CN112645239B

CN112645239B - Traction type AGV and connection method of traction type AGV and skip

Info

Publication number: CN112645239B
Application number: CN202011443465.6A
Authority: CN
Inventors: 游振宇
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2023-01-31
Anticipated expiration: 2040-12-08
Also published as: CN112645239A

Abstract

The invention discloses a traction type AGV and a connection method of the traction type AGV and a skip car. Compared with the prior art, the two lifting connecting mechanisms on the car body of the traction type AGV are provided with the translation driving assembly, the distance between the two lifting connecting mechanisms can be adjusted through the driving of the translation driving assembly, the connection with the skip cars with different traction connecting distances is realized, the traction connection universality of the AGV and the skip car is high, and the use is convenient.

Description

Traction type AGV and connection method of traction type AGV and skip

Technical Field

The invention belongs to the technical field of AGV, and particularly relates to a traction type AGV and a connection method of the traction type AGV and a skip.

Background

The skip kind in current mill is many, and the interval of tradition towed AGV lift bolt is fixed for the skip of different pinhole intervals of towed AGV can not all adaptation. Different material transportation need customize the AGV of different lifter pin intervals, if make towed AGV pull with the skip that part has pinhole interval deviation and be connected, because lifter pin and skip do not paste tightly, then can lead to the AGV stopping or start skip and lifter pin can produce the collision in the twinkling of an eye, all can produce the loss to AGV and skip.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a traction type AGV capable of being butted with skip cars with different traction connection distances and a connection method of the traction type AGV and the skip cars.

In order to achieve the purpose, the invention adopts the following technical scheme:

towed AGV includes automobile body, lift coupling mechanism and translation drive assembly, lift coupling mechanism is equipped with two to be separated by and arrange on the translation drive assembly, translation drive assembly is used for driving two lift coupling mechanism and is close to or separates to opposite direction to the relative direction, lift coupling mechanism includes lift drive assembly and connecting piece, lift drive assembly is used for the drive the connecting piece rises relatively or descends.

Compared with the prior art, the two lifting connecting mechanisms on the car body of the traction type AGV are provided with the translation driving assembly, the distance between the two lifting connecting mechanisms can be adjusted through the driving of the translation driving assembly, the connection with the skip cars with different traction connecting distances is realized, the traction connection universality of the AGV and the skip car is high, and the use is convenient.

Further, the two lifting connecting mechanisms are arranged along the advancing direction of the vehicle body; through setting up like this, AGV pulls the skip effect more stable.

Furthermore, the translation driving assembly comprises a translation driving device arranged on the vehicle body, a screw rod and two transmission sleeves respectively in threaded fit with the screw rod, the lifting connection mechanisms are respectively arranged on the screw rod through the transmission sleeves, and the translation driving device is in transmission connection with the screw rod; through setting up like this, two lift coupling mechanism's interval adopts lead screw drive's mode adjustment, and it is high to remove the precision.

The lifting connection mechanism is arranged on the slide rail device in a sliding way; through the arrangement, the slide rail device plays a role in guiding the movement of the lifting connecting mechanism, so that the lifting connecting mechanism can move and slide more smoothly.

Furthermore, the lifting driving assembly comprises a lifting motor, a rotary disc, a pulley arranged on the rotary disc, a lifting connecting seat and an elastic reset piece acting on the bottom of the connecting piece, the rotary disc is connected with an output shaft of the lifting motor, the connecting piece is arranged on the lifting connecting seat, the pulley is in mutual contact with the upper end face of the lifting connecting seat, the pulley can slide along the upper end face of the lifting connecting seat, and the lifting connecting seat controls the lifting motion of the connecting piece through the matching of the rotary disc and the elastic reset piece; through setting up like this, lift drive assembly simple structure, drive connecting piece goes up and down effectually.

Furthermore, the lifting connection mechanism also comprises a rack, the lifting driving assembly is arranged on the rack, an assembly hole is formed in the bottom of the connecting piece, the elastic reset piece is a reset spring arranged in the assembly hole, and two ends of the elastic reset piece are respectively abutted against the rack and the bottom of the connecting piece; through setting up like this, elasticity resets simple structure, assembly method compactness.

Furthermore, the lifting connection mechanism further comprises a rack, an upper detector is arranged at the upper limit of the stroke of the rack on the connecting piece, a lower detector is arranged at the lower limit of the stroke of the connecting piece, and the upper detector, the lower detector and the lifting drive assembly are respectively and electrically connected with a control module of the AGV; through setting up like this, the stroke that lifts of effective spacing connecting piece avoids the connecting piece to excessively lift.

Furthermore, the connecting piece is a bolt, and by adopting the structure, the connecting piece is simple in structure and is convenient to be matched with the pin hole of the skip car in an inserting mode.

The method for connecting the traction type AGV and the skip car comprises the following steps:

a. when the traction type AGV receives a command of traction material cars, the traction type AGV moves to the bottom of the material cars and carries out wireless communication with the bottom of the material cars, and obtains the traction connection mode of the material cars and the distance information of the traction connection parts.

And c, when the traction connection mode of the skip car is a pin hole insertion mode, performing steps b1 and b2.

b1. According to the traction connection distance information, two lifting connection mechanisms of the traction type AGV move to the distance matched with the traction connection distance information through the driving of the translation driving assembly.

b2. And the lifting driving components of the two lifting connecting mechanisms respectively drive the connecting pieces to ascend and are inserted into corresponding pin holes of the skip car, so that the connection between the traction type AGV and the skip car is completed.

And c1, when the connection mode of the skip car traction is a stop block connection mode, performing steps c1 and c2.

c1. The lifting driving components of the two lifting connecting mechanisms respectively drive the connecting piece to rise to a preset height.

c2. According to the traction connection distance information, the translation driving assembly drives the two lifting connection mechanisms to move in opposite directions respectively, so that the two connecting pieces are abutted against the opposite inner sides of the two stop blocks of the skip respectively, and the connection of the traction type AGV and the skip is completed.

Compared with the prior art, according to the connection method of the traction type AGV and the skip, after information interaction is carried out between the AGV and the skip, the distance between the two lifting connection mechanisms is adjusted through the driving of the translation driving assembly according to the obtained skip traction connection mode and the traction connection part distance information, connection with the skip with different traction connection distances is achieved, the traction connection universality of the AGV and the skip is high, and the use is convenient.

Drawings

FIG. 1 is a schematic diagram of a towed AGV

FIG. 2 is a schematic view of the lifting connection mechanism

FIG. 3 is a bottom view of the connector

FIG. 4 illustrates the coupling of a traction AGV to a skip having pinholes as traction connections according to a second embodiment

FIG. 5 illustrates the connection of a traction AGV to a skip having stops as the traction link in accordance with the second embodiment

Detailed Description

The first embodiment is as follows:

referring to fig. 1 to 3, the traction AGV of the present invention includes a vehicle body 1, two lifting linkages 2 and a translation driving assembly 3, wherein the two lifting linkages 2 are arranged on the translation driving assembly 3 at intervals, the translation driving assembly 3 is configured to drive the two lifting linkages 2 to approach to each other in opposite directions or separate from each other in opposite directions, and the lifting linkages 2 include a lifting driving assembly and a connecting member 21, and the lifting driving assembly is configured to drive the connecting member 21 to relatively ascend or descend.

Compared with the prior art, the two lifting connecting mechanisms 2 on the vehicle body 1 of the traction type AGV are provided with the translation driving assemblies 3, the distance between the two lifting connecting mechanisms 2 can be adjusted through the driving of the translation driving assemblies 3, the connection with the skip cars 7 with different traction connecting distances is realized, the traction connection universality of the AGV and the skip cars 7 is high, and the use is convenient.

In one embodiment, two lifting connection mechanisms 2 are arranged along the traveling direction of the vehicle body 1; through setting up like this, the AGV pulls skip 7 effect more stable.

Referring to fig. 1 and fig. 2, in an embodiment, the translation driving assembly 3 includes a translation driving device 31, a screw rod 32, and two transmission sleeves (not shown) respectively engaged with the screw rod 32 in a threaded manner, the translation driving device 31 is a motor, the lifting connection mechanisms 2 are respectively symmetrically disposed on the screw rod 32 through the transmission sleeves, the translation driving device 31 is in transmission connection with the screw rod 32, and the translation driving device 31 drives the screw rod 32 to rotate to realize synchronous movement of the lifting connection mechanisms 2 in opposite directions or opposite directions; through the arrangement, the distance between the two lifting connecting mechanisms 2 is adjusted in a screw rod 32 transmission mode, and the moving precision is high.

In a further embodiment, the translation driving device 31 is in transmission connection with the screw rod 32 through a belt transmission mechanism 4, the belt transmission mechanism 4 includes a belt 41, a driving wheel 42 and a driven wheel 43, the driven wheel 43 is in transmission connection with one end of the screw rod 32, an output end of the translation driving device 31 is in transmission connection with the driving wheel 42 through a speed reducer 44, and the belt 41 is respectively wound around the driving wheel 42 and the driven wheel 43; through the arrangement, the transmission output torque of the translation driving device 31 is effectively increased, and the transmission effect of the translation driving device 31 and the screw rod 32 is stable.

In one embodiment, the vehicle further comprises a slide rail device arranged on the vehicle body 1, the slide rail device is arranged along the length direction of the screw rod 32, the lifting connection mechanism 2 is slidably arranged on the slide rail device, specifically, the slide rail device comprises a guide rail 51 and a slide block 52 which are symmetrically arranged on two sides of the screw rod 32, the lifting connection mechanism 2 is arranged on the slide block 52, and the slide block 52 is slidably connected on the guide rail 51; through the arrangement, the slide rail device plays a role in guiding the movement of the lifting connecting mechanism 2, so that the lifting connecting mechanism 2 can move and slide more smoothly.

Referring to fig. 2 and 3, in an embodiment, the lifting driving assembly includes a lifting motor 22, a vertically arranged rotating disc 23, a pulley 24 disposed on the rotating disc 23, a lifting connection seat 25, and an elastic reset member 26 acting on the bottom of the connection member 21, the rotating disc 23 is connected to an output shaft of the lifting motor 22, the connection member 21 is fixedly disposed on the lifting connection seat 25, the lifting connection seat 25 includes a fitting portion 251 and a pressing portion 252 having a height difference with the fitting portion 251, the pulley 24 is in contact with an upper end surface of the pressing portion 252 of the lifting connection seat 25, and the pulley 24 can slide along the upper end surface of the pressing portion 252; when the lifting motor 22 drives the turntable 23 to operate, because the elastic resetting piece 26 is positioned at the bottom of the connecting piece 21 and keeps upward elastic acting force on the connecting piece 21 all the time, the lifting connecting seat 25 can be attached to the pulley 24 and synchronously move in the vertical direction along with the pulley 24, and thus the lifting connecting seat 25 controls the lifting movement of the connecting piece 21 through the matching of the turntable 23 and the elastic resetting piece 26; through the arrangement, the lifting driving assembly is simple in structure, and the lifting effect of the driving connecting piece 21 is good.

In one embodiment, the lifting connection mechanism 2 further includes a frame 27, the lifting driving assembly is disposed on the frame 27, a movable hole 271 for the lifting movement of the connection member 21 is disposed at the top of the frame 27, an assembly hole 211 is disposed at the bottom of the connection member 21, an avoidance hole 272 communicated with the assembly hole 211 is disposed at the bottom of the frame 27, the elastic reset member 26 is a reset spring disposed in the assembly hole 211, and two ends of the elastic reset member 26 respectively abut against the bottoms of the frame 27 and the connection member 21; by means of the arrangement, the elastic resetting piece 26 is simple in structure and compact in assembly mode.

Referring to fig. 2 and 3, in one embodiment, an upper detector 61 is disposed at the upper limit of the stroke of the frame 27 on the connecting member 21, the upper detector 61 is triggered when the connecting member 21 rises to a preset height, a lower detector 62 is disposed at the lower limit of the stroke of the frame 27 on the connecting member 21, the lower detector 62 is triggered when the connecting member 21 falls to the preset height, the upper detector 61, the lower detector 62 and the lifting drive assembly are electrically connected to a control module of the AGV, respectively, and a feedback signal is sent to the control module to control the lifting motor 22 to pause when the upper detector 61 and the lower detector 62 are triggered; through setting up like this, the lift stroke of effective spacing connecting piece 21 avoids connecting piece 21 excessively to lift.

In one embodiment, the connecting member 21 is a plug, and with this structure, the connecting member 21 has a simple structure and is conveniently inserted into and matched with the pin hole 71 of the skip car 7.

Example two:

referring to fig. 1, 4 and 5, the method for connecting a traction AGV to a skip 7 according to the present invention comprises the following steps:

a. when towed AGV received the order of pulling skip 7, towed AGV removed to skip 7 bottom, carries out wireless communication through wireless communication device and skip 7, acquires skip 7 and pulls the connected mode and pull connecting portion interval information, pull the connected mode and include that the connecting portion of skip 7 are two pinhole 71 that are separated by the setting, perhaps the connecting portion of skip 7 are two dog 72 that are separated by the setting, and the corresponding connecting portion interval information that pulls is the interval of two pinhole 71 or the interval of two dog 72.

Referring to fig. 4, when the traction connection mode of the skip car 7 is the pin hole 71 insertion mode, steps b1 and b2 are performed.

b1. According to the traction connection distance information, the two lifting connection mechanisms 2 of the traction type AGV are driven by the translation driving assembly 3 to move to the distance matched with the traction connection distance information.

b2. The lifting driving components of the two lifting connection mechanisms 2 respectively drive the connecting pieces 21 to ascend to be inserted into corresponding pin holes 71 of the skip car 7, and connection between the traction type AGV and the skip car 7 is completed.

Referring to fig. 5, when the connection mode of the skip car 7 is the connection mode of the stopper 72, steps c1 and c2 are performed.

c1. After the translation driving assembly 3 drives the two lifting connection mechanisms 2 to approach to each other in the opposite direction, the lifting driving assemblies of the two lifting connection mechanisms 2 respectively drive the connecting piece 21 to ascend to a preset height.

c2. According to the traction connection distance information, the translation driving assembly 3 respectively drives the two lifting connection mechanisms 2 to move in opposite directions, so that the two connecting pieces 21 respectively abut against the opposite inner sides of the two stop blocks 72 of the skip car 7, and the connection between the traction type AGV and the skip car 7 is completed.

Preferably, the two lifting connecting mechanisms 2 are arranged along the advancing direction of the vehicle body 1, and the two pin holes 71 or the two blocks 72 of the skip car 7 are correspondingly arranged along the advancing direction of the skip car 7.

Compared with the prior art, according to the connection method of the traction type AGV and the skip 7, after information interaction is carried out between the AGV and the skip 7, the distance between the two lifting connection mechanisms 2 is adjusted through the driving of the translation driving assembly 3 according to the obtained traction connection mode and the traction connection part distance information of the skip 7, connection with the skip 7 with different traction connection distances is achieved, the traction connection universality of the AGV and the skip 7 is high, and the use is convenient.

The specific structural implementation of the traction AGV of this embodiment can be referred to as the traction AGV of the first embodiment.

Variations and modifications to the above-described embodiments may occur to those skilled in the art based upon the disclosure and teachings of the above specification. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The traction type AGV is characterized by comprising a vehicle body, two lifting connecting mechanisms and a translation driving assembly, wherein the two lifting connecting mechanisms are arranged on the translation driving assembly at intervals, the translation driving assembly is used for driving the two lifting connecting mechanisms to approach to or separate from each other in opposite directions, the lifting connecting mechanisms comprise a lifting driving assembly and a connecting piece, and the lifting driving assembly is used for driving the connecting piece to relatively ascend or descend;

the lifting driving assembly comprises a lifting motor, a rotary table, a pulley, a lifting connecting seat and an elastic reset piece, wherein the pulley, the lifting connecting seat and the elastic reset piece are arranged on the rotary table, the elastic reset piece is used at the bottom of the connecting piece, the rotary table is connected with an output shaft of the lifting motor, the connecting piece is arranged on the lifting connecting seat, the pulley is in mutual contact with the upper end face of the lifting connecting seat, the pulley can slide on the upper end face of the lifting connecting seat, and the lifting connecting seat is controlled by the cooperation of the rotary table and the elastic reset piece to move up and down through the connecting piece.

2. A towed AGV according to claim 1, wherein said two lifting linkages are arranged in the direction of travel of said vehicle body.

3. Traction type AGV according to claim 1 or 2, characterized in that the translation drive assembly includes a translation drive device, a screw rod and two transmission sleeves, wherein the translation drive device is arranged on the vehicle body, the two transmission sleeves are respectively in threaded fit with the screw rod, the lifting connection mechanism is respectively arranged on the screw rod through the transmission sleeves, and the translation drive device is in transmission connection with the screw rod.

4. The towed AGV of claim 3, further including a slide assembly mounted to the vehicle body, said slide assembly being disposed along the length of said wire, said lifting connection being slidably mounted to the slide assembly.

5. The towed AGV of claim 1 wherein said lifting linkage further includes a frame, said lift drive assembly is disposed on said frame, said attachment member has a bottom opening, said resilient return member is a return spring disposed within said opening, and said resilient return member has two ends that abut against said frame and said attachment member bottom, respectively.

6. The towed AGV of claim 1, wherein said lift interface further includes a rack, said rack having an upper detector positioned at an upper limit of travel of said connector and a lower detector positioned at a lower limit of travel of said connector, said upper detector, said lower detector and said lift drive assembly being electrically connected to a control module of the AGV, respectively.

7. The towed AGV of claim 1, wherein said coupling is a latch.

8. Method for connecting a traction AGV to a skip, characterized in that the traction AGV is according to any of claims 1 to 7, comprising the following steps:

a. when the traction type AGV receives a command of traction of the skip car, the traction type AGV moves to the bottom of the skip car to carry out wireless communication with the skip car, and obtains a skip car traction connection mode and traction connection part interval information;

when the traction connection mode of the skip car is a pin hole insertion mode, performing the steps b1 and b2;

b1. according to the traction connection distance information, two lifting connection mechanisms of the traction type AGV are driven to move to a distance matched with the traction connection distance information through a translation driving assembly;

b2. the lifting driving components of the two lifting connecting mechanisms respectively drive the connecting pieces to ascend and are inserted into corresponding pin holes of the skip car, and the connection of the traction type AGV and the skip car is completed;

when the skip car traction connection mode is a stop block connection mode, performing the steps c1 and c2;

c1. the lifting driving components of the two lifting connecting mechanisms respectively drive the connecting piece to rise to a preset height;

c2. according to the traction connection distance information, the translation driving assembly drives the two lifting connection mechanisms to move in opposite directions respectively, so that the two connecting pieces are abutted to the inner sides of the two stop blocks of the skip car respectively, and the connection between the traction AGV and the skip car is completed.