CN209616809U - A kind of AGV traction device - Google Patents

Abstract

The utility model discloses a kind of AGV traction devices, there is the first substrate of card slot including one end, the lever that the hook chuck and middle part and described one end of the first substrate for being rotatably arranged on described one end of the first substrate are rotatablely connected, one end close to the first substrate other end of the lever is by an actuated by cams, the first substrate and a second substrate in parallel are affixed, the hook chuck, lever and cam are between the first substrate and the second substrate, the hook chuck is provided with a detection slot, the second substrate is equipped with the first noncontacting proximity sensor for being directed at the detection slot.A kind of AGV traction device of the utility model can detect whether to mount with cargo vehicle in place automatically, not have to mount the case where just having walked with cargo vehicle so as to avoid AGV.

Description

A kind of AGV traction device

Technical field

The utility model belongs to robot and carries technical field, and in particular to a kind of AGV traction device.

Background technique

With the development of science and technology, the degree of automation degree of machine is higher and higher, currently, removing in industrial operation Fortune field has also used automation, and automatic transporting machine people is related to being automatically positioned cargo, automatic connection cargo vehicle and automatic The functions such as transport, wherein mounting goods automatically by a kind of AGV traction device when automatic transporting machine people connects cargo automatically Object vehicle.

The utility model patent that Authorization Notice No. is 206218692 U of CN discloses a kind of self-coupling hitch, but should Self-coupling hitch has a problem that in use, it may be assumed that since AGV is by the mobile distance to a declared goal of preset program, thus with The docking of cargo vehicle, then pulls cargo vehicle to move together again, but sometimes cargo vehicle has stepped back certain distance, so as to cause AGV is not just walked in the mounting of cargo vehicle.

Utility model content

In view of this, the utility model aim is to provide a kind of AGV traction device, allow to detect whether automatically and goods Object vehicle mounts in place.

To achieve the goals above, the utility model is realized by the following technical solutions: a kind of AGV traction device, Including one end have card slot first substrate, be rotatably arranged on the first substrate described one end hook chuck and middle part with The first substrate described one end rotation connection lever, the lever close to the first substrate other end one end by One actuated by cams, the first substrate and a second substrate in parallel are affixed, and the hook chuck, lever and cam are located at Between the first substrate and the second substrate, the hook chuck is provided with a detection slot, and the second substrate is equipped with pair First noncontacting proximity sensor of the quasi- detection slot.

Further, second that two described one end close to the lever are additionally provided in the second substrate is contactless Sensor, two second noncontacting proximity sensors are respectively used to detect two maximal work positions of the lever.

Further, first noncontacting proximity sensor and second noncontacting proximity sensor are Hall switch.

The utility model has the beneficial effects that a kind of AGV traction device provided by the utility model, can detect whether automatically In place with the mounting of cargo vehicle, do not have to mount the case where just having walked with cargo vehicle so as to avoid AGV.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the utility model；

Fig. 2 is the part isometric structural schematic diagram of the utility model；

Appended drawing reference:

1- first substrate, 101- card slot, 2- the second substrate, 3- link up with chuck, 301- detection slot, 4- first rotating shaft, 5- grades Bar, the second shaft of 6-, 7- cam, 8- motor, 9- first back-moving spring, 10- second back-moving spring, the contactless biography of 11- first Sensor, the second noncontacting proximity sensor of 12-.

Specific embodiment

To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below In conjunction with specific embodiment, the utility model is further described.

In this application unless specifically defined or limited otherwise, term " connection ", " affixed " shall be understood in a broad sense, example Such as, it may be a fixed connection, may be a detachable connection, or is integral；It can be mechanical connection, be also possible to be electrically connected； It can be directly connected, the connection inside two elements or two elements can also be can be indirectly connected through an intermediary Interaction relationship.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be Concrete meaning in utility model.

As shown in Figs. 1-2, the utility model provides a kind of AGV traction device, has the first of card slot 101 including one end Substrate 1, the hook chuck 3 that one end of first substrate 1 is rotatably arranged on by first rotating shaft 4 and middle part by the second shaft 6 with The lever 5 of one end rotation connection of first substrate 1.One end of 1 other end of close first substrate of lever 5 is driven by a cam 7, The substantially l-shaped of lever 5, lever 5 are connect by first back-moving spring 9 with first substrate 1, further through second back-moving spring 10 and are hung Hook chuck 3 connects, and under the action of first back-moving spring 9 and second back-moving spring 10, lever 5 is supported with the holding of cam 7 always It connects, cam 7 is driven by servo motor 8.First substrate 1 and a second substrate 2 in parallel are affixed, link up with chuck 3, lever 5 And cam 7, between first substrate 1 and the second substrate 2, installation is reliable in this way, stablizes.Hook chuck 3 is provided with a detection slot 301, the second substrate 2 is equipped with the first noncontacting proximity sensor 11 of alignment detection slot 301, and preferably detection slot 301 is waist type groove, The width of detection slot 301 is greater than the diameter of the first noncontacting proximity sensor 11, in this way the first noncontacting proximity sensor 11 of guarantee The signal that hook is not hung up will not be generated after alignment detection slot 301.When being mounted with cargo vehicle, when the first noncontacting proximity sensor 11 alignment detection slots 301, the first noncontacting proximity sensor 11 issue the signal that hook chuck 3 is hung up to the control system of AGV, when First noncontacting proximity sensor, 11 misalignment detection slot 301, the first noncontacting proximity sensor 11 are issued to the control system of AGV and are hung The signal that hook chuck 3 is not hung up, so that AGV alarms or mounted again.By above-mentioned setting, so that the utility model A kind of AGV traction device can detect whether to mount with cargo vehicle automatically in place, so as to avoid AGV with cargo vehicle extension Connect the case where just having walked generation.

As a further improvement of the foregoing solution, second that two one end close to lever 5 are additionally provided in the second substrate 2 is non- Touch sensor 12, two the second noncontacting proximity sensors 12 are respectively used to two maximal work positions of detection lever 5. Hook chuck 3 is when opening card slot 101 and close, lever 5 respectively correspond there are two extreme position.It is second non-contact by two Whether formula sensor 12 detects lever 5 in two maximal work positions, so that whether auxiliary judgment hook chuck 3 is suspended to Position, and then further improve the reliability of testing result.

As a further improvement of the foregoing solution, the first noncontacting proximity sensor 11 and the second noncontacting proximity sensor 12 are Hall switch, Hall switch have the characteristics that contactless, low-power consumption, long life, response frequency are high.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above, for For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this In the case where the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims All changes are embraced therein.

In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (3)

1. a kind of AGV traction device has the first substrate (1) of card slot (101) including one end, is rotatably arranged on first base The lever that the one end at the hook chuck (3) of described one end of plate (1) and middle part and the first substrate (1) is rotatablely connected (5), one end close to the first substrate (1) other end of the lever (5) is driven by a cam (7), it is characterised in that: institute It states first substrate (1) and a second substrate (2) in parallel is affixed, the hook chuck (3), lever (5) and cam (7) position Between the first substrate (1) and the second substrate (2), the hook chuck (3) is provided with a detection slot (301), described The second substrate (2) is equipped with the first noncontacting proximity sensor (11) for being directed at the detection slot (301).

2. a kind of AGV traction device according to claim 1, it is characterised in that: be additionally provided with two on the second substrate (2) Second noncontacting proximity sensor (12) of described one end of a close lever (5), two second non-contact sensors Device (12) is respectively used to detect two maximal work positions of the lever (5).

3. a kind of AGV traction device according to claim 2, it is characterised in that: first noncontacting proximity sensor (11) and second noncontacting proximity sensor (12) is Hall switch.