Automatic butt joint structure of AGV trolley and gravity type double-layer platform

Abstract

The invention discloses an automatic docking structure for an AGV trolley and a gravity type double-layer platform, and belongs to the technical field of AGV trolley distribution. The AGV trolley and gravity type double-layer platform automatic butt joint structure comprises an AGV trolley body, a butt joint support is fixedly connected to the AGV trolley body, a height adjusting frame is installed on the butt joint support, a butt joint assembly is movably connected to the height adjusting frame, the height adjusting frame adjusts the butt joint height of the butt joint assembly, and the butt joint assembly is limited by the butt joint support. According to the automatic docking structure for the AGV trolley and the gravity type double-layer platform, the problem that an existing docking device is limited in use range is solved, the height adjusting frame is used for controlling the single-layer docking assembly to move up and down, use is flexible, through arrangement of the insection track and the tooth rolling wheels, the insection track is arranged to be of a non-planar structure, and the docking efficiency is improved. The height difference of the tooth rollers is used for adjusting the heights of the two ends of the telescopic frame, and inclination of the limiting frame is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of AGV trolley distribution, in particular to an automatic docking structure of an AGV trolley and a gravity-type double-layer platform. Background Art

[0002] With the development of modern logistics industry, AGV has been widely used in warehousing, production lines and other fields. The existing AGV docking system is usually only applicable to single-layer platforms. For the docking requirements of double-layer or multi-layer storage systems, the existing solutions are relatively complex.

[0003] The Chinese patent with publication number CN117819193A discloses a gravity-type double-layer platform and AGV automatic docking device, which can perform two docking actions in one docking task, realize the delivery and return of two materials on the upper and lower layers, and improve the distribution efficiency of the workshop. The upper and lower layers of the gravity-type double-layer platform in this application adopt different structures. When in use, it occupies a large space and is suitable for specific working environments. It is not flexible and does not have universal applicability. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic docking structure between an AGV trolley and a gravity-type double-layer platform, which controls the up and down movement of a single-layer docking assembly through a height adjustment frame to meet the docking requirements of different layers of the double-layer platform. It is flexible to use and solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic docking structure between an AGV trolley and a gravity-type double-layer platform, comprising an AGV trolley body, a docking bracket fixedly connected to the AGV trolley body, a height adjustment frame installed on the docking bracket, a docking assembly movably connected to the height adjustment frame, the height adjustment frame adjusts the docking height of the docking assembly, and the docking assembly is limited by the docking bracket.

[0006] Preferably, the docking bracket includes a bottom frame, a limit plate, a height limit column and a toothed track. The lower surface of the bottom frame is connected to the AGV trolley body, the two ends of the limit plate are connected to the bottom frame, one end of the bottom frame is symmetrically provided with a limit height column, the inner walls on both sides of the bottom frame are fixedly connected with a toothed track, and a gap is left between the two sides of the limit plate and the bottom frame for the height adjustment frame to move.

[0007] Preferably, the height adjustment frame includes a telescopic frame, a first connecting plate, a second connecting plate, a driving motor and a toothed roller. The upper and lower ends of the telescopic frame are hinged to the first connecting plate and the second connecting plate respectively. The first connecting plate is movably connected to the docking assembly. A driving motor is installed on one side of the second connecting plate. The output end of the driving motor passes through the second connecting plate, and the output end of the driving motor is fixedly connected to the toothed roller. The toothed roller is meshed with the toothed track. Under the control of the driving motor, the toothed roller moves on the toothed track to adjust the position of the lower end of the telescopic frame, thereby controlling the overall height of the telescopic frame.

[0008] Preferably, the toothed track includes a low section, an inclined section and a high section, and both ends of the high section are connected to the inclined section and the low section in sequence. When the toothed rollers on both sides of the lower end of the telescopic frame are at different sections of the toothed track, the heights of both sides of the lower end of the telescopic frame are different, the telescopic frame is tilted, and the corresponding limit frame is tilted.

[0009] Preferably, a second slider is provided on one side of the second connecting plate, and a second slide groove is opened on the position of the limiting plate close to the second slider. The path shape of the second slide groove matches the surface shape of the toothed track to meet the follow-up movement of the second connecting plate when the toothed roller moves. At the same time, two second sliders are provided, and both are cylindrical structures, which can prevent the second connecting plate from tilting, and the second connecting plate is always perpendicular to the surface of the limiting plate.

[0010] Preferably, the docking assembly includes a limit frame, a roller group and a docking plate. The limit frame is provided with a roller group, and the roller group can rotate in the limit frame to assist in loading and removing goods. The limit frame is provided with three panels to prevent goods from falling from the roller group. A notch is provided at one end of the limit frame for the entry and exit of goods. An extension plate is provided at one end of the limit frame, and the docking plate is movably connected to the extension plate.

[0011] Preferably, a pushing cylinder is fixedly connected to one side of the docking plate, and a docking pin is fixedly connected to the output end of the pushing cylinder. Under the action of the pushing cylinder, the docking pin is pushed to the docking hole of the double-layer platform for insertion.

[0012] Preferably, the lower surface of the limit frame is symmetrically provided with connecting plate slots, and the upper end of the first connecting plate is provided with a limiting slider matching the connecting plate slot, and the limiting slider moves in the connecting plate slot to adapt to the height adjustment of the telescopic frame.

[0013] Preferably, a first slider is fixedly connected to the outer wall of the limit frame close to the extension plate, the first slider is movably connected to the height limiting column, a first sliding groove matching the first slider is provided on the height limiting column, and the first slider is a cylindrical structure. Under the action of the first slider, the limit frame cannot move horizontally, thereby controlling the end position of the limit frame and fixing the position of the docking plate.

[0014] Preferably, rotating shafts are provided at both ends of the docking plate, and torsion springs are sleeved on the rotating shafts. Through the setting of the rotating shafts, the docking plate can rotate, and the torsion springs control the docking plate to reset.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The automatic docking structure of the AGV trolley and the gravity-type double-layer platform proposed in the present invention controls the up and down movement of the single-layer docking component through the height adjustment frame to meet the docking requirements of different layers of the double-layer platform. It is flexible to use and is suitable for double-layer or multi-layer platforms. Through the setting of the toothed track and the toothed roller, it can simultaneously control the movement of both ends of the telescopic frame, and the toothed track is set to a non-planar structure. The height difference of the toothed roller is used to adjust the height of the two ends of the telescopic frame to achieve the inclination of the limit frame. During actual use, it is adjusted according to the needs of loading and unloading. It can meet multiple needs at the same time and has comprehensive functions. The limit frame and the second connecting plate are both positioned by the slider and the slide groove to limit the position of the docking plate and the second connecting plate, thereby ensuring that the docking device runs smoothly and the docking accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall structural diagram of the automatic docking structure of the AGV trolley and the gravity-type double-layer platform of the present invention;

[0018] Figure 2 This is an exploded view of the automatic docking structure of the AGV trolley and the gravity-type double-layer platform of the present invention;

[0019] Figure 3 It is a structural diagram of the docking bracket of the present invention;

[0020] Figure 4 It is a structural diagram of the height adjustment frame of the present invention;

[0021] Figure 5 It is a partial exploded view of the docking assembly of the present invention;

[0022] Figure 6 It is a loading state diagram of the height adjustment frame and docking assembly of the present invention;

[0023] Figure 7 This is a diagram of the unloading state of the height adjustment rack and docking assembly of the present invention.

[0024] In the figure: 1. AGV trolley body; 2. docking bracket; 21. bottom frame; 22. limit plate; 221. second slide; 23. height limit column; 231. first slide; 24. toothed track; 241. low section; 242. inclined section; 243. high section; 3. height adjustment frame; 31. telescopic frame; 32. first connecting plate; 321. limit slider; 33. second connecting plate; 331. second slider; 34. drive motor; 35. toothed roller; 4. docking assembly; 41. limit frame; 411. extension plate; 412. first slider; 413. connecting plate slide; 42. roller group; 43. docking plate; 431. rotating shaft; 432. torsion spring; 433. push cylinder; 434. docking pin. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In order to solve the problem that the existing docking device occupies a large space, is suitable for specific working environments, is not flexible, and is not universally applicable, please refer to Figure 1-Figure 7 , this embodiment provides the following technical solutions:

[0027] The automatic docking structure of the AGV trolley and the gravity-type double-layer platform includes an AGV trolley body 1 and a docking bracket 2 arranged on the AGV trolley body 1, a height adjustment frame 3 is installed on the docking bracket 2, and a docking component 4 is movably connected to the height adjustment frame 3. The docking bracket 2 is fixedly connected to the AGV trolley body 1, and the AGV trolley body 1 drives the docking bracket 2 to position, and the docking bracket 2 moves with the AGV trolley body 1 and can be positioned at any cargo storage area of ​​the double-layer platform. The height adjustment frame 3 controls the docking component 4 to rise or fall, corresponding to the upper or lower layer of the double-layer platform. After the docking component 4 is docked with the docking interface of the double-layer platform, the delivery of the goods is realized.

[0028] The docking bracket 2 includes a bottom frame 21 connected to the AGV trolley body 1, a limit plate 22, a height limit column 23 and a toothed track 24 arranged on the bottom frame 21, the bottom frame 21 is used to fix the position of the limit plate 22, the height limit column 23 and the toothed track 24, the inner walls on both sides of the bottom frame 21 are fixedly connected to the toothed track 24, and a gap is left between the two sides of the limit plate 22 and the bottom frame 21 for the height adjustment frame 3 to move, and one end of the bottom frame 21 is fixedly connected to the height limit column 23.

[0029] The height adjustment frame 3 drives the docking assembly 4 to move up and down to transport the goods on the upper or lower layer of the double-layer platform. The height adjustment frame 3 includes a telescopic frame 31, a first connecting plate 32, a second connecting plate 33, a driving motor 34 and a toothed roller 35. The upper end of the telescopic frame 31 is hinged to the first connecting plate 32, the first connecting plate 32 is movably connected to the docking assembly 4, the lower end of the telescopic frame 31 is hinged to the second connecting plate 33, and a driving motor 34 is installed on one side of the second connecting plate 33. The output end of the driving motor 34 passes through the second connecting plate 33, and the output end of the driving motor 34 is fixedly connected to the toothed roller 35. Under the control of the driving motor 34, the toothed roller 35 moves on the toothed track 24 to adjust the position of the lower end of the telescopic frame 31, thereby controlling the overall height of the telescopic frame 31.

[0030] The docking assembly 4 includes a limit frame 41, a roller group 42 and a docking plate 43. The limit frame 41 is provided with a roller group 42, which can rotate in the limit frame 41 to assist in loading and removing goods. The limit frame 41 is provided with three panels to prevent goods from falling from the roller group 42. A notch is provided at one end of the limit frame 41 for goods to enter and exit. An extension plate 411 is provided at the end close to the notch of the limit frame 41. The extension plate 411 is movably connected with the docking plate 43. A push cylinder 433 is fixedly connected to one side of the docking plate 43. The output end of the push cylinder 433 passes through the docking plate 43 and is fixedly connected with a docking pin 434. Under the action of the push cylinder 433, the docking pin 434 is pushed to the docking hole of the double-layer platform for insertion. A position detection sensor is also provided on the docking plate 43 to detect the position of the AGV trolley relative to the double-layer platform to ensure that the docking pin 434 accurately enters the docking hole.

[0031] In order to ensure that the first connecting plate 32 and the limit frame 41 are connected and cannot be separated, a connecting plate slot 413 is symmetrically opened on the lower surface of the limit frame 41, and a limiting slider 321 matching the connecting plate slot 413 is set at the upper end of the first connecting plate 32. The limiting slider 321 moves in the connecting plate slot 413 to adapt to the height adjustment of the telescopic frame 31. At the same time, the limiting slider 321 prevents the first connecting plate 32 from separating from the limit frame 41. Under the action of the first connecting plate 32, the telescopic frame 31 can firmly support the position of the limit frame 41, thereby controlling the overall height of the docking assembly 4 for adjustment.

[0032] At the same time, in order to realize gravity-type loading and unloading of goods, the roller group 42 needs to be tilted to a certain extent to meet the automatic sliding of the goods. In this embodiment, the roller group 42 is driven to tilt by the limit frame 41. A first slider 412 is fixedly connected to the outer wall of the limit frame 41 close to the extension plate 411. The first slider 412 is movably connected to the height limiting column 23. The height limiting column 23 is provided with a first slide groove 231 matching the first slider 412. When the limit frame 41 moves up and down, the first slider 412 moves up and down along the height limiting column 23. The first slider 412 is a cylindrical structure. When the limit frame 41 is tilted, the first slider 412 rotates in the first slide groove 231. Under the action of the first slider 412, the limit frame 41 cannot move horizontally, thereby controlling the end position of the limit frame 41 and fixing the position of the docking plate 43. In addition, when the limit frame 41 is tilted, the docking plate 43 always remains horizontal and docked with the double-layer platform. Rotating shafts 431 are provided at both ends of the docking plate 43, and torsion springs 432 are sleeved on the rotating shafts 431. Through the setting of the rotating shafts 431, the docking plate 43 can rotate, and the torsion springs 432 control the docking plate 43 to reset.

[0033] In the present embodiment, the inclination of the limit frame 41 comes from the overall inclination of the telescopic frame 31, and the telescopic frame 31 is tilted by adjusting the height of the second connecting plate 33 at the bottom. The toothed roller 35 moves on the toothed track 24 to control the displacement of the second connecting plate 33. The toothed track 24 includes a low section 241, an inclined section 242 and a high section 243. Both ends of the high section 243 are sequentially connected to the inclined section 242 and the low section 241. When the toothed rollers 35 on both sides of the lower end of the telescopic frame 31 are on the low section 241, the telescopic frame 31 is in a shortened position. When the toothed rollers 35 on both sides of the lower end of the telescopic frame 31 are on the high section 243, the telescopic frame 31 is in an extended position. When the toothed rollers 35 on both sides of the lower end of the telescopic frame 31 are on different sections of the toothed track 24, the heights of the two sides of the lower end of the telescopic frame 31 are different, the telescopic frame 31 is tilted, and the corresponding limit frame 41 is tilted.

[0034] Specifically, when the AGV trolley is needed to load goods, the toothed roller 35 at the lower end of the telescopic frame 31 near the docking plate 43 is higher than the height of the other toothed roller 35, so that one end of the notch of the limit frame 41 is lifted, and the goods automatically slide into the limit frame 41 under the action of gravity. Conversely, when the AGV trolley is needed to unload goods, the toothed roller 35 at the lower end of the telescopic frame 31 near the docking plate 43 is lower than the height of the other toothed roller 35, so that one end of the notch of the limit frame 41 is lowered, and the goods automatically slide out of the limit frame 41 under the action of gravity and fall onto the double-layer platform. Of course, in order to improve the accuracy of docking, during docking, the two toothed rollers 35 at the lower end of the telescopic frame 31 can work simultaneously to achieve precise control of the height of the docking plate 43.

[0035] In addition, in order to ensure the stability of the support at the lower end of the telescopic frame 31, a second slider 331 is provided on one side of the second connecting plate 33, and a second slide groove 221 is opened at a position of the limiting plate 22 close to the second slider 331. The path shape of the second slide groove 221 matches the surface shape of the toothed track 24, so that the second connecting plate 33 can follow the movement when the toothed roller 35 moves. At the same time, two second sliders 331 are provided, and both are cylindrical structures, which can prevent the second connecting plate 33 from tilting, and the second connecting plate 33 is always perpendicular to the surface of the limiting plate 22.

[0036] Working process: The AGV trolley body 1 reaches the predetermined position through the vehicle navigation system, and uses the sensor to detect the relative position with the double-layer platform. The toothed roller 35 rolls along the toothed track 24 under the control of the drive motor 34. The toothed rollers 35 at both ends are in the high section 243 or the low section 241 at the same time, adjusting the horizontal height of the docking plate 43, and the telescopic frame 31 is raised or lowered to complete the position correspondence of the upper or lower layer of the double-layer platform. The AGV trolley body 1 moves forward slowly, and the docking pin 434 is pushed to the docking hole of the double-layer platform under the action of the push cylinder 433, triggering the locking device to complete the physical docking. When it is necessary to load goods, the lower end of the telescopic frame 31 is close to the docking plate 43 The toothed roller 35 moves to a height higher than the other toothed roller 35, and the other toothed roller 35 moves in coordination to maintain the height of the docking plate 43. The cargo pallet on the double-layer platform will slide into the limit frame 41. When cargo needs to be loaded, the toothed roller 35 at the lower end of the telescopic frame 31 close to the docking plate 43 moves to a height lower than the other toothed roller 35, and the other toothed roller 35 also moves in coordination to maintain the height of the docking plate 43. The cargo automatically slides out under the action of the roller group 42. After the cargo is transferred, the locking device is released, the AGV trolley body 1 retreats, the docking pin 434 withdraws from the docking hole, and the separation is completed. Subsequently, the telescopic frame 31 is adjusted to the initial height, leaves the docking position, and continues to perform other tasks.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An automatic docking structure of an AGV trolley and a gravity-type double-layer platform, comprising an AGV trolley body (1), characterized in that: The AGV trolley body (1) is fixedly connected with a docking bracket (2), a height adjustment bracket (3) is installed on the docking bracket (2), a docking assembly (4) is movably connected to the height adjustment bracket (3), the height adjustment bracket (3) adjusts the docking height of the docking assembly (4), and the docking assembly (4) is limited by the docking bracket (2).

2. The automatic docking structure of the AGV trolley and the gravity-type double-layer platform according to claim 1 is characterized in that: The docking bracket (2) comprises a bottom frame (21), a limit plate (22), a height limit column (23) and a toothed track (24); the lower surface of the bottom frame (21) is connected to the AGV trolley body (1); both ends of the limit plate (22) are connected to the bottom frame (21); one end of the bottom frame (21) is symmetrically provided with a height limit column (23); and the toothed track (24) is fixedly connected to the inner walls on both sides of the bottom frame (21).

3. The automatic docking structure between the AGV and the gravity-type double-layer platform according to claim 2 is characterized in that: The height adjustment frame (3) comprises a telescopic frame (31), a first connecting plate (32), a second connecting plate (33), a driving motor (34) and a toothed roller (35); the upper and lower ends of the telescopic frame (31) are respectively hingedly connected to the first connecting plate (32) and the second connecting plate (33); the first connecting plate (32) is movably connected to the docking assembly (4); a driving motor (34) is installed on one side of the second connecting plate (33); an output end of the driving motor (34) passes through the second connecting plate (33); the output end of the driving motor (34) is fixedly connected to the toothed roller (35); and the toothed roller (35) is meshed with the toothed track (24).

4. The automatic docking structure between the AGV and the gravity-type double-layer platform according to claim 3 is characterized by: The toothed track (24) comprises a low-position segment (241), an inclined surface segment (242) and a high-position segment (243), and both ends of the high-position segment (243) are sequentially connected to the inclined surface segment (242) and the low-position segment (241).

5. The automatic docking structure between the AGV and the gravity-type double-layer platform according to claim 4 is characterized in that: A second sliding block (331) is provided on one side of the second connecting plate (33), and a second sliding groove (221) is provided on the position of the limiting plate (22) close to the second sliding block (331), and the path shape of the second sliding groove (221) matches the surface shape of the toothed track (24).

6. The automatic docking structure between the AGV and the gravity-type double-layer platform according to claim 3 is characterized by: The docking assembly (4) comprises a limit frame (41), a roller group (42) and a docking plate (43); the limit frame (41) is provided with the roller group (42); one end of the limit frame (41) is provided with an extension plate (411); and the extension plate (411) is movably connected with the docking plate (43).

7. The automatic docking structure between the AGV and the gravity-type double-layer platform according to claim 6 is characterized by: A push cylinder (433) is fixedly connected to one side of the docking plate (43), and a docking pin (434) is fixedly connected to the output end of the push cylinder (433).

8. The automatic docking structure of the AGV trolley and the gravity-type double-layer platform according to claim 6 is characterized by: The lower surface of the limit frame (41) is symmetrically provided with a connecting plate sliding groove (413), and the upper end of the first connecting plate (32) is provided with a limit sliding block (321) matching the connecting plate sliding groove (413).

9. The automatic docking structure of the AGV trolley and the gravity-type double-layer platform according to claim 6 is characterized in that: A first sliding block (412) is fixedly connected to the outer wall of the limit frame (41) close to the extension plate (411); the first sliding block (412) is movably connected to the height limiting column (23); and a first sliding groove (231) matching the first sliding block (412) is provided on the height limiting column (23).

10. The automatic docking structure between the AGV and the gravity-type double-layer platform according to claim 6 is characterized in that: Rotating shafts (431) are provided at both ends of the docking plate (43), and a torsion spring (432) is sleeved on the rotating shaft (431).

Images