 coordinates together, can ensure the synchronism that two latch hooks 2 move, and can keep the stability of latch hook 2.Rocking bar hinge 5
The movement travel of actuator 3 can also be significantly reduced, so as to save the space of actuator 3.The rearward end 23 of latch hook 2
It is connected by bolt with rocking bar hinge 5, rocking bar hinge 5 is connected by bolt with active hinge 6.Thus, rocking bar hinge 5 being capable of phase
Rotate for latch hook 2, and can also be relatively rotated between active hinge 6 and rocking bar hinge 5.When two latch hooks 2 are sealed, rocking bar hinge
6 end to end alinement of chain 5 and active hinge, and perpendicular to the direction of motion of actuator 3.Two rocking bar hinges 5 and one
When active hinge 6 is arranged in a line, play the role of supporting the rearward end 23 of latch hook 2 so that the front end of latch hook 2
21 are not easy to open, so as to add the sealed reliability of latch hook 2.
The front end 21 of latch hook 2 has the arc-shaped side 24 towards arc groove 12, and arc-shaped side 24 surrounds jointly with arc groove 12
Sealed space 25.The arc-shaped side 24 of 2 front end 21 of latch hook can make the shape in sealed space 25 adapt to the shape of draw bar, so that
Reduce the abrasion between latch hook 2 and draw bar.Sealed space 25 is waist type groove.Waist type groove can accommodate draw bar just, and
Certain activity space is left for draw bar, simplifies sealed positioning requirements.When latch hook 2 opens, 21 energy of front end of latch hook 2
It is enough to fall back on completely beyond the border of guide groove 11.Latch hook 2 does not interfere with the normal effect of guide groove 11 in open mode so that leads
Draw bar along guide groove 11 Boundary Moving when will not be subject to the obstruction of latch hook 2.Gasket is installed between latch hook 2 and guide part 1,
For reducing the friction of latch hook 2 and guide part 1.Gasket can protect latch hook 2 and guide part 1, make between latch hook 2 and guide part 1
Relative motion it is more smooth.
Automatically the de- hooking device of the present embodiment further includes limit guide rail 7, and limit guide rail 7 is fixed on guide part 1, actively
Hinge 6 can be slided along the arranged direction of limit guide rail 7.Limit guide rail 7 can ensure that active hinge 6 is transported along the direction of setting
It is dynamic, further increase the synchronism and stability of the movement of latch hook 2.
Automatically the de- hooking device of the present embodiment further includes guide runner 8, and guide runner 8 is slidably arranged in limit guide rail 7
Between, guide runner 8 is equipped with ram bolt, and electric pushrod is fixed on guide runner 8 by ram bolt, active hinge 6
It is bolted on guide runner 8.Guide runner 8 can be formed with limit guide rail 7 it is more reliable be slidably matched, make latch hook
2 movement is more smooth, further increases synchronism, the reliability and stability of the movement of latch hook 2.
Automatically when de- hooking device does not work, two latch hooks 2 be in open configuration, and when needing to draw rack, AGV is along specified
Magnetic conductance leading line is moved backward backward, when the AGV trolley tailstock automatically de- hooking device soon close to rack when, the photoelectricity of the AGV tailstock is opened
Pass senses reflective sheeting, gives AGV trolley control systems one signal, and AGV trolleies slow down, and slowly close to rack, makes before being arranged on rack
The cylindrical draw bar at end is entered in arc groove 12 along the guide groove 11 of the tailstock, close on automatic de- hooking device
Sensor 4 senses cylindrical draw bar, gives trolley control system one signal, the electric pushrod on automatic de- hooking device
Promote the ram bolt being arranged on guide runner 8, make guide runner 8 along 7 forward slip of limit guide rail, drive active hinge 6 to
Preceding movement, active hinge 6 drive two rocking bar hinges 5 to move, and close two locking drag hooks, will be led arranged on the cylinder of rack front end
Draw lever lock to enter in arc groove 12, complete hook-hanging motion, AGV trolleies can draw rack and move ahead.When needing to break off relations, electric pushrod
Shrink, back pull the ram bolt being arranged on guide runner 8, guide runner 8 is slided backward along limit guide rail 7, drive master
Dynamic hinge 6 moves backward, and active hinge 6 drives two rocking bar hinges 5 to move, and opens two latch hooks 2, and trolley moves ahead after opening, if
Cylindrical draw bar in rack front end just departs from arc groove 12, completes unhook action.It is whole to break off relations, link up with even distraction procedure
It is automatically performed, without manual intervention.
Automatically the de- hooking device of the present embodiment can realize automatic coupling under the conditions of widely, and hooking process is more just
Victory, and connected reliably in distraction procedure, will not be automatically-unhooked because jolting and accidental release, and after arriving at,
Whole process improves efficiency without manual intervention.
Although the foregoing describing specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
This is merely illustrative of, and the scope of protection of the utility model is defined by the appended claims.Those skilled in the art
On the premise of the principle and essence without departing substantially from the utility model, various changes or modifications can be made to these embodiments,
But these change and modification each fall within the scope of protection of the utility model.
Claims (10)
1. a kind of automatically de- hooking device, for automatic guided vehicle, it is characterised in that the automatically de- hooking device includes：
Guide part, the side of the guide part are provided with guide groove, and the width of the guide groove is from the side of guide part to guide part
Inside be sequentially reduced；
Latch hook, the latch hook are set for two and opposing mirror image, and the latch hook includes front end, middle part and rearward end, the lock
The middle part of hook is connected on the guide part by shaft, and the front end of two latch hooks can surround lock with the guide groove
Close space；
Actuator, the actuator drive the rearward end of the latch hook, to realize the opening of the front end of the latch hook and sealed；
Proximity sensor, the proximity sensor are installed on the inside of the guide groove, are caused for being controlled according to the position of draw bar
The movement of dynamic device.
2. automatically de- hooking device as claimed in claim 1, it is characterised in that the automatically de- hooking device further includes two
Rocking bar hinge and an active hinge, two rocking bar hinges are articulated and connected with the rearward end of two latch hooks respectively, the master
The both ends of dynamic hinge are articulated and connected with two rocking bar hinges respectively, and the actuator drives the active hinge movement.
3. automatically de- hooking device as claimed in claim 2, it is characterised in that when two latch hooks are sealed, the rocking bar
Hinge and the end to end alinement of active hinge, and perpendicular to the direction of motion of the actuator.
4. automatically de- hooking device as claimed in claim 2, it is characterised in that the automatically de- hooking device further includes spacing
Guide rail, the limit guide rail are fixed on the guide part, and the active hinge can be along the arranged direction of the limit guide rail
Slide.
5. automatically de- hooking device as claimed in claim 4, it is characterised in that the automatically de- hooking device further includes cunning
Block, the sliding block are slidably arranged between the limit guide rail, and the active hinge is fixed on the sliding block.
6. automatically de- hooking device as claimed in claim 1, it is characterised in that the most inner side of the guide groove has circular arc
Groove, the proximity sensor is close to the arc groove.
7. automatically de- hooking device as claimed in claim 6, it is characterised in that the front end of the latch hook has described in
The arc-shaped side of arc groove, the arc-shaped side surround the sealed space jointly with the arc groove.
8. automatically de- hooking device as claimed in claim 1, it is characterised in that when the latch hook opens, before the latch hook
End can be fallen back on beyond the border of the guide groove completely.
9. automatically de- hooking device as claimed in claim 1, it is characterised in that installed between the latch hook and the guide part
There is gasket, for reducing the friction between the latch hook and the guide part.
10. the automatically de- hooking device as described in claim 1 to 9 any one, it is characterised in that the sealed space is waist
Type groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721332033.1U CN207310997U (en) | 2017-10-16 | 2017-10-16 | Automatically de- hooking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721332033.1U CN207310997U (en) | 2017-10-16 | 2017-10-16 | Automatically de- hooking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207310997U true CN207310997U (en) | 2018-05-04 |
Family
ID=62381514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721332033.1U Active CN207310997U (en) | 2017-10-16 | 2017-10-16 | Automatically de- hooking device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656880A (en) * | 2018-06-06 | 2018-10-16 | 衡阳市利美电瓶车制造有限责任公司 | A kind of self-locking towing hook |
| CN109177666A (en) * | 2018-09-21 | 2019-01-11 | 青岛黄海学院 | A kind of traction mechanism of AGV trolley |
| CN109795271A (en) * | 2019-01-25 | 2019-05-24 | 天津联汇智造科技有限公司 | A kind of dragging mechanism and mobile robot |
| CN110001317A (en) * | 2019-02-25 | 2019-07-12 | 西京学院 | A kind of single driving towed AGV Intelligent unattended carrier carry device |
| WO2019242429A1 (en) * | 2018-06-22 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Unmanned delivery vehicle and delivery control method and apparatus used for unmanned delivery vehicle |
| CN110949077A (en) * | 2019-12-24 | 2020-04-03 | 北京欣奕华科技有限公司 | Automatic unhooking mechanism of traction type AGV |
| CN111301327A (en) * | 2018-12-11 | 2020-06-19 | Acps汽车有限公司 | Coupling unit |
| CN113650459A (en) * | 2021-08-25 | 2021-11-16 | 临沂临工智能信息科技有限公司 | Automatic unhooking pin mechanism for connecting material vehicle and automatic unhooking method thereof |
| CN114082118A (en) * | 2021-11-24 | 2022-02-25 | 国网山东省电力公司阳谷县供电公司 | High-altitude anti-falling tool and using method |
-
2017
- 2017-10-16 CN CN201721332033.1U patent/CN207310997U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656880A (en) * | 2018-06-06 | 2018-10-16 | 衡阳市利美电瓶车制造有限责任公司 | A kind of self-locking towing hook |
| CN108656880B (en) * | 2018-06-06 | 2023-11-03 | 衡阳市利美电瓶车制造有限责任公司 | Self-locking towing hook |
| WO2019242429A1 (en) * | 2018-06-22 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Unmanned delivery vehicle and delivery control method and apparatus used for unmanned delivery vehicle |
| CN109177666A (en) * | 2018-09-21 | 2019-01-11 | 青岛黄海学院 | A kind of traction mechanism of AGV trolley |
| CN109177666B (en) * | 2018-09-21 | 2021-06-11 | 青岛黄海学院 | Traction mechanism of AGV dolly |
| CN111301327A (en) * | 2018-12-11 | 2020-06-19 | Acps汽车有限公司 | Coupling unit |
| CN109795271A (en) * | 2019-01-25 | 2019-05-24 | 天津联汇智造科技有限公司 | A kind of dragging mechanism and mobile robot |
| CN109795271B (en) * | 2019-01-25 | 2023-09-12 | 天津联汇智造科技有限公司 | Drag mechanism and mobile robot |
| CN110001317A (en) * | 2019-02-25 | 2019-07-12 | 西京学院 | A kind of single driving towed AGV Intelligent unattended carrier carry device |
| CN110949077A (en) * | 2019-12-24 | 2020-04-03 | 北京欣奕华科技有限公司 | Automatic unhooking mechanism of traction type AGV |
| CN113650459A (en) * | 2021-08-25 | 2021-11-16 | 临沂临工智能信息科技有限公司 | Automatic unhooking pin mechanism for connecting material vehicle and automatic unhooking method thereof |
| CN114082118A (en) * | 2021-11-24 | 2022-02-25 | 国网山东省电力公司阳谷县供电公司 | High-altitude anti-falling tool and using method |
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