CN220639425U - Traction type AGV and material handling device - Google Patents

Abstract

The utility model relates to the technical field of AGVs, in particular to a traction type AGV and a material handling device, which comprises a vehicle body, wherein the vehicle body is provided with a locking mechanism, and the locking mechanism comprises a locking unit and a detection unit; the locking unit comprises a locking driving part and a locking bolt; the locking driving part is fixedly arranged, and the driving end is connected with the locking bolt and used for receiving the driving signal and moving the locking bolt; the detection unit comprises a detection rotating plate, a first detection sensor and a reset spring; the detection rotating plate is rotatably arranged at one end of the locking bolt, the detection rotating plate comprises an abutting part and a resetting part, the abutting part is arranged at one side of the self rotating shaft and is close to the locking bolt, and the resetting part is arranged at the other side of the self rotating shaft; one end of the reset spring is fixedly arranged, and the other end of the reset spring is abutted against the reset part; the butt portion is equipped with the detection piece, and first detection sensor is fixed to be established in detection piece one side for detect the piece and break away from behind the detection scope output drive signal. The automatic butt joint material car for the traction AGV can achieve automatic butt joint of the traction AGV and improves efficiency.

Description

Traction type AGV and material handling device

Technical Field

The utility model relates to the technical field of AGVs, in particular to a traction type AGV and a material handling device.

Background

AGV (Automated Guided Vehicle) is an automated guided vehicle that is capable of automatically traveling along a set route. With the continued advancement of technology, many different AGVs exist on the market. For example, fork AGVs can replace the manual work to realize the loading and unloading transportation work of material through the fork, very big promotion the efficiency of whole transportation flow. For example, the traction type AGV is combined with the material vehicle to form a material conveying device, so that the material vehicle is guided by the traction type AGV to realize material transportation.

However, because the traction type AGV is popular, the existing traction type AGV is only based on the original tractor and a navigation device is added to realize the automation of the transportation process; and in the aspect of the butt joint of the material vehicle and the traction type AGV, a pure mechanical butt joint structure is still adopted. Therefore, when the traction type AGV and the material vehicle are in uncoupling and hooking butt joint, manual intervention is still needed for assisting the butt joint, so that the carrying efficiency of the whole transportation process can be influenced.

Disclosure of Invention

Therefore, the technical problem to be solved by the utility model is to overcome the defect that the pure mechanical butt joint structure of the existing traction type AGV influences the material conveying efficiency, provide the traction type AGV and the material conveying device, realize the automatic butt joint of the traction type AGV and the material vehicle through the locking mechanism, and effectively improve the conveying efficiency.

The utility model provides a traction type AGV, which comprises a vehicle body, wherein a locking mechanism is arranged on the vehicle body, the locking mechanism comprises a locking unit, the locking unit comprises a locking driving part and a locking bolt, the locking driving part is fixedly arranged, the driving end of the locking driving part is connected with the locking bolt, and the locking driving part is used for receiving a driving signal and driving the locking bolt to move; the detection unit comprises a detection rotating plate, a first detection sensor and a reset spring; the detection rotating plate can be rotatably arranged at one end of the locking bolt, the detection rotating plate comprises an abutting part and a resetting part, the abutting part is arranged at one side of the self rotating shaft and is close to the locking bolt, and the resetting part is arranged at the other side of the self rotating shaft; one end of the reset spring is fixedly arranged, and the other end of the reset spring is abutted against the reset part; the butt portion is provided with the detection block, the fixed setting of first detection sensor is in one side of detection block, first detection sensor is used for when the detection block breaks away from self detection scope after, output drive signal.

In one embodiment of the present utility model, the locking unit further includes a locking connection plate, the locking driving part is disposed at one radial side of the locking bolt, and two ends of the locking connection plate are respectively connected to the driving end of the locking driving part and the locking bolt.

In one embodiment of the utility model, the locking unit further comprises a bolt limiting block, the bolt limiting block is fixedly arranged, a limiting hole which is matched with the locking bolt is formed in the bolt limiting block, and the locking bolt can be movably arranged in the limiting hole.

In one embodiment of the present utility model, the vehicle further comprises a lifting mechanism, wherein the lifting mechanism is arranged on the vehicle body, the lifting mechanism is at least partially connected with the locking mechanism, and the lifting mechanism is used for lifting the locking mechanism along the height direction of the vehicle body.

In one embodiment of the utility model, the lifting mechanism comprises a lifting guide rod, a lifting driving part and a lifting mounting plate, wherein the lifting guide rod and the lifting driving part are fixedly arranged on the vehicle body, the lifting mounting plate is connected with the driving end of the lifting driving part, the lifting mounting plate is movably arranged on the lifting guide rod, and the locking mechanism is arranged on the lifting mounting plate.

In one embodiment of the present utility model, the locking mechanism is disposed between the lifting mounting plate and the vehicle body, and the lifting mounting plate is provided with an opening corresponding to the abutment portion.

In one embodiment of the utility model, the opening is provided with a guide groove.

In one embodiment of the utility model, the vehicle body is provided with a wheel locking unit, and the wheel locking unit is used for receiving a position signal and driving the vehicle body to move; the locking mechanism further comprises a second detection sensor, the second detection sensor is fixedly arranged at one end, far away from the detection rotating plate, of the locking bolt, and the second detection sensor is used for outputting the in-place signal after the locking bolt is separated from the detection range of the locking bolt.

The utility model also provides a material handling device, which comprises a material trolley and the traction type AGV, wherein the material trolley is provided with a butt joint hook which is matched with the locking bolt.

In one embodiment of the utility model, a hook guide rod is arranged on the material trolley, a hook spring is sleeved on the hook guide rod, the butt-joint hook is movably arranged on the hook guide rod, and two ends of the hook spring are respectively abutted against the butt-joint hook and the material trolley.

Compared with the prior art, the technical scheme of the utility model has the following advantages:

according to the traction type AGV and the material handling device, the automatic butt joint of the vehicle body of the traction type AGV and the material vehicle is realized by arranging the locking mechanism formed by the locking unit and the detection unit, so that the automation degree of the traction type AGV is improved, and the efficiency of the whole handling process is effectively ensured. The detection unit is arranged, so that the situation that the butt joint of the butt joint hook and the lock bolt is blocked due to the fact that the locking bolt falls down when the butt joint hook is not in place is avoided. The reset spring effectively ensures the automatic reset of the detection rotating plate after the butt-joint hook is unhooked.

Drawings

In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which

FIG. 1 is a schematic view of the structure of a trailing AGV in accordance with a preferred embodiment of the present utility model;

FIG. 2 is a schematic view of a first view of the locking mechanism according to the preferred embodiment of the present utility model;

FIG. 3 is a schematic view of a second view of the locking mechanism according to the preferred embodiment of the present utility model;

FIG. 4 is a schematic view of a first view of the elevating mechanism according to the preferred embodiment of the present utility model;

FIG. 5 is a schematic view of a second view of the elevating mechanism according to the preferred embodiment of the present utility model;

FIG. 6 is a schematic diagram of a material handling apparatus in accordance with a preferred embodiment of the present utility model;

fig. 7 is an exploded view of the docking hook in accordance with the preferred embodiment of the present utility model.

Description of the specification reference numerals: 10. a vehicle body; 20. a locking mechanism; 21. a locking unit; 211. a lock driving part; 212. locking the bolt; 213. locking the connecting plate; 214. a bolt limiting block; 22. a second detection sensor; 23. a detection unit; 231. detecting a rotating plate; 2311. an abutting portion; 2312. a detection block; 2313. a reset section; 2314. a rotation shaft; 232. a first detection sensor; 233. a return spring; 30. a lifting mechanism; 31. lifting the guide rod; 32. a lifting driving part; 33. lifting the mounting plate; 331. an opening; 332. a guide groove; 40. a material vehicle; 41. a butt-joint hook; 42. a hook guide rod; 43. and a hook spring.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.

The utility model discloses a traction type AGV, which comprises a vehicle body 10, wherein a locking mechanism 20 is arranged on the vehicle body 10, the locking mechanism 20 comprises a locking unit 21, the locking unit 21 comprises a locking driving part 211 and a locking bolt 212, the locking driving part 211 is fixedly arranged, the driving end of the locking driving part 211 is connected with the locking bolt 212, and the locking driving part 211 is used for receiving a driving signal and driving the locking bolt 212 to move; a detection unit 23, wherein the detection unit 23 comprises a detection rotating plate 231, a first detection sensor 232 and a return spring 233; the detection rotating plate 231 is rotatably disposed at one end of the locking bolt 212, the detection rotating plate 231 includes an abutting portion 2311 and a reset portion 2313, the abutting portion 2311 is disposed at one side of the rotation shaft 2314 and is close to the locking bolt 212, and the reset portion 2313 is disposed at the other side of the rotation shaft 2314; one end of the return spring 233 is fixedly disposed, and the other end is abutted against the return portion 2313; the abutting portion 2311 is provided with a detection block 2312, the first detection sensor 232 is fixedly disposed at one side of the detection block 2312, and the first detection sensor 232 is configured to output the driving signal when the detection block 2312 is out of its detection range.

Referring to FIG. 1, a pull AGV of the present utility model is shown with a vehicle body 10 for mobile traction, as is known in the art. The vehicle body 10 is provided with a lock mechanism 20, and the lock mechanism 20 includes a lock unit 21 and a detection unit 23. Referring to fig. 2, the locking unit 21 includes a locking driving part 211 and a locking latch 212, the locking driving part 211 is fixedly provided, and a driving end of the locking driving part 211 is connected with the locking latch 212. Preferably, the locking driving part 211 comprises an electric push rod and a signal receiver, and when receiving the driving signal, the electric push rod drives the locking bolt 212 to move so as to realize the hook butt joint with the material vehicle 40. After the traction type AGV guides the material car 40 and the material to the target position, the signal emitter can also output the unhooking signal, so that the locking driving part 211 drives the locking bolt 212 to realize automatic unhooking after receiving the unhooking signal. The detection unit 23 includes a detection rotating plate 231, a first detection sensor 232, and a return spring 233. The detecting swivel plate 231 is rotatably provided at one end of the locking latch 212 for in-place detection of the docking hook 41 of the material vehicle 40. The detection swivel plate 231 includes an abutment portion 2311 and a reset portion 2313. The abutting portion 2311 is provided at one side of the self-rotation shaft 2314 and close to the locking pin 212, and the reset portion 2313 is provided at the other side of the self-rotation shaft 2314; one end of the return spring 233 is fixedly arranged, and the other end of the return spring is abutted against the return part 2313; the abutting portion 2311 is provided with a detection block 2312, and the first detection sensor 232 is fixedly provided at one side of the detection block 2312. The first detection sensor 232 is used for outputting a driving signal when the detection block 2312 is out of its detection range. The setting of this structure ensures that after docking hook 41 is in place, locking bolt 212 just can fall the lock, realize the butt joint, effectively avoided docking hook 41 when not in place, locking bolt 212 falls the lock and prevents both cases of docking to take place, reduced the required time of docking again, improved transport efficiency. The limitation that the abutting portion 2311 and the reset portion 2313 are provided on both sides of the rotation shaft 2314 can effectively ensure the space utilization of the entire detection unit 23. The arrangement of the return spring 233 effectively ensures the automatic return of the detection flap 231 after unhooking of the docking hook 41. The return spring 233 is capable of selecting either an extension spring or a compression spring, and is provided on a side surface of the return portion 2313 remote from the docking hook 41 when the extension spring is selected; when the compression spring is selected, it is provided on one side of the reset portion 2313 near the docking hook 41. Specifically, when docking is required, the docking hook 41 moves toward the detection rotation plate 231 and abuts against the abutment portion 2311 of the detection rotation plate 231, so that the detection rotation plate 231 rotates along the rotation shaft 2314 and deforms the return spring 233. The detection block 2312 is thus out of the detection range of the first detection sensor 232, so that the first detection sensor 232 emits a driving signal, and the locking driving part 211 drives the locking pin 212 to move and insert into the docking hook 41 to achieve automatic hook docking after receiving the driving signal. After the material is carried, the locking bolt 212 and the butt-joint hook 41 can be automatically unlocked through the locking driving part 211. Preferably, the first detection sensor 232 is provided as a proximity switch. Preferably, the detection rotating plate 231 further includes a rotating portion disposed between the abutting portion 2311 and the reset portion 2313 for setting the rotating shaft 2314. The rotating part is arranged in a V-shaped structure, so that the detection rotating plate 231 can be better matched with the butt-joint hook 41.

According to the traction type AGV, the automatic butt joint of the vehicle body 10 and the material vehicle 40 of the traction type AGV is realized by arranging the locking mechanism 20 formed by the locking unit 21 and the detecting unit 23, so that the automation degree of the traction type AGV is improved, and the efficiency of the whole conveying process is effectively ensured. The detection unit 23 prevents the locking bolt 212 from falling to lock when the butt joint hook 41 is not in place, so as to prevent the butt joint of the two. The arrangement of the return spring 233 effectively ensures the automatic return of the detection flap 231 after unhooking of the docking hook 41.

Referring to fig. 2, in some embodiments, the locking unit 21 further includes a locking connection plate 213, the locking driving part 211 is disposed at one radial side of the locking pin 212, and two ends of the locking connection plate 213 are connected to the driving end of the locking driving part 211 and the locking pin 212, respectively. Preferably, the locking connection plate 213 includes a first plate body, a second plate body and a third plate body, the first plate body is parallel to the axis of the locking bolt 212, and the second plate body and the third plate body are respectively disposed at two ends of the first plate body and are respectively connected with the locking driving part 211 and the locking bolt 212. The locking connection plate 213 is arranged, so that the utilization rate of the whole structural space is high. It is conceivable that when the lock driving member 211 is coaxially disposed with the lock pin 212, a space is used in the axial direction more, resulting in a low space utilization. By the locking connection plate 213, the locking driving part 211 which is originally required to be arranged on one axial side of the locking bolt 212 is arranged on one radial side of the locking driving part, so that the space utilization rate is improved.

Further, referring to fig. 3, in some embodiments of the traction type AGV according to the present utility model, the locking unit 21 further includes a pin stopper 214, the pin stopper 214 is fixedly disposed, a limiting hole adapted to the locking pin 212 is provided on the pin stopper 214, and the locking pin 212 is movably disposed in the limiting hole. On the basis of setting the locking connecting plate 213, although the space utilization rate is improved, the stability of the locking bolt 212 is relatively reduced, so that the stability of the whole structure is effectively ensured by setting the bolt limiting block 214 and carrying out limiting assistance on the locking bolt 212.

Referring to fig. 1, the traction type AGV according to the present utility model further includes a lifting mechanism 30 in some embodiments, the lifting mechanism 30 is disposed on the vehicle body 10, the lifting mechanism 30 is at least partially connected to the locking mechanism 20, and the lifting mechanism 30 is used for lifting the locking mechanism 20 along the height direction of the vehicle body 10. The cart 40 is also of different model, facing different materials. An important difference between different models of carts 40 is the difference in height, which is often the fixed in height of the existing trailing AGV interface. It is therefore difficult to achieve traction with the same trailing AGV while facing different pallet trucks 40. By arranging the lifting mechanism 30 to control the locking mechanism 20 to lift in the height direction, the same traction type AGV can realize traction on different material carts 40, and the cost of a user is reduced. The specific structure of the lifting mechanism 30, such as a combination of a motor and a screw, a combination of a motor and a timing belt, etc., can be selected according to different lifting requirements.

Further, referring to fig. 4 and 5, in some embodiments, the lift mechanism 30 includes a lift guide bar 31, a lift driving member 32, and a lift mounting plate 33, where the lift guide bar 31 and the lift driving member 32 are fixedly disposed on the vehicle body 10, the lift mounting plate 33 is connected to the driving end of the lift driving member 32, the lift mounting plate 33 is movably disposed on the lift guide bar 31, and the locking mechanism 20 is disposed on the lift mounting plate 33. Lifting is achieved by driving the lifting mounting plate 33 via the lifting driving part 32 and the locking mechanism 20 provided on the lifting mounting plate 33, and guiding is provided for lifting via the lifting guide rod 31 while increasing stability during lifting. Preferably, the lifting driving component 32 is set to be a combination of a servo motor, a synchronous wheel, a synchronous belt, a screw rod and a screw rod sleeve, and the synchronous belt is driven to rotate by the servo motor to drive the synchronous wheel, so that the synchronous belt drives the screw rod to rotate and the screw rod sleeve to axially move along the screw rod. The lifting driving part 32 with the structure can effectively improve the space utilization rate compared with the structure that the screw rod is directly driven to rotate by the servo motor.

Further, referring to fig. 5, in the traction type AGV according to the present utility model, in some embodiments, the locking mechanism 20 is disposed between the lifting mounting plate 33 and the vehicle body 10, and the lifting mounting plate 33 is provided with an opening 331 corresponding to the abutment 2311. The locking mechanism 20 is arranged between the lifting mounting plate 33 and the vehicle body 10, and the opening 331 is formed, so that the locking mechanism 20 is not easily damaged by external factors, and the service life is prolonged.

Referring to FIG. 5, in some embodiments, the AGV of the present utility model has a guide slot 332 provided in the opening 331. The guide groove 332 is provided to facilitate alignment of the butt-joint hook 41, thereby reducing the time spent for butt-joint and improving efficiency.

Referring to fig. 2 and 3, the traction type AGV of the present utility model is provided with a wheel locking unit 21 in some embodiments, the wheel locking unit 21 is configured to receive a position signal and drive the vehicle 10 to move, and the wheel locking unit 21 is not shown in the figures. The locking mechanism 20 further includes a second detecting sensor 22, where the second detecting sensor 22 is fixedly disposed at one end of the locking bolt 212 away from the detecting rotating plate 231, and the second detecting sensor 22 is configured to output the in-place signal when the locking bolt 212 is out of the detection range. Preferably, the second detection sensor 22 is also provided as a proximity switch. The setting of this structure, cooperation first detection sensor 232 detects the butt joint couple 41 in place, can effectively guarantee that locking bolt 212 and butt joint couple 41 accomplish the butt joint after, and towed AGV just can remove the action, has effectively avoided the emergence of incomplete butt joint condition.

Referring to FIG. 6, a material handling apparatus is disclosed that includes a material handling vehicle 40 and a pull-type AGV as described in any of the above embodiments, wherein the material handling vehicle 40 is provided with a docking hook 41 that mates with the locking pin 212. The material handling apparatus of the present utility model, including the trailing AGV of the above embodiments, has advantages that the material handling apparatus also has in its entirety and will not be described again.

Referring to fig. 7, in some embodiments of the material handling apparatus according to the present utility model, a hook guide rod 42 is disposed on the material cart 40, a hook spring 43 is sleeved on the hook guide rod 42, the docking hook 41 is movably disposed on the hook guide rod 42, and two ends of the hook spring 43 respectively abut against the docking hook 41 and the material cart 40. By the arrangement of the structure, the butt-joint hooks 41 of the material vehicle 40 can float along the hook guide rods 42, so that unhooking and mechanical locking of the hooks are avoided under the condition of inaccurate positioning; hard contact of the docking hook 41 with the detection rotating plate 231 can be effectively avoided, and the service life is prolonged.

The working principle of the traction type AGV and the material handling device provided by the utility model is as follows:

when docking is performed, the height of the locking mechanism 20 is first adjusted by the lifting mechanism 30 to ensure that the locking mechanism 20 can be matched with the height of the docking hook 41 of the material cart 40. Next, the traction type AGV approaches the material carriage 40 and causes the docking hook 41 to extend into the opening 331 and abut against the detection rotating plate 231, causing the detection rotating plate 231 to rotate along the rotation shaft 2314 and causing the return spring 233 to deform; the detection block 2312 is thus out of the detection range of the first detection sensor 232, so that the first detection sensor 232 emits a driving signal, and the locking driving part 211 drives the locking pin 212 to move and insert into the docking hook 41 to achieve automatic hook docking after receiving the driving signal. At this time, the material vehicle 40 is pulled to the target place by the traction type AGV, and after the material vehicle moves to the target place, the locking driving part 211 drives the locking bolt 212 to move again to automatically unlock the docking hook 41.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.

Claims (10)

1. The utility model provides a towed AGV, includes the automobile body, its characterized in that, be provided with locking mechanism on the automobile body, locking mechanism includes:

the locking unit comprises a locking driving part and a locking bolt, wherein the locking driving part is fixedly arranged, the driving end of the locking driving part is connected with the locking bolt, and the locking driving part is used for receiving a driving signal and driving the locking bolt to move;

the detection unit comprises a detection rotating plate, a first detection sensor and a reset spring; the detection rotating plate can be rotatably arranged at one end of the locking bolt, the detection rotating plate comprises an abutting part and a resetting part, the abutting part is arranged at one side of the self rotating shaft and is close to the locking bolt, and the resetting part is arranged at the other side of the self rotating shaft; one end of the reset spring is fixedly arranged, and the other end of the reset spring is abutted against the reset part; the butt portion is provided with the detection block, the fixed setting of first detection sensor is in one side of detection block, first detection sensor is used for when the detection block breaks away from self detection scope after, output drive signal.

2. The pull-type AGV of claim 1 wherein: the locking unit further comprises a locking connecting plate, the locking driving part is arranged on one radial side of the locking bolt, and two ends of the locking connecting plate are respectively connected with the driving end of the locking driving part and the locking bolt.

3. The pull-type AGV of claim 2 wherein: the locking unit further comprises a bolt limiting block, the bolt limiting block is fixedly arranged, a limiting hole which is matched with the locking bolt is formed in the bolt limiting block, and the locking bolt can be movably arranged in the limiting hole.

4. The pull type AGV of claim 1 further comprising a lift mechanism disposed on the vehicle body, the lift mechanism being at least partially coupled to the locking mechanism, the lift mechanism being configured to lift the locking mechanism in a height direction of the vehicle body.

5. The pull-type AGV of claim 4 wherein: the lifting mechanism comprises a lifting guide rod, a lifting driving part and a lifting mounting plate, wherein the lifting guide rod and the lifting driving part are fixedly arranged on the vehicle body, the lifting mounting plate is connected with the driving end of the lifting driving part, the lifting mounting plate is movably arranged on the lifting guide rod, and the locking mechanism is arranged on the lifting mounting plate.

6. The pull-type AGV of claim 5 wherein: the locking mechanism is arranged between the lifting mounting plate and the vehicle body, and an opening corresponding to the abutting part is formed in the lifting mounting plate.

7. The pull-type AGV of claim 6 wherein: the opening is provided with a guide groove.

8. The pull-type AGV of claim 1 wherein: the vehicle body is provided with a wheel locking unit, and the wheel locking unit is used for receiving the position signal and driving the vehicle body to move; the locking mechanism further comprises a second detection sensor, the second detection sensor is fixedly arranged at one end, far away from the detection rotating plate, of the locking bolt, and the second detection sensor is used for outputting the in-place signal after the locking bolt is separated from the detection range of the locking bolt.

9. A material handling apparatus comprising a skip having a docking bay adapted to receive said locking pin and a trailing AGV according to any one of claims 1-8.

10. The material handling apparatus of claim 9, wherein: the material car is provided with a hook guide rod, a hook spring is sleeved on the hook guide rod, the butt-joint hook can be movably arranged on the hook guide rod, and two ends of the hook spring are respectively abutted to the butt-joint hook and the material car.