CN214985740U

CN214985740U - Traction robot and traction equipment

Info

Publication number: CN214985740U
Application number: CN202120354541.XU
Authority: CN
Inventors: 张弢
Original assignee: Youibot Robotics Co ltd
Current assignee: Youibot Robotics Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-12-03
Anticipated expiration: 2031-02-08

Abstract

The utility model relates to a pull technical field, specifically disclose a traction robot and pulling equipment. The traction robot comprises an automatic guided vehicle and a traction device; the traction device comprises a device main body, a first moving part, a driving mechanism for driving the first moving part to reciprocate along a first track, a first guide part arranged on the device main body along a second track, a first moving plug connector which is movably arranged on the first guide part and is provided with a first plug-in part, a first connecting rod for rotatably connecting the first moving plug connector and the first moving part, a second guide part arranged on the device main body along a third track, a second moving plug connector which is movably arranged on the second guide part and is provided with a second plug-in part, and a second connecting rod for rotatably connecting the second moving plug connector and the first moving part; the second track and the third track are arranged on two opposite sides of the first moving part at intervals and symmetrically, and the first card inserting part and the second card inserting part can be matched with a card inserting structure of the material carrier in a card inserting mode. The utility model discloses a traction robot and pulling equipment have good traction performance.

Description

Traction robot and traction equipment

Technical Field

The utility model relates to a pull technical field, especially relate to a traction robot and pulling equipment.

Background

The Automatic Guided Vehicle (AGV) can be used for lifting material carriers such as a goods shelf, a material carrying Vehicle and the like so as to realize the carrying of materials. When using AGV to lift material carrier, generally all set up climbing mechanism on AGV, lift up material carrier and drive material carrier through climbing mechanism's lift and remove to realize the transport of material. But when directly lifting the material carrier and driving the material carrier to move by the jacking mechanism, at least the following problems exist:

(1) the requirement on the bearing performance of the AGV is high;

(2) the electric quantity consumption of the AGV is large;

(3) the jacking mechanism and the material carrier are only in a lifting effect and are not fixed with each other, and the material carrier and the jacking mechanism are easy to be mutually staggered or even separated, so that the reliability of lifting movement is poor.

Therefore, there is a need to provide a new technical solution to solve at least one of the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses one of the purpose of embodiment is for providing a traction robot, aims at solving current automated guided vehicle and requires high, the electric quantity consumption is big and pull the poor scheduling problem of reliability to bearing capacity when the material carrier pulls.

In order to achieve the above object, the embodiment of the present invention adopts the following technical solutions:

the traction robot is used for drawing the material carriers with clamping structures on two opposite sides to move and comprises an automatic guided vehicle and a traction device, and the traction device is arranged on the automatic guided vehicle;

the traction device comprises a device main body, a first guide piece, a first moving plug connector, a first connecting rod, a second guide piece, a second moving plug connector, a second connecting rod, a first moving piece and a driving mechanism which is arranged on the device main body or the automatic guided vehicle and is used for driving the first moving piece to reciprocate along a first track;

the first guide piece is arranged on the device main body along a second track, the second guide piece is arranged on the device main body along a first line track, and the second track and the third track are arranged on two opposite sides of the first moving piece at intervals and symmetrically;

the first moving plug connector is movably arranged on the first guide piece and is provided with a first card inserting part used for being inserted and matched with the card inserting structure;

the second moving plug connector is movably arranged on the second guide piece and is provided with a second card inserting part used for being inserted and matched with the card inserting structure;

one end of the first connecting rod is rotationally connected with the first moving plug connector, and the other end of the first connecting rod is rotationally connected with the first moving part, so that the first moving plug connector is driven to move along the second track when the first moving part moves along the first track;

one end of the second connecting rod is rotatably connected with the second moving connector, and the other end of the second connecting rod is rotatably connected with the first moving piece, so that the second moving connector is driven to move along the third track when the first moving piece moves along the first track.

In a possible embodiment, the first movable connector is a first sliding block slidably connected to the first guide, the second movable connector is a second sliding block slidably connected to the second guide, an end of the first sliding block away from the second sliding block is the first card insertion portion, and an end of the second sliding block away from the first sliding block is the second card insertion portion;

or the first movable plug connector comprises a first sliding block connected with the first guide piece in a sliding manner and a first plug-in connector connected with the first sliding block; the second moving plug connector comprises a second sliding block connected with the second guide piece in a sliding mode and a second plug connector connected with the second sliding block; the end part of the first card plug-in unit far away from the second card plug-in unit is the first card plug-in part, and the end part of the second card plug-in unit far away from the first card plug-in unit is the second card plug-in part.

In a possible implementation manner, the first trajectory is a straight trajectory, the second trajectory and the third trajectory are symmetrically disposed on two opposite sides of the first trajectory, the traction apparatus further includes a third guiding element, the third guiding element is disposed on the apparatus main body and is parallel to the first trajectory, and the first moving element and the third guiding element are in motion fit.

In a possible embodiment, two third guiding members are provided, and two third guiding members are respectively provided on two opposite sides of the first track.

In a possible embodiment, the traction device further comprises two second moving parts which are respectively in moving fit with the two third guiding parts, and the two second moving parts are respectively connected with the first moving part.

In a possible embodiment, both of the second mobile elements are integral with the first mobile element; and/or the presence of a gas in the gas,

the second track and the third track are both linear tracks, the second track and the third track are collinear, and/or the first guide part and the second guide part are integrated integrally;

or the second track and the third track are both arc tracks, and the second track and the third track are symmetrically arranged on two opposite sides of the first track.

In a possible embodiment, the driving mechanism comprises a motor and a screw rod in transmission connection with the motor, and the first moving part is in sliding or rolling connection with the screw rod;

or the driving mechanism comprises a motor, a gear in transmission connection with the motor and a rack in meshing transmission with the gear, and the first moving part is mounted on the rack;

or the driving mechanism is an air cylinder or a hydraulic cylinder, and the first moving part is connected with a piston rod of the air cylinder or the hydraulic cylinder;

or, actuating mechanism include the motor and with the belt drive mechanism that motor drive is connected, belt drive mechanism includes the action wheel, follows the driving wheel and locates around the action wheel with follow the drive belt between the driving wheel, the action wheel in motor drive connects, first moving part centre gripping in on the drive belt.

In a possible embodiment, the first moving member performs reciprocating rotation with a center of the first moving member as a rotation fulcrum, and a portion of the first link connected to the first moving member and a portion of the second link connected to the first moving member are symmetrical with respect to the center.

In a possible embodiment, the driving mechanism is rotatably connected to the center of the first moving member to drive the first moving member to perform circular reciprocating rotation.

The second objective of the embodiment of the present invention is to provide a traction apparatus. The traction equipment comprises a material carrier and the traction robot;

the material carrier is provided with an avoidance space for the automatic guided vehicle to enter or exit from the lower part of the automatic guided vehicle, and the material carrier comprises two clamping structures which are respectively arranged on two opposite sides of the avoidance space.

In one possible embodiment, one of the first movable connector and the locking structure is provided with a plug-in slot, and the other one is provided with a connector which is in plug-in fit with the plug-in slot; one of the second moving plug connector and the other clamping structure is provided with the plug-in slot, and the other one is provided with a plug-in body which is in plug-in fit with the plug-in slot.

In a possible embodiment, each of the locking structures includes two first limiting members disposed at an interval, and the two first limiting members in the same locking structure surround to form the insertion groove.

In a possible embodiment, the first limiting element is a projection fixedly connected to the material carrier or a rotating element rotatably connected to the material carrier.

In one possible embodiment, the rotating member is a roller or a bearing, and a rotation axis of the rotating member is perpendicular to a card insertion direction of the first card insertion portion or the second card insertion portion.

In a possible embodiment, the clamping structure further includes a connecting member, one end of the connecting member is connected to the material carrier, and the other end of the connecting member is connected to the first limiting member.

In a possible implementation manner, each of the clamping structures further includes a second limiting member for limiting an insertion depth of the first moving connector or the second moving connector into the insertion slot, the second limiting member is disposed at an end portion of the insertion slot far from the first moving connector or the second moving connector, and the second limiting member extends from the end portion of the connecting member connected with the first limiting member toward the direction of the automated guided vehicle.

In a possible embodiment, the material carrier further comprises a loading main body for loading the material, wheels for driving the loading main body to move, and a signal feedback device for the traction robot to detect; the clamping structure is connected with the material loading main body, the wheels are mounted at the bottom of the material loading main body, and the signal feedback device is mounted on the material loading main body; the traction robot is provided with a detection device which is used for detecting the material carrier to assist the traction robot in positioning the material carrier.

The utility model has the advantages that:

the embodiment of the utility model provides a traction robot and traction equipment, because be equipped with draw gear on the traction robot, and include along can with the material carrier on the two opposite sides screens structure card insertion complex first motion plug connector and second motion plug connector in the draw gear, first motion plug connector and second motion plug connector respectively with two screens structure card insertion cooperation when the traction robot moves to the space between two screens structures of material carrier, thereby realize the traction to the material carrier, make the automated guided vehicle change lifting material carrier to move and pull the material carrier and remove, this not only reduces the requirement to the bearing capacity of automated guided vehicle, and reduced the automatic guided vehicle and pull the electric quantity consumption that the material carrier removed, make the working duration of automated guided vehicle under the same condition become longer, can also improve the reliability that the automated guided vehicle pulls simultaneously, finally, the comprehensive traction performance of the traction robot and the traction equipment is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a combination of a traction robot and a material carrier according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a traction robot according to a first embodiment of the present invention;

fig. 3 is a schematic view of a partial explosion structure of a traction robot according to an embodiment of the present invention;

fig. 4 is an exploded schematic view of a traction device according to an embodiment of the present invention;

fig. 5 is a simplified schematic diagram of relative positions and movement tracks of the first moving connector, the second moving connector and the first moving connector according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of a traction apparatus according to a first embodiment of the present invention;

fig. 7 is a schematic perspective view of a material carrier according to a first embodiment of the present invention;

fig. 8 is an exploded schematic view of a clamping structure according to an embodiment of the present invention;

fig. 9 is a simplified schematic diagram of a traction process of a traction apparatus according to an embodiment of the present invention;

fig. 10 is a front view of a traction robot and a material carrier in a traction apparatus according to a first embodiment of the present invention after completing insertion;

fig. 11 is a schematic view of a partial explosion structure of a traction apparatus according to an embodiment of the present invention;

fig. 12 is a simplified schematic diagram of relative positions and movement tracks of the first moving plug, the second moving plug, and the first moving element according to a seventh embodiment of the present invention;

fig. 13 is a simplified schematic diagram of relative positions and movement tracks of the first moving plug, the second moving plug, and the first moving element according to an eighth embodiment of the present invention.

Reference numerals:

100. a traction robot;

1. an automatic guided vehicle;

2. a traction device;

20. a device main body; 21. a first guide member; 22. a first moving plug; 220. a first card insertion portion; 221. a first slider; 222. a first card plug-in; 23. a first link; 24. a second guide member; 25. a second moving plug; 250. a second card insertion portion; 251. a second slider; 252. a second card plug-in; 26. a second link; 27. a first moving member; 270. a center; 28. a drive mechanism; 29. a third guide member; 210. a second moving member;

1000. a pulling device;

200. a material carrier;

301. avoiding a space; 3. a clamping structure; 31. a first limit piece; 32. a connecting member; 33. a second limiting member; 302. inserting grooves;

4. a loading body;

5. a wheel;

6. a signal feedback device;

7. a detection device;

NM, first trace; PQ, a second trace; RS, third trajectory.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Example one

Fig. 1 to 8 are schematic structural views showing a traction robot 100 and a traction apparatus 1000 according to the present embodiment.

Referring to fig. 1 to 3, a traction robot 100 includes a robot car 1 and a traction device 2, and the traction device 2 is mounted on the robot car 1. By mounting the towing device 2 on the automated guided vehicle 1, it can be used to tow the material carriers 200 with the detent structures 3 on opposite sides and to move the material carriers 200.

Referring to fig. 3, 4 and 5, the towing device 2 includes a device body 20, a first guide 21, a first movable connector 22, a first link 23, a second guide 24, a second movable connector 25, a second link 26, a first movable connector 27 and a driving mechanism 28. Wherein, a driving mechanism 28 is provided on the apparatus body 20 or on the automated guided vehicle 1 for driving the first moving member 27 to reciprocate along the first trajectory MN. In this embodiment, the first trajectory MN is a linear trajectory, the first moving part 27 linearly reciprocates along the first trajectory MN, the first guide 21 is disposed on the device body 20 along the second trajectory PQ, the second guide 24 is disposed on the device body 20 along the third trajectory RS, the second trajectory PQ and the third trajectory RS are also linear trajectories, the second trajectory PQ and the third trajectory RS are collinear and perpendicular to the first trajectory MN, and the second trajectory PQ and the third trajectory RS are symmetrically disposed on two opposite sides of the first trajectory MN, that is, the first guide 21 and the second guide 24 are disposed on two opposite sides of the first trajectory MN; the first moving connector 22 is movably mounted on the first guide 21, and the first moving connector 22 has a first inserting portion 220 for inserting and matching with the inserting structure 3, and the first moving connector 22 can make a linear reciprocating motion along a second track PQ; the second moving plug connector 25 is movably mounted on the second guide 24, the second moving plug connector 25 is provided with a second plugging portion 250 for plugging and matching with the plugging structure 3, and the second moving plug connector 25 can do linear reciprocating motion along a third track RS; one end of the first link 23 is rotatably connected to the first moving plug 22, and the other end is rotatably connected to the first moving member 27, so as to drive the first moving plug 22 to linearly reciprocate along the second trajectory PQ when the driving mechanism 28 drives the first moving member 27 to linearly reciprocate along the first trajectory MN; one end of the second connecting rod 26 is rotatably connected to the second moving connector 25, and the other end is rotatably connected to the first moving connector 27, so as to drive the second moving connector 25 to linearly reciprocate along the third track RS when the driving mechanism 28 drives the first moving connector 27 to linearly reciprocate along the first track MN, because the first moving connector 22 and the second moving connector 25 are symmetrically disposed on two opposite sides of the first track MN, the moving directions of the first moving connector 22 and the second moving connector 25 are opposite, that is, when the first moving connector 22 moves along the second track PQ on one side of the first track MN and moves away from the first track MN, the second moving connector 25 moves along the third track RS on the other side of the first track MN and moves away from the first track MN, and the two opposite sides can be simultaneously engaged with the clamping structures 3 on the two opposite sides of the material carrier 200, thereby effecting traction on the material carrier 200.

Referring to fig. 4 and 5, the first moving connector 22 includes a first slider 221 and a first card connector 222, wherein the first slider 221 is slidably connected to the first guide 21, the first card connector 222 is mounted on the first slider 221, and one end of the first link 23 is rotatably connected to the first card connector 222 to drive the first card connector 222 to reciprocate linearly along a second trajectory PQ on the first guide 21 along with the first slider 221; the second moving connector 25 comprises a second slider 251 and a second card connector 252, wherein the second slider 251 is slidably connected with the second guide 24, the second card connector 252 is mounted on the first slider 221, and one end of the second link 26 is rotatably connected with the second card connector 252 to drive the second card connector 252 to linearly reciprocate along a third track RS on the second guide 24 along with the second slider 251; at this time, an end of the first card connector 222 away from the second card connector 252 is a first card insertion portion 220, and an end of the second card connector 252 away from the first card connector 222 is a second card insertion portion 250.

In a possible embodiment, the driving mechanism 28 includes a motor (not shown) and a screw rod (not shown) in transmission connection with the motor, and the first moving member 27 is connected with the screw rod in a sliding or rolling manner, so as to drive the first moving member 27 to reciprocate linearly along the first track MN. In yet another alternative embodiment, the driving mechanism 28 includes a motor (not shown), a gear (not shown) in transmission connection with the motor, and a rack (not shown) engaged with the gear, and the first moving member 27 is mounted on the rack.

In yet another possible embodiment, the driving mechanism 28 is a cylinder (not shown) or a hydraulic cylinder (not shown), and a piston rod (not shown) of the cylinder or the hydraulic cylinder is connected to the first moving member 27 so as to drive the first moving member 27 to reciprocate linearly along the first track MN.

In yet another possible embodiment, the driving mechanism 28 includes a motor (not shown in the drawings) and a belt transmission mechanism (not shown in the drawings) in transmission connection with the motor, the belt transmission mechanism includes a driving wheel (not shown in the drawings), a driven wheel (not shown in the drawings) and a transmission belt (not shown in the drawings) wound around the driving wheel and the driven wheel, the driving wheel is in transmission connection with the motor, and the first moving member 27 is clamped and connected with the transmission belt, so that the first moving member 27 can be driven to reciprocate linearly along the first trajectory MN. In some possible embodiments, the conveyor belt may be a drive chain or a conveyor belt.

The present embodiment further provides a traction apparatus 1000 on the basis of the traction robot 100, and please refer to fig. 6 specifically. The pulling device 1000 comprises the material carrier 200 and the pulling robot 100 described above.

Referring to fig. 6 and 7, the material carrier 200 has an avoidance space 301 for the automated guided vehicle 1 to enter or exit the material carrier 200 and to be lowered, and the material carrier 200 includes a blocking structure 3, a material carrying main body 4, wheels 5 and a signal feedback device 6.

Referring to fig. 7 and 8, the two blocking structures 3 are respectively disposed on two opposite sides of the avoiding space 301, so that when the automated guided vehicle 1 enters the avoiding space 301, the traction device 2 disposed on the automated guided vehicle 1 can be extended to be inserted into the blocking structures 3 and to pull the material carriers 200.

Referring to fig. 8, each of the positioning structures 3 includes a first position-limiting member 31, a connecting member 32 and a second position-limiting member 33, one end of the connecting member 32 is connected to the material-carrying main body 4, and the other end is connected to the first position-limiting member 31. Specifically, the first limiting members 31 include two first limiting members 31, the two first limiting members 31 are disposed at an interval to form the insertion groove 302, the second limiting member 33 is disposed at an end of the insertion groove 302 far from the first movable connector 22 or the second movable connector 25, so as to limit an insertion depth of the first movable connector 22 or the second movable connector 25 into the insertion groove 302, and the second limiting member 33 is disposed to extend from an end of the connecting member 32 connected with the first limiting members 31 toward the direction of the automated guided vehicle 1. The first limiting member 31 is a rotating member rotatably connected to the material carrier 200, and the rotating shaft of the rotating member is perpendicular to the first inserting portion 220 or the second inserting portion 250. In some possible embodiments, the rotating member may be a roller or a wheel or a bearing. In some possible embodiments, the first limiting member 31 is a bump or an insertion body.

Referring to fig. 7, in a possible embodiment, the material loading main body 4 is mainly used for loading materials, and the wheels 5 are installed at the bottom of the material loading main body 4 so as to drive the material loading main body 4 to move; the signal feedback device 6 is mounted on the material loading body 4 so as to facilitate the detection and identification of the material carrier 200 by the traction robot 100.

Referring to fig. 6, the towing robot 100 is provided with a detecting device 7 for detecting and identifying the material carrier 200, and then moves into an avoiding space 301 of the material carrier 200 and tows the material carrier 200. The specific detection process is that the detection device 7 sends out a detection signal, the signal feedback device 6 of the material carrier 200 feeds back the signal sent out by the detection device 7 to the traction robot 100, then the traction robot 100 is started to drive to the avoidance space 301 according to the received signal information, such as the specific position of the material carrier 200 and the specific position of the avoidance space 301, and then the traction device 2 is started, the first moving connector 22 on the traction device 2 slides along the second track PQ in the direction away from the first track MN, and the second moving connector 25 slides along the third track RS in the direction away from the first track MN, so that the first card insertion part 220 and the second card insertion part 250 are respectively in insertion fit with the card clamping structures 3 on two sides of the avoidance space 301, and traction is realized. In some possible embodiments, the signal feedback device 6 may be a mirror, and the detection device 7 is a radar device, and the radar device is provided on the automated guided vehicle 1.

Fig. 9 shows a simplified schematic diagram of the operation of the towing apparatus 1000 of the present embodiment. The following brief description of the working process is made with reference to fig. 1 to 8 and 10:

(A) the traction robot 100 and the material carrier 200 are separated from each other, at this time, the traction device 2 on the traction robot 100 does not work, and the first moving connector 22 and the second moving connector 25 are kept retracted in the traction device 2, so that the size of the traction robot 100 in the linear direction of the second track PQ can be reduced, and the traction robot 100 is prevented from being hung with other objects in the driving process;

(B) the detection device 7 of the traction robot 100 is started to detect the material carrier 200, after the specific position of the material carrier 200 is obtained through detection, the traction robot 100 drives towards the position where the material carrier 200 is located, and the advancing direction is adjusted so as to drive into the avoidance space 301 below the material carrier 200;

(C) the traction robot 100 drives into an avoidance space 301 below the material carrier 200;

(D) when the traction robot 100 runs to the avoidance space 301 below the material carrier 200 and detects that the first moving connector 22 and the second moving connector 25 in the traction device 2 are respectively aligned with the clamping structures 3 on two opposite sides of the avoidance space 301, the traction device 2 is started, the driving mechanism 28 drives the first moving member 27 to make a linear motion along the direction of the first track MN, the first moving member 27 drives the first connecting rod 23 and the second connecting rod 26 to move, the first connecting rod 23 drives the first moving connector 22 to move along the second track PQ in the direction away from the first track MN, the second connecting rod 26 drives the second moving connector 25 to move along the third track RS in the direction away from the first track MN, the first moving connector 22 and the second moving connector 25 both move to the first clamping insertion portion 220, and the second clamping insertion portion 250 is respectively clamped with the clamping structures 3 on two opposite sides of the avoidance space 301, the driving mechanism 28 stops working, so that the first moving connector 22 and the second moving connector 25 and the blocking structure 3 keep the state of card insertion matching, and the specific state of card insertion matching is shown in detail in fig. 10; subsequently, the towing robot 100 tows the material carrier 200 to travel towards a predetermined destination, thereby moving the material carrier 200 to the destination;

after the traction robot 100 draws the material carrier 200 to a destination, the traction device 2 is started, the driving mechanism 28 drives the first moving member 27 to make a linear motion along the direction of the first track MN, the first moving member 27 drives the first connecting rod 23 and the second connecting rod 26 to move, the first connecting rod 23 drives the first moving connector 22 to move along the second track PQ towards the direction of the first track MN, the second connecting rod 26 drives the second moving connector 25 to move along the third track RS towards the direction of the first track MN, the first moving connector 22 and the second moving connector 25 both move to the first card inserting portion 220 and the second card inserting portion 250 to be separated from the clamping structure 3 on two opposite sides of the avoiding space 301 respectively, and further continue to move until the first card inserting portion 220 and the second card inserting portion 250 are retracted into the device main body 20, the driving mechanism 28 stops working, the traction robot 100 drives away from the material carrier 200, to pull the next material carrier 200 or to travel to a designated area and stop.

Example two

Referring to fig. 1 to 10 and 11, the present embodiment is different from the first embodiment mainly in the structure of the first movable connector 22 and the second movable connector 25 and the connection portion of the first connecting rod 23 and the second connecting rod 26. In the first embodiment, the first movable connector 22 includes the first slider 221 slidably connected to the first guide 21 and the first card connector 222 mounted on the first slider 221, and one end of the first link 23 is rotatably connected to the first card connector 222; the second moving plug 25 includes a second slider 251 slidably coupled to the second guide 24 and a second card connector 252 mounted on the second slider 251, and one end of the second link 26 is rotatably coupled to the second card connector 252. In this embodiment, the first movable connector 22 is a first slider 221 slidably connected to the first guide 21; the second moving connector 25 is a second slider 251 slidably connected to the second guide 24, the end of the first slider 221 away from the second slider 251 is a first card inserting portion 220, and the end of the second slider 251 away from the first slider 221 is a second card inserting portion 250, i.e. the first slider 221 and the first card inserting portion 222 in the first embodiment are designed as one unit, and one end of the first link 23 is directly rotatably connected to the first moving connector 22; meanwhile, the second slider 251 and the second card connector 252 in the first embodiment are integrally designed as one unit, and one end of the second link 26 is directly rotatably connected to the second movable connector 25.

In addition to the above differences, other structures of the traction robot 100 and the traction apparatus 1000 provided in the present embodiment may be optimally designed with reference to the first embodiment, and will not be described in detail herein.

EXAMPLE III

Referring to fig. 1 to 10 and fig. 11, the difference between the present embodiment and the first and second embodiments is mainly the structure of the first moving element 27. In the first and second embodiments, the driving mechanism 28 is only required to drive the first moving member 27 to make a linear reciprocating motion along the direction of the first track MN, so as to implement the functions of the present invention. In this embodiment, the traction device 2 further includes a third guiding element 29, the third guiding element 29 is disposed on the device body 20 and beside the first track MN, the third guiding element 29 is parallel to the first track MN, and the first moving element 27 is slidably connected to the third guiding element 29. In some possible embodiments, there are two third guiding elements 29, and two third guiding elements 29 are respectively disposed on two opposite sides of the first track MN, so as to improve the smoothness and reliability of the operation of the first moving element 27, and further improve the smoothness and reliability of the traction device 2.

In addition to the above differences, other structures of the traction robot 100 and the traction apparatus 1000 provided in the present embodiment may be optimally designed with reference to the first embodiment and the second embodiment, and will not be described in detail here.

Example four

Referring to fig. 1 to 10 and fig. 11, the present embodiment is different from the third embodiment mainly in the structure of the third guiding element 29. In the fourth embodiment, the third guide 29 is provided on the apparatus body 20 and beside the first trajectory MN, and the third guide 29 is parallel to the first trajectory MN, and the first moving member 27 is slidably connected to the third guide 29. In this embodiment, a second moving member 210 is further included, and the second moving member 210 is movably mounted on the third guide member 29, while the second moving member 210 is connected to the first moving member 27. In some possible embodiments, the second moving member 210 also has two, respectively movably mounted on the two second moving members 210, and both connected with the first moving member 27. Therefore, the running stability and reliability of the first moving part 27 can be improved, and the traction stability and reliability of the traction device 2 can be further improved.

In addition to the above differences, the other structures of the traction robot 100 and the traction apparatus 1000 provided in the present embodiment can be optimally designed with reference to the third embodiment, and will not be described in detail here.

EXAMPLE five

Referring to fig. 1 to 10 and fig. 11, the difference between the present embodiment and the third and fourth embodiments is mainly the structure of the first moving element 27 and the second moving element 210 and the difference between the first guiding element 21 and the second guiding element 24. In the third embodiment, the first moving member 27 and the second moving member 210 are independent parts, and the first moving member 27 is connected to the two second moving members 210 respectively; the first guide 21 and the second guide 24 are independent components. In the present embodiment, the second moving member 210 is integrally designed as one component with the first moving member 27; and/or the first guide 21 and the second guide 24 are designed integrally as one part.

In addition to the above differences, other structures of the traction robot 100 and the traction apparatus 1000 provided in the present embodiment may be optimally designed with reference to the third embodiment and the fourth embodiment, and will not be described in detail here.

EXAMPLE six

Referring to fig. 1 to 10 and fig. 11, the difference between the present embodiment and the first, second, third, fourth and fifth embodiments is mainly the setting position of the inserting groove 302 and the difference between the two embodiments of the present embodiment and the fifth embodiment of the present embodiment and the position-locking structure 3. In the first to fifth embodiments, the locking structure 3 includes the first limiting members 31, the connecting member 32 and the second limiting members 33, and the two first limiting members 31 are disposed at an interval to form the insertion groove 302, and the first insertion portion 220 of the first movable connector 22 and the second insertion portion 250 of the second movable connector 25 are inserted into the insertion groove 302. In this embodiment, the end of the first moving connector 22 far from the second moving connector 25 and the end of the second moving connector 25 far from the first moving connector 22 are both provided with the insertion slot 302, and the clamping structure 3 only includes a first limiting member 31 and a connecting member 32, and the first limiting member 31 is an insertion body fixedly connected with the connecting member 32, when the first moving connector 22 moves to the clamping structure 3 on two opposite sides of the avoiding space 301 along the second trajectory PQ, the insertion body is in insertion fit with the insertion slot 302 on the first moving connector 22, and when the second moving connector 25 moves to the clamping structure 3 on two opposite sides of the avoiding space 301 along the third trajectory RS, the insertion body and the insertion slot 302 on the second moving connector 25 can also realize the insertion fit traction.

In addition to the above differences, other structures of the traction robot 100 and the traction apparatus 1000 provided in the present embodiment may be optimally designed with reference to the first to fifth embodiments, and will not be described in detail herein.

EXAMPLE seven

Referring to fig. 1 to 10 and 12, the difference between the present embodiment and the first to sixth embodiments is mainly the movement form and the movement track of the first moving element 27. In the first to sixth embodiments, the first moving element 27 moves linearly, that is, the first moving element 27 reciprocates linearly along the first trajectory MN, and the first trajectory MN is a linear trajectory. In this embodiment, the first moving element 27 performs reciprocating rotation with the center 270 of the first moving element 27 as a rotation fulcrum, the first moving track MN is a circular arc track, the driving mechanism 28 and the first moving element 27 are rotationally connected to the center 270 to drive the first moving element 27 to perform reciprocating rotation with the rotation fulcrum, and a portion of the first connecting rod 23 connected to the first moving element 27 and a portion of the second connecting rod 26 connected to the first moving element 27 are symmetrical with respect to the center 270.

In addition to the above differences, the other structures of the traction robot 100 and the traction apparatus 1000 provided in the present embodiment may be optimally designed with reference to the first to sixth embodiments, and will not be described in detail herein.

Example eight

Referring to fig. 1 to 10 and 13, the difference between the present embodiment and the first to sixth embodiments is mainly the shape of the second trajectory PQ and the third trajectory RS. In the first to sixth embodiments, the second trajectory PQ and the third trajectory RS are both straight trajectories and are symmetrically distributed on two opposite sides of the first trajectory MN. In this embodiment, the second trajectory PQ and the third trajectory RS are circular arc-shaped trajectories and are also symmetrically distributed on two opposite sides of the first trajectory MN.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The traction robot is used for drawing a material carrier with clamping structures on two opposite sides to move and is characterized by comprising an automatic guided vehicle and a traction device, wherein the traction device is arranged on the automatic guided vehicle;

the first guide piece is arranged on the device main body along a second track, the second guide piece is arranged on the device main body along a third track, and the second track and the third track are arranged on two opposite sides of the first moving piece at intervals and symmetrically;

2. The traction robot as claimed in claim 1, wherein the first movable connector is a first slider slidably connected to the first guide, the second movable connector is a second slider slidably connected to the second guide, an end of the first slider remote from the second slider is the first card insertion portion, and an end of the second slider remote from the first slider is the second card insertion portion;

3. The traction robot as claimed in claim 2, wherein the first track is a straight track, the second track and the third track are symmetrically disposed on opposite sides of the first track, the traction device further comprises a third guide member disposed on the device body and parallel to the first track, and the first moving member is movably engaged with the third guide member.

4. The traction robot as recited in claim 3, wherein there are two of the third guides, and two of the third guides are disposed on opposite sides of the first track.

5. The traction robot as claimed in claim 4, wherein said traction means further comprises two second moving members movably engaged with said two third guide members, respectively, and said two second moving members are further connected to said first moving member, respectively.

6. The traction robot as recited in claim 5, wherein both of the second moving members are integrally formed with the first moving member; and/or the presence of a gas in the gas,

7. The traction robot as claimed in any one of claims 1 to 6, wherein the drive mechanism comprises a motor and a lead screw in transmission connection with the motor, the first moving member being in sliding or rolling connection with the lead screw;

8. The traction robot as claimed in claim 2, wherein the first moving member is reciprocally rotated about a center of the first moving member as a rotation fulcrum, and a portion of the first link connected to the first moving member and a portion of the second link connected to the first moving member are symmetrical with respect to the center.

9. The traction robot as claimed in claim 8, wherein the driving mechanism is rotatably connected to the first moving member at the center to drive the first moving member to reciprocate in a circular arc shape.

10. A pulling device, characterized by comprising a material carrier and a pulling robot according to any one of claims 1 to 9;

11. The towing apparatus defined in claim 10 wherein one of the first mobile plug member and one of the detent structures is provided with a plug slot and the other is provided with a plug body for mating with the plug slot; one of the second moving plug connector and the other clamping structure is provided with the plug-in slot, and the other one is provided with a plug-in body which is in plug-in fit with the plug-in slot.

12. The pulling apparatus as defined in claim 10, wherein each of the detent structures includes two first spaced apart retaining members, the two first retaining members of the same detent structure enclosing the socket.

13. The pulling apparatus as defined in claim 12 wherein, the first stop is a tab fixedly attached to the material carrier or a rotatable member rotatably attached to the material carrier.

14. The traction apparatus as claimed in claim 13, wherein the rotation member is a roller or a wheel or a bearing, and a rotation axis of the rotation member is perpendicular to a card insertion direction of the first card insertion portion or the second card insertion portion.

15. The pulling apparatus as defined in claim 14 wherein, the detent structure further includes a connector member having one end connected to the material carrier and another end connected to the first retaining member.

16. The towing apparatus according to claim 15, wherein each of the locking structures further includes a second limiting member for limiting an insertion depth of the first movable connector or the second movable connector into the insertion slot, the second limiting member is disposed at an end of the insertion slot away from the first movable connector or the second movable connector, and the second limiting member extends from the end of the connecting member to which the first limiting member is connected toward the automated guided vehicle.

17. A pulling device as claimed in any one of claims 10 to 16, wherein the material carrier further comprises a carrier body for carrying material, wheels for moving the carrier body and signal feedback means for detection by the pulling robot; the clamping structure is connected with the material loading main body, the wheels are mounted at the bottom of the material loading main body, and the signal feedback device is mounted on the material loading main body; the traction robot is provided with a detection device which is used for detecting the material carrier to assist the traction robot in positioning the material carrier.