CN210707382U - Rail train bogie traction AGV - Google Patents

Abstract

The utility model discloses a rail train bogie pulls AGV, including frame, dispatch system, navigation, control system, 4 at least drive wheels, 2 at least retractable wheel subassemblies and 2 at least proximity switches, the frame is the shape of a hoof structure to span 2 rails, the drive wheel symmetry is installed on the frame, and lie in the outside of 2 rails, 2 at least retractable wheel subassemblies and proximity switch symmetry respectively set up in the inboard of frame; when the bogie is towed, the telescopic wheels of the telescopic wheel assembly extend out to limit the bogie wheel pair in the frame, and the telescopic wheels are abutted against the periphery of the bogie wheel pair and are positioned obliquely below the bogie wheel pair; after the bogie is drawn to a target area, the telescopic wheels retract, the AGV is separated from the bogie, and the AGV returns to a standby position. Above-mentioned AGV can travel to the bogie position by oneself to pull bogie to target area, practiced thrift the manual work, improved efficiency, had very high practicality.

Description

Rail train bogie traction AGV

Technical Field

The utility model relates to a rail transit vehicle overhauls device field, in particular to rail train bogie pulls AGV.

Background

In the maintenance process of the railway train bogie, the bogie needs to sequentially enter different maintenance points to complete maintenance work, for example, the bogie enters a maintenance point for detaching a motor to perform the work of detaching the motor, then the bogie runs to the next maintenance point to be cleaned and dried, and the bogie enters a part detachment maintenance point after the completion.

In the process of overhauling the bogie, a car lifting jack is required to lift the train to be separated from the bogie, 4-5 overhauling workers need to bend down to enter the lower part of the train after the separated bogie, and the bogie is manually pushed to a certain overhauling point; or the maintenance worker pushes the bogie out and then uses the heavy tractor to pull the bogie to a certain maintenance point. In the whole maintenance process, the bogie is moved by manpower pushing or a heavy tractor. Manual control is needed for both manual pushing and heavy tractor traction, and the operation is complicated; the heavy tractor is inconvenient to move, low in efficiency and capable of occupying a large space.

SUMMERY OF THE UTILITY MODEL

To the technical problem, the utility model provides a small, light in weight, need less traction force just can pull the bogie motion, the material resources of using manpower sparingly simultaneously, the rail train bogie that maintenance efficiency is high pulls AGV.

In order to solve the technical problem, the utility model discloses the technical scheme who takes is: the rail train bogie traction AGV comprises a frame, a navigation system, a control system, at least 4 driving wheels, at least 2 telescopic wheel assemblies and at least 2 proximity switches, wherein the proximity switches are used for detecting the relative positions of bogie wheel pairs, the frame is of a horseshoe-shaped structure and spans 2 rails, the driving wheels are symmetrically installed on the frame and are positioned on the outer sides of the 2 rails, and the at least 2 telescopic wheel assemblies and the proximity switches are respectively symmetrically arranged on the inner sides of the frame; when the bogie is towed, the telescopic wheels of the telescopic wheel assembly extend out, the bogie wheel pair is limited in the frame, and the telescopic wheels are abutted against the opposite sides of the bogie wheels; after the bogie is drawn to a target area, the retractable wheels retract, the AGV is separated from the bogie, and the AGV returns to a standby position.

The utility model provides a frame is horseshoe structure, whole frame spanes 2 rails, its width is greater than the width of bogie, 4 at least drive wheel symmetries are installed on the frame, and lie in the outside of 2 rail, 2 at least retractable wheel subassemblies and 2 at least proximity switches respectively the symmetry install the inboard at the frame, when drawing the bogie, the open end of AGV frame moves towards the bogie on the rail, proximity switch detects the bogie wheel pair, accomodate the bogie wheel pair in the frame after, the frame stops to the bogie motion, the retractable wheel of retractable wheel subassembly stretches out, it is within the scope of frame breach to restrict the bogie wheel pair, the retractable wheel offsets with the bogie wheel pair, and lie in bogie wheel pair oblique below; after the bogie is drawn to a target area, the telescopic wheels retract into the frame, and the AGV is separated from the bogie and returns to a standby position. Above-mentioned rail train bogie pulls AGV can be based on predetermineeing the route and travel to the bogie position by oneself, prescribes the limit to the frame within range with the bogie wheel pair, and AGV highly is less than the diameter of wheel pair for the AGV automobile body is less, can enter into the train below smoothly and pull the bogie, has practiced thrift the manual work, has very high practicality.

The method for controlling the AGV traction by the rail train bogie further comprises the following steps:

receiving a scheduling instruction sent by a scheduling system, and driving from a standby position to a bogie position along a preset path;

extending telescopic wheels, limiting the bogie wheel pairs in the frame, and enabling the telescopic wheels to abut against the periphery of the bogie wheel pairs until the bogie is drawn to a target area;

retracting the retractable wheels, separating from the bogie, and returning to the standby position.

The utility model provides a dispatching instruction of dispatch system can be received to the AGV, follows the position that predetermines the route and travel the bogie, and the opening of frame moves towards the bogie, until taking in the frame with the bogie wheel pair, stretches out the expansion pulley, inject the bogie wheel pair in the frame, pull bogie to target area, the expansion pulley withdrawal, AGV and bogie separation to return standby position. According to the control method for the AGV traction by the rail train bogie, the AGV can automatically run to the position of the bogie and automatically traction the bogie to the target area, a large amount of labor is saved, the whole process is safe and reliable, and the method has high practicability.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

FIG. 1 is a schematic diagram of an embodiment of a rail train truck-guided AGV according to the present invention;

FIG. 2 is a side view of the rail train truck of FIG. 1 pulling the AGV;

FIG. 3 is a schematic illustration of the rail train truck of FIG. 1 towing an AGV towing a truck;

FIG. 4 is a partial cross-sectional view of the rail train truck-towing AGV traction steering of FIG. 3;

FIG. 5 is a graph of force analysis of the rail train bogie of FIG. 3 as it pulls the AGV from the traction bogie;

FIG. 6 is a schematic view of the telescoping wheel assembly of FIG. 1;

FIG. 7 is a schematic diagram of another embodiment of a rail train truck-guided AGV according to the present invention;

FIG. 8 is a schematic illustration of the rail train bogie of FIG. 7 towing an AGV towing a bogie;

FIG. 9 is a schematic flow chart diagram of a rail train truck traction AGV control method;

fig. 10 is a schematic flow chart of the extension wheel when extended.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1 to 6, the utility model provides a rail train bogie traction AGV, including frame 1, navigation system, control system, at least 4 drive wheels 5, at least 2 retractable wheel subassemblies 3 and at least 2 proximity switches 2 that are used for detecting bogie wheel pair 14 relative position, frame 1 is horseshoe-shaped structure, and span 2 rails, drive wheels 5 are symmetrically installed on frame 1, and lie in the outside of 2 rails, at least 2 retractable wheel subassemblies 3 and proximity switches 2 respectively symmetrically set up in the inboard of frame 1; when the bogie is towed, the telescopic wheels 301 of the telescopic wheel assembly 3 extend out, the bogie wheel set 14 is limited in the frame 1, and the telescopic wheels 301 are abutted against the peripheral sides of the bogie wheel set 14; after the truck is towed to the target area, the retractable wheels 301 retract, the AGV is separated from the truck, and returns to the standby position.

The utility model discloses AGV does not need the civil engineering, directly realizes along the track through the vision navigation technique and pulls the bogie, and the common drive bogie wheel pair 14 through the traction force of expansion pulley 301 and AGV self rotates, and traction force of AGV self has been saved to frictional force, and very little very light that AGV can design just can pull the bogie motion, has still saved manpower and materials simultaneously, has improved whole maintenance efficiency.

The control system is a universal device and comprises an upper computer, a wireless transmission system, a dispatching system and the like, and is used for controlling the rotation, the steering and other operations of the driving wheels 5 to realize the actions of the AGV such as steering and movement. The control system is also used for receiving a signal fed back by the proximity switch 2, judging whether the retractable wheel 301 is positioned at a proper position in the frame 1 or not and further controlling the retractable wheel 301 to extend out; after the traction bogie reaches the target position, the retractable wheels 301 are controlled to retract, and the AGV is guided to return to the standby position for charging. The dispatching system is located in the upper computer and sends commands to the AGV through the wireless transmission system to calculate and control the transfer tasks of the AGV. The scheduling system is used for distributing tasks to one or more AGVs, presetting routes and inquiring historical tasks. The scheduling system can be used for multi-user login and can also issue tasks through the mobile terminal.

The driving wheel 5 is an AGV general mechanism, and comprises a speed reducer, a brake, a servo motor and the like, and is used for driving the driving wheel 5 to rotate, brake and the like according to instructions of a dispatching system.

The AGV selects the rechargeable power supply for driving, the rechargeable power supply needs to be charged, the waiting position of the AGV is provided with the charging base, and the charging operation can be carried out on the rechargeable power supply after the AGV returns to the waiting position. Furthermore, a wireless charging mode can be selected, and the charging power supply can be charged only by reaching a preset range. In order to better facilitate the AGV to work, a display screen 9, an indicator light 11, a loudspeaker 12, a radiator 10, an emergency stop button 8 and the like are further arranged on the frame 1, and the display screen 9 can display a currently executed scheduling instruction; the indicating lamp 11 can indicate the working state of the current AGV and can also remind the electric quantity; the loudspeaker 12 can prompt staff along the rail to avoid an AGV in the process of moving; the radiator 10 can radiate heat to reduce the working temperature of the AGV; the scram button 8 may be used to manually control the AGV scram when a dangerous condition is imminent.

The wireless transmission system is used for the upper computer to send information to the AGV and the AGV to send information to the upper computer, and adopts a bidirectional transmission mode. The optional wireless transmission system is technologies such as wifi, Bluetooth, 4g and 5 g.

The navigation system can be a geomagnetic navigation system, a laser navigation system, an RFID positioning navigation system, a photoelectric navigation system, an electromagnetic navigation system, an optical navigation system, an inertial navigation system, an image recognition navigation system (two-dimensional code or other pattern recognition), a radio frequency navigation system or a wifi, 4g, 5g and other navigation system, and is preferably a machine vision navigation system. The visual navigation module 13 is provided with two modules, each module comprises two cameras and a controller, and the visual navigation module 13 is positioned at one end, far away from the opening, of the frame 1, positioned at the inner side and the outer side of the frame 1 respectively and facing to the front or the rear of the rail. Because the environment of maintenance point is clean and tidy relatively, and has laid the track between each maintenance point, bogie wheel pair 14 can not break away from orbital motion, so navigation cost low accuracy based on vision is high, and need not the civil engineering, need not to reform transform current maintenance environment. The existing track is used as an identification object, visual navigation is realized by adopting an optical flow method, the traveling distance of the AGV and the current pose of the AGV are calculated by a visual odometer, positioning is realized by combining the position of the track on site, and the position of a maintenance point can be further determined. Visual odometry refers to a detection means for determining the position and attitude of a robot by analyzing and processing a sequence of related images. The more accurate positioning can be realized by combining stereo vision with opencv3.0 library, but is not limited to the realization method.

Further, AGV still includes keeps away the barrier system, keeps away the barrier system and includes laser radar 6 and baroceptor, and laser radar 6 arranges the dead ahead of whole frame 1 in, whether there is the barrier on can adopting the TIM320 laser scanner of mock to detect AGV advancing direction, and when detecting the barrier, AGV stops advancing, continues to advance again after waiting for the barrier to remove. An air pipe type air pressure sensor is arranged along the edge below the whole frame 1 and used for assisting in detecting blind areas which cannot be detected by the laser radar 6. The principle is that when the obstacle touches the AGV, the air pressure sensor changes, a detection signal is sent to the upper computer in real time, and the upper computer controls whether to stop the movement of the AGV until the obstacle is cleared.

Furthermore, the track steering wheel is arranged on the actual maintenance track and can be controlled manually, and the better method is to control the track steering wheel to be connected into a dispatching system of an upper computer, directly control the rotation angle of the track steering wheel in the process of controlling a path, realize automatic control and save manpower to the maximum extent.

As shown in fig. 6, the retractable wheel assembly 3 further includes a retractable device 302, a fixed frame 303, at least 2 sliding rails 304, and sliding blocks 305 with the same number as the sliding rails 304, two ends of the retractable device 302 are respectively fixedly connected with one ends of the retractable wheel 301 and the fixed frame 303, the other end of the fixed frame 303 is fixedly mounted in the frame 1, the other end of the retractable wheel 301 extends in a direction away from the retractable device 302, central axes of the retractable wheel 301 and the retractable device 302 are perpendicular to a vertical plane where the steel rail is located, the sliding blocks 305 are fixedly mounted in the frame 1, and the sliding rails 304 are symmetrically and fixedly mounted on the retractable device 302 along the extending direction of the retractable device 302 and are slidably mounted in the sliding blocks. The pneumatic cylinder or telescopic cylinder can be selected to telescoping device 302, the detachable fixed mounting in frame 1 of one end of telescoping device 302, the one end fixed mounting of retractable wheel 301 is at the other end of telescoping device 302, the end that stretches out of telescoping device 302 stretches out, drive telescoping device 302 and retractable wheel 301 along slider 305 to the direction motion of keeping away from mount 303, the through-hole on the frame 1 is worn out to retractable wheel 301, inject bogie wheel pair 14 in the region of frame 1, the side offsets in all of retractable wheel 301 and bogie wheel pair 14. Because the telescopic wheel assemblies 3 are arranged on two sides in the frame 1, after the telescopic wheels 301 are extended out, the limitation of two bogie wheel pairs 14 is realized, and the bogie can be stably pulled to move.

Further, the retractable wheel assembly 3 further comprises a U-shaped fixing member 306, the retractable device 302 is fixedly installed in the U-shaped fixing member 306, and at least 2 sliding rails are detachably and symmetrically installed on the U-shaped fixing member 306. The U-shaped fixing member 306 facilitates the installation and fixation of the telescopic device 302, and also facilitates the maintenance and replacement of the telescopic device 302.

As an embodiment, the retractable wheel 301 comprises a fixed shaft with one end fixed vertically to the other end of the retractable device, and a driven wheel mounted on the fixed shaft through a bearing, the retractable wheel 301 in the retracted state being located inside the frame 1. Furthermore, install the axle sleeve on the driven wheel, the axle sleeve is plain noodles metallic structure, can effectually prevent the wearing and tearing to the axle sleeve, has improved the life of retractable wheel 301. The forces exerted during the wheelset movement are shown in fig. 5, and the gravity of the bogie wheelset 14 gives the retractable wheels 301 a component force Fy with a downward value and a horizontal separation Fx, which increases the friction between the driving wheels 5 and the rail-bound ground 15 and the traction force in the horizontal direction, so that the traction AGV itself can drive the bogie wheelset 14 to rotate without providing a very large driving force. At this time, the retractable wheels 301 rotate in the opposite direction with respect to the bogie pair 14 to reduce the friction between the bogie pair 14 and the retractable wheels 301.

As an implementation mode, the number of the telescopic wheel assemblies 3 is 4, the 4 telescopic wheel assemblies 3 are in the same plane and are equally divided into 2 groups, the telescopic wheel assemblies 3 in the same group are symmetrically installed on the frame 1, and the 2 groups of telescopic wheel assemblies 3 are respectively located at one end, close to the opening, of the frame 1 and at one end, far away from the opening, of the frame 1. The distance between two adjacent telescopic wheel assemblies 3 in different groups is smaller than the diameter of the bogie wheel pair 14, the distance between the axis of the telescopic wheel 301 and the ground is smaller than the radius of the bogie wheel pair 14, so that when the bogie wheel pair 14 is stored in the frame 1, the telescopic wheel pairs are located between the adjacent telescopic wheels 301, and 2 bogie wheel pairs 14 can only be abutted against the telescopic wheels 301 in the same group.

Furthermore, the number of the proximity switches 2 is 4, and the proximity switches are respectively positioned right above the corresponding telescopic wheel assemblies 3. When bogie wheel pair 14 enters into frame 1, the proximity switch 2 that is located the frame 1 outside detects bogie wheel pair 14 signal earlier, the AGV continues to move to the bogie direction, until the proximity switch 2 in the outside can't detect bogie wheel pair 14 signal, and the proximity switch 2 that is located the inboard also can't connect and detect bogie wheel pair 14 signal, at this moment, control AGV stop motion, 4 telescopic wheel 3's telescopic pulley 301 all stretches out, inject bogie wheel pair 14 between the telescopic pulley 301 of different intergroups.

Furthermore, 2 retractable wheels 301 that are located frame 1 and are close to the opening side adopt the form of retractable wheel subassembly 3, keep away from 2 retractable wheels 301 on the opening side and adopt fixed form, be in the state of stretching out for a long time, adopt above form, only need in the position installation of the retractable wheel 301 on opening side 2 or 1 proximity switch 2 can, reduced the cost of production to a certain extent, also reduced the complexity of signal detection and judgement.

As an implementation mode, the telescopic wheel assembly further comprises at least 2 auxiliary guide wheels 4, wherein the at least 2 auxiliary guide wheels 4 are symmetrically arranged on the lower surface of the frame 1 and are positioned in the middle of the adjacent 2 telescopic wheel assemblies 3 on the same side; when the traction bogie moves, the 2 auxiliary guide wheels 4 respectively abut against the outer side walls of the corresponding bogie wheel pairs 14 and rotate along with the bogie wheel pairs 14. The arrangement of the auxiliary guide wheels 4 ensures the stability of the relative position of the AGV when the traction bogie moves, and ensures the traction effect. When the bogie wheel pair 14 enters the frame 1 and abuts against the auxiliary guide wheels 4, the bogie wheel pair 14 can be well guided.

In one embodiment, the inner wall of the frame 1 near the opening is inclined toward the outer wall to form a curved guide surface. The setting of direction curved surface has played the effect of direction, has made things convenient for AGV to accomodate the bogie in frame 1.

As an implementation mode, the AGV further includes 2 sliding spacers 7, and the 2 sliding spacers 7 are detachably buckled on the corresponding guiding curved surfaces respectively and wrap the guiding curved surfaces. The setting of sliding gasket 7 can effectively prevent the colliding with of bogie wheel pair 14, and preferred material is nylon, can provide glossy surface for AGV can be smooth accomodate bogie wheel pair 14 in frame 1's region.

As shown in fig. 7 and 8, the configuration of another embodiment of the AGV with a rail-train bogie traction according to the present invention is the same as that of the AGV with a rail-train bogie traction according to the corresponding embodiment of fig. 1. The frame 1 in this embodiment selects an inverted U-shaped structure or a portal structure, the mounting tables are respectively installed on two sides of the bottom of the frame 1, the retractable wheel assemblies 3 and the proximity switches 2 are respectively symmetrically installed on the corresponding mounting tables, and at least 4 driving wheels 5 and auxiliary guide wheels 4 are also symmetrically installed on the corresponding mounting tables. The inside of the both sides of mount table all is provided with the direction curved surface, all installs sliding gasket 7 on the direction curved surface. A display screen 9, an indicator light 11, a loudspeaker 12, a radiator 10, an emergency stop button 8 and the like are respectively installed at corresponding positions on the frame 1.

The utility model provides a frame is horseshoe structure, whole frame spanes a rail, its width is greater than the width of bogie, 4 at least drive wheel symmetries are installed on the frame, and lie in the outside of 2 rail, 2 at least retractable wheel subassemblies and 2 at least proximity switches respectively the symmetry install the inboard at the frame, when drawing the bogie, the open end of AGV frame moves towards the bogie on the rail, proximity switch detects the bogie wheel pair, accomodate the bogie wheel pair in the frame after, the frame stops to the bogie motion, the retractable wheel of retractable wheel subassembly stretches out, it limits the bogie wheel pair in the scope of frame breach, the retractable wheel offsets with the bogie wheel pair, and lie in bogie wheel pair oblique below; after the bogie is drawn to a target area, the telescopic wheels retract into the frame, and the AGV is separated from the bogie and returns to a standby position. Above-mentioned rail train bogie pulls AGV can be based on predetermineeing the route and travel to the bogie position by oneself, prescribes the limit to the frame within range with the bogie wheel pair, and AGV highly is less than the diameter of wheel pair for the AGV automobile body is less, can enter into the train below smoothly and pull the bogie, has practiced thrift the manual work, has very high practicality.

As shown in fig. 9, the utility model also provides a control method that rail train bogie pulls AGV, including the following steps:

receiving a scheduling instruction sent by a scheduling system, and driving from a standby position to a bogie position along a preset path;

extending the telescopic wheels, limiting the bogie wheel pairs in the frame, and enabling the telescopic wheels to abut against the periphery of the bogie wheel pairs until the bogie is drawn to a target area;

retracting the retractable wheels, separating from the bogie, and returning to the standby position.

As shown in fig. 10, before extending the retractable wheels to define the bogie wheel pairs within the frame, the method further comprises the steps of:

the open end of the AGV faces the bogie and moves towards the bogie;

the proximity switch detects the relative position of the bogie wheel pair, and when the bogie wheel is accommodated in the frame region, the proximity switch detects a bogie wheel pair signal;

and continuously moving to the bogie until the proximity switch cannot detect the bogie wheel set signal, and stopping moving to the bogie.

Because the bogie wheel set 14 is located outside the AGV frame 1 in front of the AGV frame, the proximity switch 2 cannot detect the bogie wheel set 14 signal, when the AGV moves to the bogie and gradually receives the bogie wheel set 14 into the frame 1, the proximity switch 2 starts to detect the bogie wheel set 14 signal, which indicates that the bogie wheel set 14 is being received into the frame 1, the AGV continues to move towards the bogie direction, the proximity switch 2 continuously detects the bogie wheel set 14 signal, when the AGV completely receives the bogie wheel set 14 into the frame 1, the proximity switch 2 cannot detect the bogie wheel set 14 signal any more, which indicates that the bogie wheel set 14 is completely received into the frame 1, and the AGV stops moving to the bogie. The AGV is controlled to extend the retractable wheels 301 and to draw the bogie towards the target area after the bogie pairs 14 have been confined within the area of the frame 1. After reaching the target area, the retractable wheels 301 are controlled to retract, the AGV moves to the start position, away from the bogie, and the AGV returns to the standby position.

The utility model discloses a working process does:

the dispatching system of the upper computer sets tasks, sends dispatching instructions to the AGV through the wireless communication system, and the AGV walks to the position where the bogie which is appointed by the tasks and needs to be pulled is located according to the preset path.

The AGV visual navigation system walks according to the track, and the walking direction of the AGV is adjusted in real time, so that the central line of the AGV and the central line of the track are in a vertical plane. And in order to ensure that the AGV can smoothly hang the wheel pair, the sliding gasket 7 and the auxiliary guide wheel 4 at the inclined opening of the AGV play a guiding role.

When the proximity switch 2 at the retractable wheel 301 has a feedback signal, it is detected that the AGV has reached the position of the edge of the wheel pair, and when the proximity switch 2 at the retractable wheel 301 has a signal disappeared, it indicates that the wheel pair is located in the frame 1 and all the retractable wheels 301 are fully extended.

And hooking a feedback signal of the completion of the work to a control system of the AGV, and controlling the AGV to start to pull the bogie to move to a target position along a preset path by the control system of the AGV according to the preset path corresponding to the task issued by the scheduling system.

In the process that the AGV pulls the bogie, the obstacle avoidance system detects obstacles and collisions in real time, stops working when the obstacles are detected or the collisions occur, and continues working after the obstacles are removed.

When the AGV pulls the bogie to pass through the track steering wheel, the dispatching system of the upper computer controls the track steering wheel to rotate, and the track steering wheel drives the AGV to rotate by the same angle and cooperates together to finish continuous walking.

The utility model provides a dispatching execution of dispatch system can be received to the AGV, follows the position that predetermines the route and travel the bogie, and the opening of frame moves towards the bogie, until taking in the frame with the bogie wheel pair, stretches out the expansion pulley, inject the bogie wheel pair in the frame, pull bogie to target area, the expansion pulley withdrawal, AGV and bogie separation to return standby position. According to the control method for the AGV traction by the rail train bogie, the AGV can automatically run to the position of the bogie and automatically traction the bogie to the target area, a large amount of labor is saved, the whole process is safe and reliable, and the method has high practicability.

The above embodiments are intended to be illustrative of the manner in which the invention may be made and used by persons skilled in the art, and modifications to the above embodiments will be apparent to those skilled in the art, and it is therefore intended that the invention, including but not limited to the above embodiments, be limited to any methods, processes and products consistent with the principles and novel and inventive features disclosed herein, and which are to be interpreted as illustrative and not in a limiting sense.

Claims (8)

1. A rail train bogie traction AGV comprises a frame (1), a dispatching system, a navigation system, a control system and at least 4 driving wheels (5), and is characterized by further comprising at least 2 telescopic wheel assemblies (3) and at least 2 proximity switches (2) used for detecting the relative positions of bogie wheel pairs (14), wherein the frame (1) is of a horseshoe-shaped structure and spans 2 rails, the driving wheels (5) are symmetrically arranged on the frame (1) and positioned on the outer sides of the 2 rails, and the at least 2 telescopic wheel assemblies (3) and the proximity switches (2) are respectively symmetrically arranged on the inner sides of the frame (1); when the bogie is towed, the telescopic wheels (301) of the telescopic wheel assembly (3) extend out to limit the bogie wheel set (14) in the frame (1), and the telescopic wheels (301) are abutted against the peripheral side of the bogie wheel set (14) and are positioned obliquely below the bogie wheel set (14); after the bogie is drawn to a target area, the retractable wheels (301) retract, the AGV is separated from the bogie, and the AGV returns to a standby position.

2. The rail-train-bogie-traction AGV according to claim 1, wherein the retractable wheel assembly (3) further comprises a retractable device (302), a fixed frame (303), at least 2 sliding rails (304), and an equal number of sliding blocks (305) corresponding to the sliding rails (304), two ends of the retractable device (302) are respectively and fixedly connected with one ends of the retractable wheel (301) and the fixed frame (303), the other end of the fixed frame (303) is fixedly installed in the frame (1), the other end of the retractable wheel (301) extends in a direction away from the retractable device (302), central axes of the retractable wheel (301) and the retractable device (302) are perpendicular to a vertical plane of the steel rails, the sliding blocks (305) are fixedly installed in the frame (1), and the sliding rails (304) are symmetrically and fixedly installed on the retractable device (302) along the extending direction of the retractable device (302), and is slidably mounted in the slider (305).

3. A rail train bogie traction AGV according to claim 2, characterised in that the retractable wheel assembly (3) further comprises a U-shaped fixture (306), that the telescopic device (302) is fixedly mounted in the U-shaped fixture (306), and that at least 2 of the sliding rails (304) are detachably mounted on the U-shaped fixture (306).

4. A rail-train-bogie-traction AGV according to claim 2, characterised in that the retractable wheel (301) comprises a fixed axle, one end of which is fixed vertically at the other end of the retractor device (302), and a driven wheel, which is mounted on the fixed axle by means of a bearing, the retractable wheel (301) being located in the frame (1) in the retracted state.

5. A rail train bogie traction AGV according to claim 1, where there are 4 telescopic wheel assemblies (3), where 4 telescopic wheel assemblies (3) are in the same plane and equally divided into 2 groups, where the telescopic wheel assemblies (3) in the same group are symmetrically mounted on the frame (1), and where 2 groups of telescopic wheel assemblies (3) are located at the end of the frame (1) close to the hatch and the end far from the hatch, respectively.

6. A rail train bogie traction AGV according to claim 5, further comprising at least 2 auxiliary guide wheels (4), wherein at least 2 of said auxiliary guide wheels (4) are symmetrically mounted on the lower surface of said frame (1) and located at the middle of the adjacent 2 of said retractable wheel assemblies (3) on the same side; when the traction bogie moves, the 2 auxiliary guide wheels (4) respectively abut against the outer side walls of the corresponding bogie wheel pairs (14) and rotate along with the bogie wheel pairs (14).

7. A rail train truck tractive AGV according to claim 1, where the inner side wall of the frame (1) near the opening is inclined to the outer side wall to form a curved guiding surface.

8. The rail train truck traction AGV according to claim 7, further comprising 2 sliding pads (7), wherein 2 sliding pads (7) are respectively fastened to and wrap the corresponding guiding surfaces.

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