CN109533679B

CN109533679B - AGV draw gear and AGV dolly

Info

Publication number: CN109533679B
Application number: CN201811466172.2A
Authority: CN
Inventors: 杨建辉; 李杨添; 蔡颖杰
Original assignee: Shenzhen Yeefung Robotics & Dynamics Ltd
Current assignee: Shenzhen Yeefung Robotics & Dynamics Ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2024-03-19
Anticipated expiration: 2038-12-03
Also published as: CN109533679A

Abstract

The invention discloses an AGV traction device and an AGV trolley, which can pull a traction vehicle through traction, and comprise a traction pull anti-falling mechanism, a base and a traction pin which can be matched with the traction pull in a sleeved mode, wherein the traction pull anti-falling mechanism is fixed on the base and comprises an anti-falling piece and an elastic retaining piece which can provide elastic force, the anti-falling piece is movably arranged on the base, and on the movement track of the anti-falling piece, the anti-falling piece is provided with a first position capable of blocking the traction pull and a second position capable of avoiding the traction pull, and the elastic retaining piece is connected with the anti-falling piece and can enable the anti-falling piece to be kept at the first position. When AGV dolly or skip vibrations, owing to the blocking effect of anticreep spare, can prevent to pull the trailer and break away from the towing pin to can guarantee that the AGV dolly effectively pulls the skip.

Description

AGV draw gear and AGV dolly

Technical Field

The invention relates to the field of transport machinery, in particular to an AGV traction device capable of towing a skip car.

Background

An AGV (Automated Guided Vehicle, abbreviated as AGV), which is also commonly referred to as an AGV carriage, is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, and having safety protection and various transfer functions. AGV dolly is used for carrying the skip of goods through pulling the trailer connection, but this kind of connected mode has following shortcoming: when the AGV trolley or the skip shakes greatly, the traction trailer can be separated, so that the AGV trolley and the skip are separated.

Disclosure of Invention

The invention provides a novel AGV traction device and an AGV trolley.

The invention provides an AGV traction device, which can pull a traction skip through traction, and comprises a traction pull anti-falling mechanism, a base and a traction pin which can be matched with the traction pull in a sleeved mode, wherein the traction pin is fixed on the base, the traction pull anti-falling mechanism comprises an anti-falling piece and an elastic retaining piece which can provide elastic force, the anti-falling piece is movably arranged on the base, and on the movement track of the anti-falling piece, the anti-falling piece is provided with a first position capable of blocking the traction pull and a second position capable of avoiding the traction pull, and the elastic retaining piece is connected with the anti-falling piece and can enable the anti-falling piece to be kept at the first position.

The mode that anticreep piece activity set up in the base can have two kinds: a mobile setting and a rotational setting. If the anti-falling piece can move between a first position and a second position relative to the base, the anti-falling piece is positioned at the first position in a normal state; when moving to the second position, the anti-falling piece can avoid the traction trailer. If the anti-falling piece can rotate between a first position and a second position relative to the base, the anti-falling piece is positioned at the first position in a normal state; when the anti-falling piece rotates to the second position, the anti-falling piece can avoid traction and pulling. The elastic retaining member can provide elastic force which can enable the anti-falling member to be kept at the first position and also enable the anti-falling member to be automatically reset to the first position from the second position. In the forward direction of the AGV trolley, the anti-slip member may be located in front of a traction pin located in front of the skip.

The traction pulling anti-disengaging mechanism comprises a shaft seat and a supporting shaft, wherein the shaft seat is fixed with the base, the supporting shaft is horizontally arranged and is in running fit with the shaft seat, the middle part of the anti-disengaging piece is fixed with the supporting shaft, the elastic retaining piece is a spring, the upper end of the spring is connected with the upper part of the anti-disengaging piece, and the lower end of the spring is connected with the shaft seat. In the first position, the lower portion of the anti-drop member can block the traction hitch. The upper end of the spring may be located above the support shaft, and the lower end of the spring may be located below the support shaft.

The traction pulling anti-disengaging mechanism further comprises a pulling piece for external force operation, and the pulling piece is fixed on the supporting shaft. When the external force is operated, the elastic force of the elastic retaining piece is overcome, so that the anti-falling piece can move from the first position to the second position; after the external force is withdrawn, the anti-falling piece can automatically reset to the first position.

The base is in sliding fit with a horizontally arranged track, the track is arranged on the base, the base is provided with a buffer cavity, the buffer cavity is provided with a first cavity wall and a second cavity wall which are opposite to each other in the advancing direction of the AGV trolley, the base is arranged in the buffer cavity and is located between the first cavity wall and the second cavity wall, and a first buffer part capable of absorbing inertial impact force of the skip is arranged between the first cavity wall and the base. When the AGV car suddenly stops or suddenly decelerates, the car continues to advance under the inertia effect, and the inertia impact force of the car can be absorbed through the first buffer piece.

The first cushioning member is a spring or a damper. Such as a compression spring or an extension spring. Such as a liquid damper, a nitrogen damper, a spring damper, or the like.

A second buffer piece with elasticity is arranged between the second cavity wall and the base. Such as an elastic buffer sleeve.

The track is first guiding axle, first guiding axle level set up and with the base is fixed, still be fixed with in the base with the second guiding axle of first guiding axle parallel, the base with first guiding axle cup joints, first bolster is the spring, the spring with the second guiding axle cup joints, the front end of spring with first chamber wall is connected, the rear end of spring with the pedestal connection. The first guide shaft and the second guide shaft may be both disposed in the buffer chamber of the base. The first buffer member and the second buffer member may be disposed in the buffer cavity of the base.

The utility model provides an AGV dolly, can pull the skip that bears the weight of goods, include the automobile body with AGV draw gear, AGV draw gear is fixed in the rear portion of automobile body. The rear portion of the vehicle body is adjacent to the skip car.

The AGV traction device can be used as an independent module and is arranged at the rear part of the AGV trolley body; the AGV traction device may also be an integral part of the AGV cart.

The AGV dolly, still include can with the traction trailer that the skip is connected, the front end of traction trailer with AGV draw gear's towing pin cup joints the cooperation.

The beneficial effects of the invention are as follows: when the AGV trolley or the skip shakes, the pulling and pulling can be prevented from being separated from the traction pin due to the blocking effect of the anti-falling piece, so that the AGV trolley can be ensured to effectively pull the skip.

Drawings

FIG. 1 is an exploded perspective view of the AGV traction device of the present embodiment;

FIGS. 2 and 3 are perspective views of two views of the AGV traction device of the present embodiment;

FIG. 4 is a side view of the AGV traction device of the present embodiment;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a perspective view of the AGV of the present embodiment;

fig. 7 is a cross-sectional view of the AGV cart according to the present embodiment.

Detailed Description

The invention will be described in further detail below with reference to the drawings by means of specific embodiments.

As shown in fig. 1-7, one embodiment of an AGV traction device. The AGV traction device 4 is arranged at the rear part 31 of the AGV trolley body, and the AGV trolley can drag a skip carrying goods through the traction trailer 6. The AGV traction device 4 comprises a base 8, a traction pin 5 and a traction pulling anti-falling mechanism 7. The base 8 is mounted to the rear 31 of the AGV car body. The towing pin 5 is arranged upright and fixed to the base 8, which can be in a socket fit with the front end 61 of the towing hitch 6. The traction hitch anti-disengaging mechanism 7 can prevent the traction hitch 6 from being disengaged upward from the traction pin 5 during transportation, and includes an anti-disengaging member 74 and an elastic retainer 71. The retaining member 74 is movably provided on the base 8 so as to be movable with respect to the base 8, and the elastic holding member 71 is connected to the retaining member 74. The drop-off preventing member 74 has a first position capable of blocking the traction hitch front end 61 and a second position capable of avoiding the traction hitch front end 61 on the movement locus thereof. Normally, the anti-drop member 74 is held in the first position by the elastic force of the elastic holding member 71, and at this time, the anti-drop member 74 is located above the traction hitch front end 61 adjacent to the traction pin 5. The elastic force of the elastic holding member 71 can be overcome by the external force, so that the anti-falling member 74 can move to the second position, and at this time, the front end of the traction hitch can be sleeved on the traction pin downwards or separated from the traction pin upwards. When the external force is removed, the anti-falling member 74 can be automatically returned to the first position by the elastic force of the elastic holding member.

In the process that the AGV trolley pulls the skip, the anti-falling piece 74 is kept at the first position by elastic force, when the AGV trolley suddenly stops or suddenly decelerates or the skip shakes, the traction trailer front end 61 is vibrated to move upwards, but the front end 61 cannot be separated from the traction pin 5 due to the blocking effect of the anti-falling piece 74, so that the AGV trolley can be guaranteed to effectively pull the skip.

For a traction hitch anti-slip mechanism, the anti-slip member 74 can rotate relative to the base 8. Specifically, the traction pulling anti-drop mechanism further comprises a shaft seat 72 and a supporting shaft 73, the shaft seat 72 is vertically arranged and fixed with the base 8, the supporting shaft 73 is horizontally arranged and is in running fit with the shaft seat 72, and the middle part of the anti-drop piece 74 is fixed with the supporting shaft 73. The elastic holder 71 may be a spring, and an upper end of the elastic holder 71 is connected to an upper connection post 76 of an upper portion of the escape prevention member 74, and a lower end of the elastic holder 71 is connected to a lower connection post 77 of the base 8. The upper connection post 76 may be located above the support shaft 73, and the lower connection post 77 may be located below the support shaft 73. The lower portion of the drop-out prevention member 74 can function to block the traction hitch 6. The pulling and pulling anti-falling mechanism may further include a pulling member 75, where the pulling member 75 is fixed to one end of the supporting shaft 73, and when the pulling member 75 is operated by an external force, the external force can overcome the elastic force of the elastic retaining member 71, and drive the supporting shaft 73 and the anti-falling member 74 to rotate together, so that the anti-falling member 74 can rotate from the first position where the pulling and pulling member 6 is blocked to the second position where the pulling and pulling member is avoided.

As shown in fig. 1-7, the AGV traction device may also have a buffering function. The AGV traction device also includes a base 41, a track 44, a first buffer 43 and a second buffer 42.

The base 41 is fixed to the rear portion 31 of the AGV body. The base 41 has a buffer chamber 46, and the buffer chamber 46 has opposite first and second chamber walls 461, 462 in the forward direction of the AGV carriage, the first chamber wall 461 may be located in front of the second chamber wall 462. The rail 44 is disposed horizontally and within the buffer chamber 46, and the base 8 is slidably engaged with the rail 44 and is positioned between the first chamber wall 461 and the second chamber wall 462. The first buffer 43 is provided between the base 8 and the first chamber wall 461. The second buffer 42 is provided between the base 8 and the second chamber wall 462.

When the AGV trolley is stopped rapidly, as the speed of the skip is higher than that of the AGV trolley, the traction trailer 6 fixed with the skip pushes the traction pin 5 to slide relatively to the advancing direction of the AGV trolley, and the base 8 compresses the first buffer part 43 in a certain range while sliding; when the AGV car is completely stopped, the traction trailer 6 presses the traction pin 5, and the first buffer member 43 is pressed on the first cavity wall 461 of the base by the base 8; when the AGV trolley is restarted, the traction trailer 6 releases the traction pin 5 and the base 8 also releases the first buffer 43 because the skip speed is slower than the AGV trolley speed; until the base 8 presses the second cushioning member 42 against the second cavity wall 462 of the base, the traction device returns to its original state.

For the first cushioning member, it may be a spring; for the second cushioning member, it may be a rubber cushioning sleeve; the front end of the spring is connected to the first cavity wall 461 of the base, and the rear end of the spring is connected to the stopper 81 at the bottom of the base 8. Specifically, the AGV traction device may include two first guide shafts serving as rails, the first guide shafts are installed in the buffer cavity 46 of the base and fixed by using the gaskets and the screws 47, the base 8 is sleeved with the two first guide shafts, and the two rubber buffer sleeves are sleeved with the two first guide shafts respectively. The second guide shaft 45 is fixed in a buffer cavity 46 of the base and fixed by a gasket and a screw 47, and a spring serving as a first buffer member is sleeved and matched with the second guide shaft 45. The second guide shaft may be parallel to the first guide shaft, and the second guide shaft may be located below the first guide shaft.

The AGV car may have a body 3, a drive wheel 2, and an auxiliary wheel 1. The auxiliary wheel 1 is fixed at the bottom of the vehicle body through screws, and the driving wheel 2 is fixed in the vehicle body through screws. The base 41 of the traction device is fixed to the rear body 31 by screws. The towing pin 5 is fastened to the base 8 of the towing arrangement by means of screws. The traction pulling anti-falling mechanism 7 of the AGV traction device is fixed on the base 8 through screws. The traction trailer 6 is sleeved on the traction pin 5 through a round hole and is supported by a base 8 of the traction device.

To AGV draw gear, it has the fixed towing pin that sets up to can embed the installed cushioning piece that plays the cushioning effect, when the AGV dolly parks suddenly or when slowing down, the inertia impact force that produces by the skip when this cushioning piece absorbs the AGV dolly and stops fast, thereby can prevent that AGV dolly automobile body from shaking by a wide margin or overturning, avoid the big impact force that produces the drive wheel because of automobile body shake or overturning, and then avoid leading to the drive wheel to accelerate to damage etc.. The cushioning member may be a compression spring, an extension spring, a damper, or the like.

The foregoing is a further detailed description of the invention in connection with specific embodiments, and it is not intended that the invention be limited to such description. It will be apparent to those skilled in the art that several simple deductions or substitutions can be made without departing from the spirit of the invention.

Claims

1. An AGV traction device capable of pulling a skip car through traction, which is characterized by comprising a traction pulling anti-falling mechanism, a base and a traction pin capable of being matched with the traction pulling in a sleeved mode, wherein the traction pin is fixed on the base, the traction pulling anti-falling mechanism comprises an anti-falling piece and an elastic retaining piece capable of providing elastic force, the anti-falling piece is movably arranged on the base, the anti-falling piece is provided with a first position capable of blocking the traction and the second position capable of avoiding the traction and the traction, and the elastic retaining piece is connected with the anti-falling piece and can enable the anti-falling piece to be kept at the first position.

2. The AGV traction apparatus as set forth in claim 1 wherein said traction hitch further comprises an axle seat and a support axle, said axle seat being fixed to said base, said support axle being horizontally disposed and being in rotational engagement with said axle seat, said anti-slip member being secured to said support axle at a central portion thereof, said resilient retaining member being a spring, an upper end of said spring being connected to an upper portion of said anti-slip member, and a lower end of said spring being connected to said axle seat.

3. The AGV traction device as set forth in claim 2 wherein said traction hitch further comprises a trigger for external force operation, said trigger being secured to said support shaft.

4. The AGV traction device as set forth in claim 1 wherein said base is in sliding engagement with a horizontally disposed track, said track being provided on said base, said base having a buffer chamber having opposed first and second chamber walls in a forward direction of the AGV carriage, said base being provided in said buffer chamber between said first and second chamber walls, and a first buffer member capable of absorbing inertial impact forces of the carriage being provided between said first and base.

5. The AGV traction device of claim 4 wherein said first bumper is a damper.

6. The AGV traction device of claim 4 wherein a second resilient buffer is provided between the second chamber wall and the base.

7. The AGV traction device according to claim 6 wherein the second buffer is an elastic buffer sleeve.

8. The AGV traction device according to claim 6 wherein the track is a first guide shaft horizontally disposed and fixed to the base, a second guide shaft parallel to the first guide shaft is also fixed to the base, the base is sleeved with the first guide shaft, the first buffer is a spring, the spring is sleeved with the second guide shaft, the front end of the spring is connected to the first cavity wall, and the rear end of the spring is connected to the base.

9. An AGV trolley capable of towing a skip carrying cargo, comprising a vehicle body, characterized by further comprising an AGV traction device according to any one of claims 1-8, said AGV traction device being provided at the rear of said vehicle body.

10. The AGV cart of claim 9 further comprising a traction hitch connectable to said carriage, a front end of said traction hitch being in telescoping engagement with a traction pin of said AGV traction device.