CN209776613U

CN209776613U - Automatic tractor

Info

Publication number: CN209776613U
Application number: CN201920439695.1U
Authority: CN
Inventors: 王进; 闫志斌; 陈翔; 钟海廷; 李剑
Original assignee: Kunshan Is Automation Of Industry Co Ltd On Same Day
Current assignee: Kunshan Is Automation Of Industry Co Ltd On Same Day
Priority date: 2019-04-02
Filing date: 2019-04-02
Publication date: 2019-12-13
Anticipated expiration: 2029-04-02

Abstract

the utility model relates to a commodity circulation vehicle technical field discloses an automatic tractor, include the tractor body and take off the structure of hanging, it includes to take off the structure of hanging: the fixed seat is connected with the tail part of the tractor body; the limiting column is rotatably connected with the fixing seat and can rotate around a horizontal line perpendicular to the central axis of the limiting column between a hooking position and a unhooking position; the limiting plate is rotatably connected with the fixing seat and can abut against the limiting column at the hook position and be separated from the limiting column at the unhooking position; and the driving mechanism is arranged on the fixed seat and drives the limiting plate to rotate so as to be separated from the limiting column at the unhooking position. The automatic tractor can ensure the stability of hooking and unhooking.

Description

Automatic tractor

Technical Field

the utility model relates to a commodity circulation vehicle technical field especially relates to an automatic tractor.

Background

It is well known that in industrial production, logistics transportation, it is often necessary to transfer goods from one place to another, the most used of which are fork-lift trucks. However, the forklift is large in size and heavy in self weight, and is not suitable for transporting bulky and long goods, such goods are generally transported by using a tractor, and the tractor is widely used as a transporting tool in the industrial production field.

Along with the development of the internet of things and the artificial intelligence technology, an AGV (automated guided vehicle), namely an unmanned guided vehicle, is widely used for material transportation, and the AGV is provided with an automatic guiding device such as an electromagnetic or optical device, can run along a specified guiding path, and has safety protection and various transfer functions. During the use, the manual work will be treated the material of delivery and place on refuting the transport dolly, and the manual work will refute the transport dolly and push away AGV dolly rear, will refute the connection hoop card of transport dolly with the hand and go into AGV dolly bayonet lock the inside and carry out artifical couple, start AGV dolly departure. The AGV dolly pulls the refuge dolly to send to material demand destination, and artifical with AGV dolly and refuge dolly junction separation after reaching the destination, carries out artifical unhook, and the AGV dolly drags the empty car of refuge to get back to the commodity circulation storehouse district, is unhook once more by the manual work, separation, material loading, and after the material loading finishes, the manual work will refute the fortune car again and be connected with the AGV dolly, carries out the pay-off circulation of next time. The process needs manual hooking and unhooking for many times, and the manual burden is still heavy.

at present, tractors capable of automatic hooking and unhooking have been developed in order to save labor. When the automatic tractor is hung and connected, the distance of backward movement of the tractor head is difficult to guarantee, the tractor head is often required to be adjusted forwards and backwards, and the tractor often has the conditions of temporary stop, instant acceleration and deceleration and the like in the running process, so that the part of the hook is collided, and the effect of hooking and unhooking is influenced.

in view of the above-mentioned drawbacks, the present designer is actively making research and innovation to create an automatic tractor with a new structure, so that the automatic tractor has more industrial utility value.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic tractor can ensure the stability of couple and unhook.

To achieve the purpose, the utility model adopts the following technical proposal:

An automatic tractor, includes tractor body and unhook structure, the unhook structure includes:

The fixed seat is connected with the tail part of the tractor body;

The limiting column is rotatably connected with the fixing seat and can rotate around a horizontal line perpendicular to the central axis of the limiting column between a hooking position and a unhooking position;

The limiting plate is rotatably connected with the fixing seat and can abut against the limiting column at the hook position and be separated from the limiting column at the unhooking position;

and the driving mechanism is arranged on the fixed seat and drives the limiting plate to rotate so as to be separated from the limiting column at the unhooking position.

As a preferable scheme of the above automatic tractor, the fixing base is provided with a guide structure, and the guide structure can guide a hook ring of a towed vehicle body into the fixing base.

as a preferable aspect of the above automatic tractor, the guide structure includes a guide plate and two guide plates, wherein:

The guide plate is arranged below the limiting column and comprises a connecting part connected with the fixed seat and a guide part obliquely arranged at the end part of the connecting part, and the guide part is gradually narrowed from one end to the other end;

the two guide plates are respectively and vertically connected to two sides of the guide part.

As a preferable scheme of the above automatic tractor, an avoiding groove is provided on the guide plate, and the avoiding groove is located on a rotation path at the bottom of the limiting column.

As an optimal scheme of foretell automatic traction car, be connected with spacing post mounting structure between two lateral walls of fixing base, spacing post mounting structure includes two extension springs and latch closure, wherein:

One ends of the two tension springs are respectively connected with the two side walls of the fixed seat, and the other ends of the two tension springs are hooked with the ring buckle;

The ring buckle is connected with the middle part of the limiting column.

As an optimal scheme of the above automatic tractor, a rotating shaft and a stop pillar are connected between two side walls of the fixing seat, one end of the limiting plate is installed on the rotating shaft, the other end of the limiting plate can be abutted against the stop pillar, and a clamping groove abutting against the top end of the limiting pillar is arranged at the abutted end of the limiting plate and the stop pillar.

As a preferred embodiment of the above automatic towing vehicle, a torsion spring is disposed on the rotating shaft, one end of the torsion spring abuts against the fixing seat, and the other end of the torsion spring abuts against the limiting plate.

As a preferable scheme of the above automatic tractor, the driving mechanism includes a motor and a transmission assembly, the motor is disposed on the fixing base, and the transmission assembly includes a driving wheel connected to an output shaft of the motor, a driven wheel connected to the rotating shaft, and a V-belt connecting the driving wheel and the driven wheel.

As a preferable scheme of the above automatic tractor, the fixing base is further provided with a first position sensor and a second position sensor, and the first position sensor and the second position sensor are respectively located at the hooking position and the unhooking position of the limiting plate.

As a preferable scheme of the above automatic tractor, the tractor body is provided with a laser scanner at the head, a magnetic navigation sensor and an RFID reader-writer at the bottom, and a charging module at the side.

The utility model has the advantages that: the limiting post rotates around a horizontal line perpendicular to the axis of the limiting post between a hooking position and a unhooking position, the limiting post is abutted against the limiting post at the hooking position by the limiting plate and is separated from the limiting post at the unhooking position, the limiting plate is driven to be separated from the limiting post at the unhooking position by the driving mechanism, when the limiting post is hooked, after a hooking ring of a pulled vehicle body collides and pushes the limiting post to rotate for a certain angle, the limiting post is separated from the hooking ring and automatically resets, and the limiting post is automatically inserted into the hooking ring; when unhooking, actuating mechanism drive limiting plate is turned up and is broken away from spacing post, and the couple circle pulling spacing post of automobile body makes spacing post reversal, and the couple circle can break away from spacing post automatically, and the process of couple and unhooking is more stable, can not receive the influence that the tractor body waited to stop, or accelerated and decelerated in the twinkling of an eye.

Drawings

Fig. 1 is a schematic structural diagram of an automatic tractor according to an embodiment of the present invention;

Fig. 2 is a schematic structural view of a decoupling structure in an automatic tractor according to an embodiment of the present invention;

FIG. 3 is a schematic view of the releasing structure of FIG. 2 with the cover of the fixing base removed;

FIG. 4 is a schematic view of the structure of FIG. 3 with the retainer plate and the stop post removed;

fig. 5 is a schematic structural view of fig. 3 with the stopper post removed, and with the stopper plate in the unhooking position.

In the figure: 100-tractor body, 101-laser scanner, 102-charging module, 103-electric cabinet, 104-steering wheel, 105-operating position, 200-unhooking structure, 210-fixing seat, 211-cover body, 212-guiding structure, 213-guiding plate, 214-guiding plate, 215-connecting part, 216-guiding part, 217-avoiding groove, 220-limiting column, 230-limiting plate, 231-clamping groove, 241-tension spring, 242-buckle, 251-rotating shaft, 252-blocking column, 253-torsion spring, 261-motor, 262-driving wheel, 263-driven wheel, 271-first position sensor and 272-second position sensor.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1, the automatic tractor of the present invention includes a tractor body 100 and a decoupling structure 200. The head of the tractor body 100 is provided with a laser scanner 101, the bottom of the tractor body is provided with a magnetic navigation sensor and an RFID reader-writer (RFID is an abbreviation of radio Identification), the side of the tractor body is provided with a charging module 102, and the laser scanner 101, the magnetic navigation sensor and the RFID reader-writer, and the charging module 102 are all electrically connected with an electric cabinet 103 at the head of the tractor body 100. The automatic tractor can scan and judge a path and automatically walk along the path. Specifically, a magnetic stripe is pasted on the path, and the magnetic navigation sensor is used for detecting the magnetic stripe and walking along the magnetic stripe; after the automatic tractor is in place, the RFID reader-writer detects the RFID tag and then executes actions, such as turning or getting off the hook. Of course, the automatic tractor can also be driven manually, and only the tractor body 100 needs to be provided with the steering wheel 104 and the operation position 105, and the driver sits on the operation position 105 manually to control the steering wheel 104, so as to control the running direction and the path of the automatic tractor. It can be seen that the utility model discloses an automatic tractor can walk automatically, again can manual operation, can also charge.

Specifically, the unhooking structure 200 is disposed at the tail of the tractor body 100, as shown in fig. 2 to 5, the unhooking structure 200 includes a fixing seat 210 connected to the tail of the tractor body 100, a limit post 220 rotatably connected to the fixing seat 210, a limit plate 230 rotatably connected to the fixing seat 210, and a driving mechanism disposed on the fixing seat 210, wherein the limit post 220 can rotate around a horizontal line perpendicular to a central axis of the limit post 220 between a hooking position and an unhooking position; the limit plate 230 can abut against the limit post 220 at the hooking position and be separated from the limit post 220 at the unhooking position; the driving mechanism drives the stopper plate 230 to rotate to disengage from the stopper post 220 at the unhooking position. For the sake of beauty, the position-limiting post 220, the position-limiting plate 230 and the driving mechanism are covered by the cover 211 of the fixing base 210, and the cover can prevent dust from falling.

The utility model discloses an automatic tractor rotates around the horizontal line perpendicular to spacing post 220 axis between couple position and unhook position through making spacing post 220, utilizes limiting plate 230 to support at the couple position and holds spacing post 220, breaks away from spacing post 220 at the unhook position, utilizes actuating mechanism drive limiting plate 230 to break away from spacing post 220 at the unhook position, during the couple, the couple of the automobile body that is hauled encloses the collision and promotes spacing post 220 to rotate certain angle after, spacing post 220 breaks away from with the couple circle and automatic re-setting, spacing post 220 inserts in the couple circle automatically; when unhooking, actuating mechanism drive limiting plate 230 turns up and breaks away from spacing post 220, and the couple circle of automobile body stimulates spacing post 220, makes spacing post 220 reversal, and the couple circle can break away from spacing post 220 automatically, and the process of couple and unhooking is more stable, can not receive the influence of the temporary stop of tractor body 100, or acceleration and deceleration in the twinkling of an eye.

In order to make the couple ring of the car body that is hauled accurately collide with spacing post 220, the utility model discloses be equipped with guide structure 212 on fixing base 210, guide structure 212 can guide the couple ring of the car body that is hauled and get into in the fixing base 210. Specifically, the guiding structure 212 includes a guiding plate 213 and two guiding plates 214, the guiding plate 213 is disposed below the position-limiting column 220, the guiding plate 213 includes a connecting portion 215 connected to the fixing base 210 and a guiding portion 216 obliquely disposed at an end of the connecting portion 215, and the guiding portion 216 gradually narrows from one end thereof to the other end; the two guide plates 214 are respectively vertically connected to both sides of the guide part 216. When the tractor body 100 is close to the towed vehicle body, the guide part 216 arranged obliquely guides the hook ring of the towed vehicle so that the hook ring gradually moves to the bottom end of the limiting column 220, and the guide part 216 and the two guide plates 214 which are gradually narrowed can ensure that the hook ring can accurately collide with the limiting column 220.

As a preferred embodiment of the present invention, the present invention provides the avoiding groove 217 on the guiding plate 213, and the avoiding groove 217 is located on the rotating path of the bottom of the spacing post 220. The avoiding groove 217 can prevent the guide plate 213 from interfering with the rotation of the position limiting post 220.

For the installation of the limiting post 220, the utility model is characterized in that a limiting post installation structure is connected between two side walls of the fixing seat 210, the limiting post installation structure comprises two tension springs 241 and a buckle 242, one ends of the two tension springs 241 are respectively connected with two side walls of the fixing seat 210, and the other ends of the two tension springs 241 hook the buckle 242; the ring buckle 242 is connected to the middle of the position-limiting post 220. Therefore, when the hook ring of the pulled vehicle body collides and pushes or pulls the limiting column 220 to rotate, the tension spring 241 can generate torsion, and the limiting column 220 can automatically reset under the action of the torsion.

to the installation of limiting plate 230, the utility model discloses be connected with pivot 251 and bumping post 252 between two lateral walls of fixing base 210, limiting plate 230 one end is installed on pivot 251, the other end can support with bumping post 252 and hold. The rotation shaft 251 can drive the limiting plate 230 to rotate, and the stop pillar 252 limits the limiting plate 230, so as to prevent the limiting plate 230 from rotating excessively to affect the stopping effect on the limiting pillar 220. In addition, a torsion spring 253 is disposed on the rotating shaft 251, one end of which abuts against the fixing base 210, and the other end of which abuts against the limiting plate 230. The torsion spring 253 can better restore the stopper plate 230.

in order to make the limiting plate 230 better withstand the limiting post 220, the utility model discloses the tip that supports between the limiting plate 230 and the bumping post 252 is equipped with the draw-in groove 231 that supports the top of the limiting post 220.

to actuating mechanism's structure, the utility model provides a actuating mechanism includes motor 261 and drive assembly, and motor 261 sets up on fixing base 210, and drive assembly includes action wheel 262 with motor 261's output shaft, the V area (not shown in the V area of drawing, V area is the drive belt that the inside has the tooth) from driving wheel 263 and connecting action wheel 262 and follow driving wheel 263 that is connected with pivot 251.

in another embodiment, the fixing base 210 is further provided with a first position sensor 271 and a second position sensor 272, and the first position sensor 271 and the second position sensor 272 are respectively located at the hooking position and the unhooking position of the limiting plate 230. The first and second position sensors 271 and 272 can precisely control the rotation speed of the motor 261 to turn the restriction plate 230 by a specific angle.

When unhooking is needed, the motor 261 acts, the driving wheel 262 drives the driven wheel 263 to rotate through the V-belt, the driven wheel 263 drives the rotating shaft 251 to rotate together, the rotating shaft 251 drives the limiting plate 230 to turn up, so that the limiting plate 230 is separated from limiting the limiting column 220, the hook ring of the vehicle body pulls the limiting column 220 backwards, the bottom end of the limiting column 220 moves backwards, the top of the limiting column 220 moves forwards, deflection is achieved, and the hook ring is separated from the limiting column 220. After the separation, the motor 261 rotates reversely to return the position limiting plate 230. In the whole process, because in the state of being hung, the tractor body 100 can appear the possibility of braking, stopping at any time, and the spacing post 220 is collided easily to the couple circle at this moment, causes the collision to limiting plate 230 for limiting plate 230 in turn causes the impact to follow driving wheel 263 part, uses the V area can avoid foretell influence.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims

1. an automatic tractor comprising a tractor body (100) and a decoupling structure (200), characterized in that said decoupling structure (200) comprises:

the fixed seat (210), the said fixed seat (210) is connected with the afterbody of the said tractor body (100);

The limiting column (220) is rotatably connected with the fixing seat (210), and the limiting column (220) can rotate around a horizontal line perpendicular to the central axis of the limiting column (220) between a hook position and a unhooking position;

The limiting plate (230) is rotatably connected with the fixing seat (210), and the limiting plate (230) can abut against the limiting column (220) at the hook position and is separated from the limiting column (220) at the unhooking position;

The driving mechanism is arranged on the fixing seat (210) and drives the limiting plate (230) to rotate so as to be separated from the limiting column (220) at the unhooking position.

2. the automated tractor according to claim 1, characterized in that the holder (210) is provided with a guide structure (212), the guide structure (212) being capable of guiding a hitch ring of the towed vehicle body into the holder (210).

3. The automated tractor according to claim 2, characterized in that the guiding structure (212) comprises a guiding plate (213) and two guiding plates (214), wherein:

The guide plate (213) is arranged below the limiting column (220), the guide plate (213) comprises a connecting part (215) connected with the fixed seat (210) and a guide part (216) obliquely arranged at the end part of the connecting part (215), and the guide part (216) is gradually narrowed from one end to the other end;

The two guide plates (214) are respectively vertically connected to both sides of the guide part (216).

4. The automatic tractor according to claim 3, characterized in that an avoiding groove (217) is provided on the guide plate (213), the avoiding groove (217) being located on a rotation path of the bottom of the limit post (220).

5. The automatic tractor according to claim 1 or 2, characterized in that a limiting post mounting structure is connected between two side walls of the fixing base (210), the limiting post mounting structure comprises two tension springs (241) and a buckle (242), wherein:

One end of each of the two tension springs (241) is connected with the two side walls of the fixed seat (210), and the other end of each of the two tension springs (241) hooks the buckle (242);

the ring buckle (242) is connected with the middle part of the limiting column (220).

6. The automatic towing vehicle according to claim 5, wherein a rotating shaft (251) and a retaining post (252) are connected between two sidewalls of the fixing base (210), one end of the limiting plate (230) is mounted on the rotating shaft (251), the other end of the limiting plate can abut against the retaining post (252), and a clamping groove (231) abutting against the top end of the limiting post (220) is disposed at an abutting end of the limiting plate (230) and the retaining post (252).

7. the automatic tractor according to claim 6, characterized in that the rotating shaft (251) is provided with a torsion spring (253) having one end abutting against the fixed seat (210) and the other end abutting against the limiting plate (230).

8. the automatic tractor according to claim 6, characterized in that the driving mechanism comprises a motor (261) and a transmission assembly, the motor (261) is disposed on the fixed base (210), and the transmission assembly comprises a driving wheel (262) connected with an output shaft of the motor (261), a driven wheel (263) connected with the rotating shaft (251), and a V-belt connecting the driving wheel (262) and the driven wheel (263).

9. The automatic tractor according to claim 8, characterized in that a first position sensor (271) and a second position sensor (272) are further disposed on the fixed base (210), and the first position sensor (271) and the second position sensor (272) are respectively located at the hooking position and the unhooking position of the limiting plate (230).

10. The automated tractor according to claim 1, characterized in that the tractor body (100) is provided with a laser scanner (101) at the head, a magnetic navigation sensor and an RFID reader at the bottom, and a charging module (102) at the side.